KK connector automatic assembly system

Abstract

The present application relates to a kind of KK connector automatic assembly system, including KK connector assembly execution device, TR module fixed platform, TR module feeding table, KK connector feeding device, automatic assembly platform, visual inspection system and control unit, the KK connector assembly execution device, TR module fixed platform, TR module feeding table, KK connector feeding device, visual inspection system are all fixed with automatic assembly platform;KK connector feeding device and visual inspection system are located in the same side of TR module feeding table, KK connector assembly execution device picks up KK connector from KK connector feeding device while carrying out KK connector pose and roundness detection, and KK connector is transported to TR module fixed platform and is assembled, realize the shortest motion path of KK connector assembly execution device.The present application realizes automatic control by KK connector automatic assembly system, improves the precision and efficiency of KK connector assembly.

Description

Technical Field

[0001] This invention relates to an automated assembly system for KK connectors, belonging to the overall technical field of missile systems. Background Technology

[0002] As the core component of a phased array antenna, the KK connector is characterized by high assembly precision, compact size, and large quantity. Currently, KK connector assembly relies entirely on manual labor. The accuracy and consistency of manual assembly are difficult to guarantee, and product quality depends entirely on skilled operators and experience. This often leads to assembly failures due to accumulated errors, necessitating rework. Furthermore, the lack of a testing process during assembly makes it difficult to determine the cause of assembly failure during rework, resulting in a lack of product quality traceability. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an automatic assembly system for KK connectors. The automatic assembly system for KK connectors achieves automated control and improves the accuracy and efficiency of KK connector assembly.

[0004] The solution of the present invention is:

[0005] An automated assembly system for KK connectors includes a KK connector assembly execution device, a TR module fixing platform, a TR module loading platform, a KK connector loading device, an automated assembly platform, and a vision inspection system.

[0006] The KK connector assembly execution device, the TR module fixing platform, the TR module loading platform, the KK connector loading device, and the vision inspection system are all fixed to the automated assembly platform.

[0007] According to one aspect of the present invention, the TR module fixing platform, the TR module loading platform, the KK connector loading device, and the vision inspection system are located on the same side of the KK connector assembly execution device, and the KK connector loading device and the vision inspection system are located on the same side of the TR module loading platform;

[0008] The TR module fixing platform is fixed to the TR module loading platform.

[0009] The KK connector assembly execution device includes: a support base, a six-axis robotic arm, and a KK connector gripping mechanism;

[0010] The six-axis robotic arm is fixedly supported on the support base, and the KK connector gripping mechanism is fixed to the end of the six-axis robotic arm.

[0011] The six-axis robotic arm drives the KK connector gripping mechanism to move or rotate linearly.

[0012] The KK connector clamping mechanism includes: a clamping base, a pressure detection component, a clamping drive component, and an end clamping component;

[0013] The pressure detection element is fixedly supported on the clamping base, the clamping drive element is fixedly supported on the pressure detection element, and the end clamping element is connected to the clamping drive element.

[0014] The end gripper consists of two parts, L and R.

[0015] The end gripper consists of two symmetrical parts, L and R.

[0016] The middle part of the L and R sections is a flat clamping surface for gripping the KK connector, and the bottom of the L and R sections is an arc-shaped clamping surface for gripping the KK connector.

[0017] The TR module fixing platform includes: a fixing platform base, a detection camera, a TR module clamping mechanism, and a TR module RF port fixing mechanism;

[0018] The detection camera, the TR module clamping mechanism, and the TR module RF port fixing mechanism are fixedly supported on the fixed platform base;

[0019] The detection camera is positioned opposite the TR module clamping mechanism.

[0020] The TR module clamping mechanism includes: a TR module A-end fixing clamp, a fixing clamp moving part, an A-end laser sensor, a TR module B-end fixing clamp, and a B-end laser sensor;

[0021] The TR module A end fixing clamp is fixedly supported on the fixing clamp moving part, the A end laser sensor is fixedly supported on the TR module A end fixing clamp, the TR module B end fixing clamp is fixedly supported on the fixing platform base, and the B end laser sensor is fixedly supported on the TR module B end fixing clamp;

[0022] The moving component of the fixed clamp drives the linear movement of the fixed clamp at end A of the TR module.

[0023] The bottom of the TR module A end fixing clamp includes a U-shaped groove with four circular holes;

[0024] The bottom of the TR module B-end fixing clamp contains a U-shaped groove with two rectangular holes.

[0025] The TR module RF port fixing mechanism includes: a fixing device base, a fixing device drive, and an RF port fixing gripper;

[0026] There are two sets of the fixing device base and the fixing device drive, which are installed symmetrically.

[0027] The fixing device is driven and fixedly supported on the fixing device base;

[0028] The RF port fixing claws are available in two models, A and B, which are respectively fixedly supported on the fixing device drive.

[0029] The fixing device drives the radio frequency port fixing claw to move linearly.

[0030] Both the A and B models of the aforementioned RF port fixing claws include two parts, L and R.

[0031] The A-type RF port fixing claw has one arc-shaped slot for gripping the KK connector in the L and R parts respectively;

[0032] The B-type RF port fixing claw has two arc-shaped slots in the L and R sections for gripping the KK connector.

[0033] The TR module loading platform includes: a loading platform base, a loading platform drive device, a linear slide rail assembly, a loading platform bottom plate, and a material tray;

[0034] There are two sets of linear slide rail assemblies, which are symmetrically and parallelly distributed and fixedly supported on the loading platform base;

[0035] The loading platform drive device is fixedly supported between the two sets of linear slide rail assemblies and is parallel to the linear slide rail assemblies. The loading platform base plate is fixedly supported on the two sets of linear slide rail assemblies, and the material tray is fixedly supported on the loading platform base plate.

[0036] The loading platform drive device drives the linear slide rail assembly to move linearly.

[0037] The bottom of the tray is evenly distributed with U-shaped grooves containing four circular holes.

[0038] The control unit is connected to the KK connector assembly execution device, the TR module fixing platform, the TR module loading platform, the KK connector loading device, and the vision inspection system.

[0039] The advantages of this invention compared to the prior art are:

[0040] (1) The KK connector loading device and the vision inspection system are located on the same side of the TR module loading platform, which makes it convenient for the KK connector assembly execution device to pick up the KK connector from the KK connector loading device while performing KK connector pose and roundness detection, and transporting the KK connector to the TR module fixed platform for assembly. This makes the movement path of the KK connector assembly execution device the shortest, reduces the material handling time of the KK connector assembly execution device, and improves the assembly efficiency of the KK connector automatic assembly system of the present invention.

[0041] (2) The position and posture of the KK connector can be adjusted during the assembly process by the six-axis robotic arm. It can be accurately adjusted to different installation positions, which enhances the flexibility and assembly accuracy of the KK connector assembly execution device of the present invention. The use of the end gripper makes it convenient for the present invention to assemble different products, which improves the applicability of the present invention. By changing the end gripper, the assembly requirements of different products can be met conveniently and quickly, avoiding the need to replace the entire execution device, which effectively saves the expansion cost of the present invention.

[0042] (3) The stepped design of the end gripper enables the KK connector gripping mechanism to grip the KK connector and its installation object, avoiding interference caused by using two sets of gripping devices, improving the automation level of the KK connector automatic assembly system of the present invention, and further improving the assembly efficiency of the present invention.

[0043] (4) The movement position of the KK connector assembly actuator and the TR module clamping mechanism can be obtained through the vision inspection system. Before assembling the KK connector, the current pose and roundness of the KK connector to be assembled can be obtained through the vision inspection system, so as to calculate the motion parameters required by the KK connector assembly actuator and the TR module clamping mechanism, thereby ensuring that the KK connector assembly actuator can accurately assemble the product. Attached Figure Description

[0044] Figure 1 This is a schematic diagram illustrating a workflow according to one embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram illustrating the structural layout of an automated assembly system for KK connectors according to an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram illustrating the structure of a KK connector clamping mechanism according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic structural diagram illustrating a TR module fixing platform according to an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram illustrating the structure of a TR module loading platform according to an embodiment of the present invention. Detailed Implementation

[0049] The present invention will be further described below with reference to the embodiments.

[0050] like Figure 1 As shown, according to one embodiment of the present invention, the workflow of an automated KK connector assembly system includes: first, a robot grips a TR and places it at a fixed station for fixation; then, the robot grips a KK connector and moves it above a calibration camera for position error detection. After detection, the robot compensates for position deviation based on the detected value, thereby assembling the KK onto the designated position on the TR. During the assembly process, a force sensor detects the assembly pressure in real time. If the detected value is within a set range, assembly continues; if the detected value exceeds the set range, assembly stops.

[0051] like Figure 2 As shown, according to one embodiment of the present invention, an automatic assembly system for KK connectors includes: a KK connector assembly execution device 1, a TR module fixing platform 2, a TR module loading platform 3, a KK connector loading device 4, an automated assembly platform 5, and a vision inspection system 6. In this embodiment, the KK connector assembly execution device 1, the TR module fixing platform 2, the TR module loading platform 3, the KK connector loading device 4, and the vision inspection system 6 are respectively supported on the upper side of the automated assembly platform 5. The TR module fixing platform 2, the TR module loading platform 3, the KK connector loading device 4, and the vision inspection system 6 are located on the same side of the KK connector assembly execution device 1, and the KK connector loading device 4 and the vision inspection system 6 are located on the same side of the TR module loading platform 3. The TR module fixing platform 2 is fixed to the TR module loading platform 3. A control unit 7 is connected to the KK connector assembly execution device 1, the TR module fixing platform 2, the TR module loading platform 3, the KK connector loading device 4, and the vision inspection system 6.

[0052] Through the above-described configuration, the control unit 7 can perform motion control and motion parameter settings on the aforementioned device, thereby achieving automated control of the KK connector automatic assembly system of the present invention. This saves manpower and improves the efficiency and accuracy of product assembly. The KK connector loading device 4 and the vision inspection system 6 are located on the same side of the TR module loading platform, allowing the KK connector assembly execution device 1 to conveniently pick up the KK connector from the KK connector loading device 4 while simultaneously performing KK connector pose and roundness detection, and transporting the KK connector to the TR module fixing platform 2 for assembly. This minimizes the movement path of the KK connector assembly execution device 1, reduces the material handling time of the KK connector assembly execution device 1, and improves the assembly efficiency of the KK connector automatic assembly system of the present invention.

[0053] like Figure 2 As shown, according to one embodiment of the present invention, the KK connector assembly execution device 1 includes: a support base 11, a six-axis robotic arm 12, and a KK connector gripping mechanism 13. In this embodiment, the six-axis robotic arm 12 is fixedly supported on the support base 11, and the KK connector gripping mechanism 13 is fixed to the end of the six-axis robotic arm 12. With the above arrangement, the six-axis robotic arm 12 can drive the KK connector gripping mechanism 13 to move linearly or rotate.

[0054] Combination Figure 2 , Figure 3As shown, according to one embodiment of the present invention, the KK connector clamping mechanism 13 includes: a clamping base 131, a pressure detection element 132, a clamping drive element 133, and an end clamping element 134. The pressure detection element 132 is fixedly supported on the clamping base 131, the clamping drive element 133 is fixedly supported on the pressure detection element 132, and the end clamping element 134 is connected to the clamping drive element 133. In this embodiment, the position and posture of the KK connector can be adjusted during the assembly process using a six-axis robotic arm, and it can be accurately adjusted to different installation positions, enhancing the flexibility and assembly accuracy of the KK connector assembly execution device 1 of the present invention. The use of the end clamping element 134 facilitates the assembly of different products, improving the applicability of the present invention. By replacing the end clamping element 134, the assembly requirements of different products can be conveniently and quickly achieved, avoiding the need to replace the entire execution device, effectively saving the expansion cost of the present invention. The end gripper 134 comprises two parts, L and R, designed in a stepped shape. The upper part has a U-shaped groove with a guide, and the bottom has an arc-shaped slot in the form of a stepped shaft. The U-shaped groove of the R part of the end gripper 134 is located above the U-shaped groove of the L part. By configuring the end gripper 134 in this manner, the KK connector gripping mechanism 13 can grip both TR modules and KK connectors, avoiding interference caused by using two sets of gripping devices. This improves the automation level of the KK connector automatic assembly system of the present invention and further enhances the assembly efficiency of the present invention.

[0055] like Figure 4 As shown, according to one embodiment of the present invention, the TR module fixing platform 2 includes: a fixing platform base 21, a detection camera 22, a TR module clamping mechanism 23, and a TR module RF port fixing mechanism 24. In this embodiment, the detection camera 22, the TR module clamping mechanism 23, and the TR module RF port fixing mechanism 24 are fixedly supported on the fixing platform base 21, with the detection camera 22 facing the TR module clamping mechanism 23. The detection camera 22 can detect the TR module encoding on the network module fixing platform 23 to determine whether the current TR module is the target to be assembled, thus improving the accuracy of KK connector assembly.

[0056] like Figure 4As shown, according to one embodiment of the present invention, the TR module clamping mechanism 23 includes: a TR module A-end fixing clamp 231, a fixing clamp moving member 232, an A-end laser sensor 233, a TR module B-end fixing clamp 234, and a B-end laser sensor 235. In this embodiment, the TR module A-end fixing clamp 231 is fixedly supported on the fixing clamp moving member 232, the A-end laser sensor 233 is fixedly supported on the TR module A-end fixing clamp 231, the TR module B-end fixing clamp 234 is fixedly supported on the fixing platform base 21, and the B-end laser sensor 235 is fixedly supported on the TR module B-end fixing clamp 234. Through the above arrangement, the fixing clamp moving member 232 drives the TR module A-end fixing clamp 231 to move linearly. Before fixing the TR module, the fixing clamp moving member 232 can be finely adjusted to make the TR module positioning accuracy more accurate, thus enhancing the flexibility and assembly accuracy of the KK connector assembly execution device 1 of the present invention. The TR module A-end fixing clamp 231 has a U-shaped groove with four round holes at its bottom, and the TR module B-end fixing clamp 234 has a U-shaped groove with two rectangular holes at its bottom. By setting the TR module clamping mechanism 23 in the above manner, both ends of the TR module can be clamped separately, ensuring that KK connectors can be assembled at both ends of the TR module.

[0057] like Figure 4 As shown, according to one embodiment of the present invention, the TR module RF port fixing mechanism 24 includes: a fixing device base 241, a fixing device drive 242, and an RF port fixing gripper 243. In this embodiment, there are two sets of fixing device base 241 and fixing device drive 242, which are symmetrically installed, and the fixing device drive 242 is fixedly supported on the fixing device base 241. The RF port fixing gripper 243 is divided into two types, A and B, which are fixedly supported on the fixing device drive 242 respectively. Through the above arrangement, the fixing device drive 242 drives the RF port fixing gripper 243 to move linearly, so that the RF port fixing gripper 243 can be finely adjusted when clamping the KK connector interface on the TR module, thereby enhancing the flexibility and assembly accuracy of the KK connector assembly execution device 1 of the present invention. Among them, both types A and B of the RF port fixing gripper 243 include two parts, L and R. Type A has one semi-circular arc groove in each of the L and R parts, and type B has two semi-circular arc grooves in each of the L and R parts. By setting the TR module RF port fixing mechanism 24 in the above manner, the KK connector interfaces at both ends of the TR module A and B can be clamped, ensuring the assembly accuracy of the KK connectors at both ends of the TR module.

[0058] like Figure 5As shown, according to one embodiment of the present invention, the TR module loading platform 3 includes: a loading platform base 31, a loading platform drive device 32, a linear slide rail assembly 33, a loading platform base plate 34, and a material tray 35. In this embodiment, there are two sets of linear slide rail assemblies 33, which are symmetrically and parallelly distributed and fixedly supported on the loading platform base 31. The loading platform drive device 32 is fixedly supported in the middle of the two sets of linear slide rail assemblies 33 and parallel to the linear slide rail assemblies 33. The loading platform base plate 34 is fixedly supported on the two sets of linear slide rail assemblies 33, and the material tray 35 is fixedly supported on the loading platform base plate 34. With the above arrangement, the loading platform drive device 32 drives the linear slide rail assembly 33 to move linearly, so that the operator can control the movement of the material tray 35 to adjust it to a suitable loading position when loading, which is convenient for personnel to load materials. Among them, the bottom of the material tray 35 is evenly distributed with U-shaped grooves containing four circular holes. By setting the TR module loading platform 3 in the above manner, the positional accuracy of the TR module after loading can be guaranteed without damaging the TR module.

[0059] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0060] The KK connector loading device and the vision inspection system are located on the same side of the TR module loading platform, which allows the KK connector assembly execution device to conveniently pick up the KK connector from the KK connector loading device while performing KK connector pose and roundness detection, and transport the KK connector to the TR module fixed platform for assembly. This minimizes the movement path of the KK connector assembly execution device, reduces the material handling time of the KK connector assembly execution device, and improves the assembly efficiency of the KK connector automatic assembly system of the present invention.

[0061] The six-axis robotic arm enables the adjustment of position and orientation during the assembly of KK connectors, accurately adjusting them to different installation locations, thus enhancing the flexibility and precision of the KK connector assembly actuator of this invention. The end gripper facilitates the assembly of different products, expanding the applicability of this invention. By replacing the end gripper, the assembly requirements of different products can be easily and quickly met, avoiding the need to replace the entire actuator and effectively saving on the expansion costs of this invention.

[0062] The stepped design of the end gripper enables the KK connector gripping mechanism to grip both the TR module and the KK connector, avoiding interference caused by using two sets of gripping devices. This improves the automation level of the KK connector automatic assembly system of the present invention and further improves the assembly efficiency of the present invention.

[0063] The visual inspection system can acquire the movement positions of the KK connector assembly actuator and the TR module clamping mechanism. Before assembling the KK connector, the visual inspection system can acquire the current pose and roundness of the KK connector to be assembled, thereby calculating the motion parameters required by the KK connector assembly actuator and the TR module clamping mechanism, ensuring that the KK connector assembly actuator can accurately assemble the product.

[0064] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. An automated assembly system for KK connectors, characterized in that, It includes a KK connector assembly execution device (1), a TR module fixing platform (2), a TR module loading platform (3), a KK connector loading device (4), an automated assembly platform (5), a vision inspection system (6), and a control unit (7). The KK connector assembly execution device (1), TR module fixing platform (2), TR module loading platform (3), KK connector loading device (4), and vision inspection system (6) are all fixed to the automated assembly platform (5); The KK connector loading device (4) and the vision inspection system (6) are located on the same side of the TR module loading platform (3). The KK connector assembly execution device (1) picks up the KK connector from the KK connector loading device (4) and performs KK connector pose and roundness detection, and transports the KK connector to the TR module fixed platform (2) for assembly, so as to achieve the shortest movement path of the KK connector assembly execution device (1). The control unit (7) is connected to the KK connector assembly execution device (1), the TR module fixing platform (2), the TR module loading platform (3), the KK connector loading device (4), and the vision inspection system (6) respectively; motion control and motion parameter setting are performed through the control unit (7); The KK connector assembly execution device (1) includes: a support base (11), a six-axis robotic arm (12), and a KK connector gripping mechanism (13); the six-axis robotic arm (12) is fixedly supported on the support base (11), and the KK connector gripping mechanism (13) is fixed at the end of the six-axis robotic arm (12); the six-axis robotic arm (12) drives the KK connector gripping mechanism (13) to move linearly or rotate. The KK connector clamping mechanism (13) includes: a clamping base (131), a pressure sensing element (132), a clamping drive element (133), and an end clamping element (134). The pressure detection element (132) is fixedly supported on the clamping base (131), and the clamping drive element (133) is fixedly supported on the pressure detection element (132). The end clamping element (134) and the clamping drive element (133) are connected by a slider and a U-shaped groove with a guide. The clamping drive element (133) electrically drives the end clamping element (134) to slide along the U-shaped groove, thereby realizing the clamping and separation of the end clamping element (134). The TR module fixing platform (2) includes: a fixing platform base (21), a detection camera (22), a TR module clamping mechanism (23), and a TR module RF port fixing mechanism (24). The detection camera (22), the TR module clamping mechanism (23), and the TR module RF port fixing mechanism (24) are fixedly supported on the fixed platform base (21); The detection camera (22) is positioned opposite the TR module clamping mechanism (23); The TR module clamping mechanism (23) includes: a TR module A-end fixing clamp (231), a fixing clamp moving part (232), an A-end laser sensor (233), a TR module B-end fixing clamp (234), and a B-end laser sensor (235). The TR module A end fixing clamp (231) is fixedly supported on the fixing clamp moving part (232), the A end laser sensor (233) is fixedly supported on the TR module A end fixing clamp (231), the TR module B end fixing clamp (234) is fixedly supported on the fixing platform base (21), and the B end laser sensor (235) is fixedly supported on the TR module B end fixing clamp (234). The fixed clamp moving part (232) drives the fixed clamp (231) at end A of the TR module to move linearly.

2. The KK connector automatic assembly system according to claim 1, characterized in that, The end gripper (134) comprises two symmetrical parts, L and R. The middle part of the L and R sections is a flat clamping surface for gripping the KK connector, and the bottom of the L and R sections is an arc-shaped clamping surface for gripping the KK connector.

3. The KK connector automatic assembly system according to claim 1, characterized in that, The bottom of the TR module A end fixing clamp (231) contains a U-shaped groove with 4 round holes; the bottom of the TR module B end fixing clamp (234) contains a U-shaped groove with 2 rectangular holes.

4. The KK connector automatic assembly system according to claim 1, characterized in that, The TR module RF port fixing mechanism (24) includes: a fixing device base (241), a fixing device drive (242), and an RF port fixing claw (243). There are two sets of the fixing device base (241) and the fixing device drive (242), which are installed symmetrically. The fixing device drive (242) is fixedly supported on the fixing device base (241); The RF port fixing gripper (243) is divided into two models, A and B, which are respectively fixedly supported on the fixing device drive (242); the fixing device drive (242) pneumatically drives the RF port fixing gripper (243) to move linearly.

5. The KK connector automatic assembly system according to claim 4, characterized in that, The RF port fixing jaws (243) in both models A and B include two parts, L and R. The radio frequency port fixing claw (243)A model has one arc-shaped slot for clamping the KK connector in the L and R parts; The radio frequency port fixing claw (243) B model has two arc-shaped slots for clamping KK connectors in the L and R parts.

6. The KK connector automatic assembly system according to claim 1, characterized in that, The TR module loading platform (3) includes: loading platform base (31), loading platform drive (32), linear slide rail assembly (33), loading platform bottom plate (34) and material tray (35); There are two sets of linear slide rail assemblies (33), which are symmetrically and parallelly distributed and fixedly supported on the loading platform base (31); the loading platform drive (32) is fixedly supported in the middle of the two sets of linear slide rail assemblies (33) and parallel to the linear slide rail assemblies (33); the loading platform base plate (34) is fixedly supported on the two sets of linear slide rail assemblies (33); the material tray (35) is fixedly supported on the loading platform base plate (34); the loading platform drive (32) drives the linear slide rail assembly (33) to move linearly.

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