A vision-guided arrayed vertical blind-mating connector assembly system and method

Abstract

The present invention provides a vision-guided arrayed vertical blind-plug connector assembly system and method, which relates to the technical field of electronic equipment assembly. First, an electric gripper is used to grab the KK connector to be assembled to complete the loading, an industrial camera takes a photo to identify the SMPM socket hole position on the PCB function board, guides the KK connector insertion module to complete the single insertion of the KK connector, and calls the visual algorithm to perform insertion quality inspection; a visual algorithm is used to identify the mark point of the PCB function board, a pneumatic gripper grabs the antenna board, the PCB board is moved to a specified position, and a floating posture adjustment device adjusts the posture of the antenna board to achieve overall press-fitting with the PCB board; finally, the PCB board and the antenna board are screwed together. The present invention uses force sensors and laser displacement sensors to collect and monitor key assembly process parameters in real time, and intervenes and adjusts in time if there are abnormalities. The present invention can realize high-precision automated assembly of arrayed vertical blind-plug connectors, greatly improving assembly efficiency and quality.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic equipment assembly, and in particular to a vision-guided arrayed vertical blind-mating connector assembly system and method. Background Art

[0002] SMPM-KK arrayed vertical blind-mate connectors are basic components commonly used to achieve the transmission of electrical signals and related control signals between electronic functional devices, components and systems, and are an indispensable part of electronic equipment systems. Ideally, after the SMPM socket and KK connector are assembled, the axial and radial deviations meet the tolerance requirements. However, at this stage, the connectors rely on technicians to manually insert them using auxiliary tools, the assembly process is invisible, the assembly status is unknown, the assembly accuracy is poor, the efficiency is low, the quality consistency is poor, and there is a lack of effective detection methods during the insertion process. After assembly, the connector is prone to posture deviations or even damage, affecting the high-frequency signal transmission performance. Summary of the invention

[0003] Purpose of the invention: In view of the shortcomings of the prior art and to meet the requirements for high-precision assembly of arrayed vertical blind-mate connectors, the present invention provides a vision-guided arrayed vertical blind-mate connector assembly system and method, aiming to effectively improve assembly efficiency and quality.

[0004] To achieve the above-mentioned object, the first aspect of the present invention provides a visually guided arrayed vertical blind-mating connector assembly system, the system comprising: an assembly table, a support bracket, a KK connector automatic feeding module, a KK connector plug-in module, an antenna board integral press-fit module, a screw tightening module, and a workpiece conveying module;

[0005] The workpiece conveying module and the supporting bracket are installed on the assembly table; the KK connector insertion module, the antenna board integral press-fitting module and the screw tightening module are all installed on the supporting bracket; the KK connector automatic loading module, the PCB functional board to be assembled and the antenna board are placed on the workpiece conveying module; the workpiece conveying module is installed under the supporting bracket.

[0006] In a further embodiment of the first aspect, in the automatic feeding module of the KK connector, when the feeding mechanism is in operation, the KK connector is fed through a vibration plate and transmitted to a jig through a pipeline. The jig is driven by a servo motor to move the KK connector to a specified position and maintain a vertical posture waiting for the electric gripper to clamp it.

[0007] In a further embodiment of the first aspect, the KK connector plug-in module includes an industrial camera, a coaxial light source, a telecentric lens, an electric gripper, a three-dimensional force sensor, a laser displacement sensor, and a first servo motion module. The industrial camera is fixed to the first bracket mounting plate with screws through the first adapter plate; the coaxial light source is fixed to the first bracket mounting plate with screws through the second adapter plate; the telecentric lens is connected to the industrial camera through its own thread; the electric gripper is fixed to the bottom surface of the three-dimensional force sensor through the third adapter plate with screws; the laser displacement sensor is fixed to the back of the first bracket mounting plate with screws; the three-dimensional force sensor is fixed to the bottom surface of the first bracket; and the first servo motion module is fixed to the first support bracket with screws.

[0008] In a further embodiment of the first aspect, the antenna plate integral press-fitting module includes a pneumatic clamp, a plate surface positioning pin, a pressure block suction cup, a six-dimensional force sensor, a floating attitude adjustment device, and a second servo motion module. The pneumatic clamp is fixed to the six-dimensional force sensor via a fourth adapter plate using screws; the pressure block suction cup is fixed to the left and right sides of the lower bottom surface of the fourth adapter plate; the positioning pin is fixed to the lower bottom surface of the floating attitude adjustment device via screws; the floating attitude adjustment device is connected to the lower bottom surface of the second bracket via screws; the second bracket is fixed to the slider of the second servo motion module via a fifth adapter plate; and the second servo motion module is fixed to the second support bracket via screws.

[0009] In a further embodiment of the first aspect, the screw tightening module includes a screw tightening bit, a torque sensor, a movable cylinder and an automatic nail feeding device. The torque sensor is located above the screw tightening bit, and the automatic nail feeding device is located below the screw tightening bit; the movable cylinder is fixed to the third support bracket by screws.

[0010] In a further embodiment of the first aspect, the workpiece transfer module includes a moving guide rail, a loading jig, a supporting base plate and a workpiece clamping cylinder, the workpiece clamping cylinder is installed on the loading jig, the loading jig is fixed to the supporting base plate by screws, and the supporting base plate is connected to the moving guide rail by screws.

[0011] In a further embodiment of the first aspect, the KK connector contour clamping tool is fixed to the bottom slide of the electric clamp by screws.

[0012] As a second aspect of the present invention, a vision-guided arrayed vertical blind-mate connector assembly method is proposed. The assembly method is implemented based on the arrayed vertical blind-mate connector assembly system described in the first aspect, and specifically includes the following steps:

[0013] Step 1: Place the PCB functional board and antenna board to be assembled on the loading fixture, use the workpiece clamping cylinder to clamp the workpiece, and complete the workpiece loading;

[0014] Step 2: The PLC controller issues a command, the KK connector automatic feeding module feeds the material, the first servo motion module drives the KK connector insertion module to move to the specified position, and the electric gripper grabs the KK connector to complete the feeding;

[0015] Step 3: The workpiece transfer module drives the PCB function board to move below the KK connector plug-in module. The industrial camera takes the image of the SMPM socket, obtains the coordinates of the center position of the socket through the image processing algorithm and converts it to the world coordinate system.

[0016] Step 4: According to the position coordinate instruction, the workpiece transfer module drives the PCB function board to the specified position, and the electric gripper drops to the specified insertion depth and releases the KK connector, inserting the KK connector into the SMPM socket;

[0017] Step 5: The industrial camera takes the image again, and the image processing algorithm is used to determine the insertion quality, check whether there is any missing insertion, and manually adjust the KK connector with abnormal posture;

[0018] Step 6: Follow the process described in Step 2, Step 3, Step 4 and Step 5 to complete the installation of all KK connectors on the PCB functional board in the specified order;

[0019] Step 7: After the KK connector is installed, the industrial camera takes an image to identify the mark point of the PCB function board, determines the position of the PCB function board, and the pneumatic gripper grabs the antenna board. The PCB function board moves along the guide rail to the bottom of the antenna board press-fit module. After the floating posture adjustment device adjusts the antenna board posture according to the position coordinates, the antenna board is pressed onto the PCB function board as a whole.

[0020] Step 8: After the antenna board is pressed, the whole is moved along the guide rail to the bottom of the screw tightening module. The motion cylinder drives the screw tightening bit to tighten the antenna board and the PCB functional board to complete the final assembly.

[0021] Furthermore, in the step three, the socket center positioning method of DBSCAN clustering is adopted: first, the collected socket image is preprocessed to obtain the edge contour point set; secondly, a random three-point circle fitting method is used to obtain multiple center points and construct a candidate center point set; finally, the DBSCAN method is applied to cluster the candidate center point set, eliminate image noise, and obtain the real socket center coordinates.

[0022] Furthermore, in step 4, a three-dimensional force sensor and a laser displacement sensor are used to monitor the KK connector insertion pressure and insertion displacement in real time. If the curve is abnormal or exceeds the set threshold, and A warning is issued.

[0023] Furthermore, in step 5, the insertion quality detection uses a visual processing algorithm to fit the center of the SMPM socket and the center of the KK connector to determine the distance between the two. The timepiece is unqualified and requires manual intervention.

[0024] Furthermore, in step 7, a six-dimensional force sensor is used to monitor the overall pressing force of the antenna plate in real time, and if the pressing force exceeds the set threshold, A warning is issued.

[0025] Furthermore, the socket center positioning method of DBSCAN clustering includes the following steps:

[0026] S1. After collecting the SMPM socket image using an industrial camera, an enhancement transformation is used to highlight the socket target area and enhance the details of the low-grayscale part of the image;

[0027] S2. Use the binary threshold segmentation algorithm to determine a suitable threshold, set the pixel points with grayscale values ​​less than the threshold to 0, and vice versa, set them to 1, and divide the image into foreground and background to highlight the socket target;

[0028] S3, using a morphological processing method combining corrosion and expansion to fill the obvious holes in the socket image and eliminate outliers;

[0029] S4, using the Canny edge detection algorithm to extract the key feature edges of the socket;

[0030] S5. Set the socket outline edge point Store points in order ,from Randomly select 3 different edge points , , ;

[0031] S6. Calculate the center coordinates by three-point random circle fitting method , stored in the candidate center point set When the number of circle centers reaches the corresponding number of edge points Stop iteration when

[0032] S7, using DBSCAN algorithm to analyze the circle center point set Clustering is performed to divide the candidate circle center point set into core points, boundary points and noise points, the noise point set is eliminated, and the cluster center of the core point set is obtained as the true coordinates of the SMPM socket position.

[0033] The present invention can achieve the following beneficial effects:

[0034] 1. The present invention first uses an industrial camera to take pictures and locate the hole position of the SMPM socket, visually guides the KK connector insertion module to grab the connector, and moves the PCB function board to the specified coordinates to complete the insertion; secondly, the insertion quality inspection is performed, and the algorithm is used to determine whether the relative posture of the KK connector and the SMPM socket meets the tolerance requirements; the Mark point on the surface of the PCB function board is visually identified, and the antenna board posture is adjusted according to the position coordinates by using a floating posture adjustment device to complete the overall press installation of the antenna board. The assembly process is automated, which greatly improves the assembly accuracy and efficiency and reduces the labor intensity of workers;

[0035] 2. The present invention uses force sensors and laser displacement sensors to detect key process parameters during the KK connector insertion and antenna board press-assembly process. After the KK connector is inserted, an industrial camera is used to detect the insertion quality, quantifying the assembly quality assessment indicators and effectively ensuring the assembly quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the assembly device of the present invention.

[0037] Figure 2 Schematic diagram of the SMPM-KK blind-mate connection assembly.

[0038] Figure 3 Schematic diagram of the workpiece transfer module.

[0039] Figure 4 This is a schematic diagram of the KK connector plug-in module.

[0040] Figure 5 This is a schematic diagram of the overall press-fit module of the antenna board.

[0041] Figure 6 Schematic diagram of the screw tightening module.

[0042] Figure 7 This is the KK connector insertion displacement-insertion force curve.

[0043] Figure markings: 1-assembly table, 2- KK connector automatic feeding module, 3- KK connector plug-in module, 4-antenna board integral press-fit module, 5-screw tightening module, 6-workpiece conveying module, 7-SMPM socket, 8-KK connector, 9-antenna board, 10-PCB function board, 11-motion guide rail, 12-feeding fixture, 13-workpiece clamping cylinder, 14-support base plate, 15-industrial camera, 16-coaxial light source, 17-telecentric lens, 18-electric gripper, 19-three-dimensional force sensor, 20-laser displacement sensor, 21-first servo motion module, 22-first adapter plate, 23-first bracket mounting plate, 24-second adapter plate, 25-third adapter plate, 26-first bracket, 27-first supporting bracket, 28-contact tooling, 29-pneumatic clamping jaws, 30-plate positioning pins, 31-pressure block suction cups, 32-six-dimensional force sensor, 33-floating posture adjustment device, 34-second servo motion module, 35-fourth adapter plate, 36-second bracket, 37-fifth adapter plate, 38-second supporting bracket, 39-screw tightening bit, 40-torque sensor, 41-moving cylinder, 42-automatic nail feeding device, 43-third supporting bracket. DETAILED DESCRIPTION

[0044] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

[0045] The present invention will be further described below in conjunction with the accompanying drawings.

[0046] like Figure 1 A visually guided arrayed vertical blind-plug connector assembly system is shown, comprising an assembly table 1, a KK connector automatic loading module 2, a first supporting bracket 27, a second supporting bracket 38, a third supporting bracket 43, a KK connector plug-in module 3, an antenna board integral pressing module 4, a screw tightening module 5, and a workpiece conveying module 6.

[0047] The workpiece transfer module 6 , the first support bracket 27 , the second support bracket 38 , and the third support bracket 43 are installed on the assembly table 1 .

[0048] The KK connector plug-in module 3, the antenna board integral press-fit module 4 and the screw tightening module 5 are all installed on the first support bracket 27, the second support bracket 38 and the third support bracket 43. The KK connector automatic feeding module 2, the PCB functional board 10 to be assembled and the antenna board 9 are placed on the workpiece conveying module 6. The workpiece conveying module 6 is installed below the first support bracket 27, the second support bracket 38 and the third support bracket 43.

[0049] The SMPM-KK arrayed vertical blind-mate connector assembly is composed of two SMPM sockets 7 and a KK connector 8. Figure 2 As shown, the upper surface of the PCB functional board 10 and the lower surface of the antenna board 9 are both welded with arrayed and densely distributed SMPM sockets, and both ends of the KK connector are respectively inserted into the SMPM sockets for transmitting high-frequency signals between boards.

[0050] The first servo motion module 21 moves in the Z direction to realize socket image acquisition, KK connector insertion, insertion quality inspection and PCB functional board positioning; the second servo motion module 34 moves in the Z direction to realize the overall press-fitting of the antenna board; the mobile cylinder 41 drives the screw tightening module 5 to move in the Z direction to realize the screw tightening of the antenna board and the PCB functional board.

[0051] like Figure 3 As shown, the workpiece transfer module 6 includes a motion guide rail 11, a loading fixture 12, a support base plate 14 and a workpiece clamping cylinder 13. The workpiece clamping cylinder 13 is installed on the loading fixture 12. The loading fixture 12 is fixed to the support base plate 14 by screws, and the support base plate 14 is connected to the motion guide rail 11 by screws. The PCB function board 10 and the antenna board 9 are fixed to the loading fixture 12 by the workpiece clamping cylinder 13, and realize XY direction movement under the drive of the workpiece transfer module 6.

[0052] like Figure 4 As shown, the KK connector plug-in module 3 includes an industrial camera 15, a coaxial light source 16, a telecentric lens 17, an electric clamp 18, a three-dimensional force sensor 19, a laser displacement sensor 20 and a first servo motion module 21. The industrial camera 15 is fixed to the first bracket mounting plate 23 by screws through the first adapter plate 22; the coaxial light source 16 is fixed to the first bracket mounting plate 23 by screws through the second adapter plate 24; the telecentric lens 17 is connected to the industrial camera 15 by self-threaded connection; the electric clamp 18 is fixed to the lower bottom surface of the three-dimensional force sensor 19 by screws through the third adapter plate 25; the laser displacement sensor 20 is fixed to the back of the first bracket mounting plate 23 by screws; the three-dimensional force sensor 19 is fixed to the lower bottom surface of the first bracket 26; and the first servo motion module 21 is fixed to the first support bracket 27 by screws.

[0053] The industrial camera 15 is used to determine the coordinate positions of the SMPM socket and the mark point on the PCB board, and to detect the assembly quality of the KK connector and whether there is any missing insertion.

[0054] The KK connector automatic feeding module 2, when the feeding mechanism is in operation, the KK connector is fed through the vibration plate and transmitted to the fixture through the pipeline. The fixture drives the servo motor to move the KK connector to the specified feeding position and maintain a vertical posture waiting for the electric gripper to clamp it.

[0055] The KK connector automatic feeding module 2 reaches below the electrical connector insertion module 3, and the electric gripper 18 grabs the KK connector from the specified feeding position. The industrial camera captures the image of the SMPM socket on the PCB functional board, and after obtaining the hole coordinates using the socket center positioning method based on DBSCAN clustering, the workpiece transfer module 6 drives the PCB functional board to the specified position, and the electric gripper 18 drops to the specified insertion depth and releases the KK connector.

[0056] The socket center positioning method based on DBSCAN clustering includes the following steps:

[0057] (1) After using an industrial camera to capture the SMPM socket image, an enhancement transformation is used to highlight the socket target area and enhance the details of the low-grayscale part of the image;

[0058] (2) Using the binary threshold segmentation algorithm, determine a suitable threshold, set the pixel points with grayscale values ​​less than the threshold to 0, and vice versa, set them to 1, and segment the image into foreground and background to highlight the socket target;

[0059] (3) A morphological processing method combining corrosion and dilation is used to fill the obvious holes in the socket image and eliminate outliers;

[0060] (4) Use the Canny edge detection algorithm to extract the key feature edges of the socket;

[0061] (5) Set the socket outline edge point Store points in order ,from Randomly select 3 different edge points , , ;

[0062] (6) Calculate the coordinates of the circle center by the three-point random circle fitting method , stored in the candidate center point set When the number of circle centers reaches the corresponding number of edge points Stop iteration when

[0063] (7) Use DBSCAN algorithm to analyze the circle center point set Clustering is performed to divide the candidate circle center point set into core points, boundary points and noise points, the noise point set is eliminated, and the cluster center of the core point set is obtained as the true coordinates of the SMPM socket position.

[0064] The KK connector profiling clamping tool 28 is fixed to the bottom slider of the electric clamp 18 by screws. When loading and clamping, the slider moves from both sides to the middle, driving the tool to clamp the KK connector. The first servo motion module drives the electric clamp to descend to the specified insertion depth, and the bottom slider moves from the middle to both sides to reset, driving the tool to release the KK connector. The KK connector profiling clamping tool 28 ensures the stability of the KK connector during transportation and insertion, and improves the insertion accuracy and stability.

[0065] After a single KK connector is installed, the industrial camera takes an image of each SMPM socket and uses an image processing algorithm to detect the installation quality of the KK connector and whether there is any missing insertion.

[0066] like Figure 5 As shown, the antenna board integral press-fitting module includes a pneumatic clamp 29, a plate surface positioning pin 30, a pressure block suction cup 31, a six-dimensional force sensor 32, a floating posture adjustment device 33 and a second servo motion module 34. The pneumatic clamp 29 is fixed to the six-dimensional force sensor 32 through a fourth adapter plate 35 by screws; the pressure block suction cup 31 is fixed to the left and right sides of the lower bottom surface of the fourth adapter plate 35; the plate surface positioning pin 30 is fixed to the lower bottom surface of the floating posture adjustment device 33 by screws; the floating posture adjustment device 33 is connected to the lower bottom surface of the second bracket 36 by screws; the second bracket 36 is fixed to the slider of the second servo motion module 34 through the fifth adapter plate 37; the second servo motion module 34 is fixed to the second support bracket 38 by screws.

[0067] The industrial camera 15 takes an image to identify the mark point of the PCB functional board, determines the position of the PCB functional board, and the pneumatic clamp 29 grabs the antenna board. The PCB functional board moves along the guide rail 11 to the bottom of the antenna board press-fitting module 4. The floating posture adjustment device 33 adjusts the posture of the antenna board. The positioning pin 30 is inserted into the positioning hole of the PCB board feed fixture 12, so that the KK connector on the upper surface of the antenna board is fully inserted into the SMPM socket installed on the lower surface of the antenna board to complete the overall press-fitting.

[0068] like Figure 6 As shown, the screw tightening module 5 includes a screw tightening bit 39, a torque sensor 40, a movable cylinder 41 and an automatic nail feeding device 42. The torque sensor 40 is located above the screw tightening bit 39, and the automatic nail feeding device 42 is located below; the movable cylinder 41 is fixed to the third support bracket 43 by screws.

[0069] Specifically, the automated assembly of arrayed vertical blind-mate connectors includes the following steps:

[0070] Step 1: Place the PCB functional board and antenna board to be assembled on the loading fixture 12, and use the workpiece clamping cylinder 13 to clamp the workpiece to complete the workpiece loading;

[0071] Step 2: The PLC controller issues a command, the KK connector automatic feeding module 2 feeds the material, the first servo motion module 21 drives the KK connector insertion module 3 to move to the specified position, and the electric gripper 18 grabs the KK connector to complete the feeding;

[0072] Step 3: The workpiece transfer module 6 drives the PCB function board to move below the KK connector insertion module 3, and the industrial camera 15 takes an image of the SMPM socket, obtains the coordinates of the center position of the socket through an image processing algorithm and converts it to the world coordinate system;

[0073] Step 4: According to the position coordinate instruction, the workpiece transfer module 6 drives the PCB function board to the specified position, and the electric gripper 18 releases the KK connector after descending to the specified insertion depth, and inserts the KK connector into the SMPM socket;

[0074] Step 5: The industrial camera 15 takes an image again, determines the insertion quality through the image processing algorithm, checks whether there is any missing insertion, and manually adjusts the KK connector with an abnormal posture;

[0075] Step 6: Follow the process described in Step 2, Step 3, Step 4 and Step 5 to complete the installation of all KK connectors on the PCB functional board in the specified order;

[0076] Step 7: After the KK connector is installed, the industrial camera 15 takes an image to identify the mark point of the PCB function board, determines the position of the PCB function board, and the pneumatic gripper 29 grabs the antenna board. The PCB function board moves along the guide rail 11 to the bottom of the antenna board press-fitting module 4. After the floating posture adjustment device 33 adjusts the posture of the antenna board according to the position coordinates, the antenna board is pressed onto the PCB function board as a whole.

[0077] Step 8: After the antenna board is pressed, the whole is moved along the guide rail 11 to the bottom of the screw tightening module 5, and the motion cylinder 41 uses the screw tightening bit 39 to screw the antenna board and the PCB functional board to complete the final assembly;

[0078] Furthermore, in step 4, the three-dimensional force sensor 19 and the laser displacement sensor 20 are used to monitor the KK connector insertion pressure and insertion displacement in real time, and the curve is abnormal (see Figure 7 ) or exceeds the set threshold and A warning is issued.

[0079] Furthermore, if Figure 7As shown in the insertion displacement-insertion force curve, when the insertion feed is too large, that is, after the G point, the insertion force will have a large mutation, and the insertion force will rise rapidly and linearly, causing damage to the electrical connector structure.

[0080] Furthermore, in step 5, the insertion quality detection uses a visual processing algorithm to fit the center of the SMPM socket and the center of the KK connector to determine the distance between the two. The timepiece is unqualified and requires manual intervention.

[0081] Furthermore, in step 7, the six-dimensional force sensor 32 is used to monitor the overall pressing force of the antenna plate in real time. A warning is issued.

[0082] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A vision-guided arrayed vertical blind-mate connector assembly system, characterized in that: include: Assembly table, support bracket, KK connector automatic feeding module, KK connector plug-in module, antenna board integral press-fit module, screw tightening module, workpiece conveying module; The workpiece transfer module and the support bracket are mounted on the assembly table; The KK connector plug-in module, the antenna board integral press-fit module and the screw tightening module are all installed on the support bracket; The KK connector automatic feeding module is placed on the workpiece conveying module, and the workpiece conveying module is also placed with a PCB functional board and an antenna board; The workpiece transfer module is installed below the support bracket; The KK connector plug-in module includes an industrial camera, a coaxial light source, a telecentric lens, an electric gripper, a three-dimensional force sensor, a laser displacement sensor and a first servo motion module; The industrial camera is fixed to the first bracket mounting plate via a first adapter plate; The coaxial light source is fixed to the first bracket mounting plate via a second adapter plate; The telecentric lens is connected to an industrial camera; The electric gripper is fixed to the lower surface of the three-dimensional force sensor through a third adapter plate; The laser displacement sensor is fixed on the back of the first bracket mounting plate; The three-dimensional force sensor is fixed on the bottom surface of the first bracket; the first servo motion module is fixed on the first supporting bracket; The antenna board integral press-fitting module includes a pneumatic clamp, a board positioning pin, a pressing block suction cup, a six-dimensional force sensor, a floating posture adjustment device and a second servo motion module; The pneumatic gripper is fixed to the six-dimensional force sensor via a fourth adapter plate; The pressing block suction cups are fixed on the left and right sides of the lower bottom surface of the fourth adapter plate; The positioning pin is fixed on the lower bottom surface of the floating posture adjustment device; The floating posture adjustment device is connected to the lower bottom surface of the second bracket; The second bracket is fixed to the slider of the second servo motion module through the fifth adapter plate; The second servo motion module is fixed on the second supporting bracket.

2. The vision-guided arrayed vertical blind-mate connector assembly system according to claim 1, characterized in that: When the KK connector automatic feeding module is running, the KK connector is fed through the vibration plate and transmitted to the fixture through the pipeline. The fixture is driven by the servo motor to move the KK connector to the specified position and maintain a vertical posture waiting for the electric gripper to clamp it.

3. The vision-guided arrayed vertical blind-mate connector assembly system according to claim 1, characterized in that: The screw tightening module includes a screw tightening bit, a torque sensor, a moving cylinder and an automatic nail feeding device; The torque sensor is located above the screw tightening bit, and the automatic nail feeding device is located below the screw tightening bit. The moving cylinder is fixed on the third supporting bracket by screws.

4. The vision-guided arrayed vertical blind-mate connector assembly system according to claim 1, characterized in that: The workpiece transfer module includes a motion guide rail, a loading fixture, a supporting base plate and a workpiece clamping cylinder; The workpiece clamping cylinder is installed on a loading jig, the loading jig is fixed on a supporting base plate, and the supporting base plate is connected to the motion guide rail; The three-dimensional force sensor is fixed on the bottom surface of the first bracket, the six-dimensional force sensor is fixed on the bottom surface of the positioning pin top plate, and the laser displacement sensor is fixed on the back of the first bracket mounting plate; A KK connector contour clamping tool is fixed on the bottom slide of the electric clamp.

5. A vision-guided arrayed vertical blind-mate connector assembly method, characterized in that: The assembly method is implemented based on the arrayed vertical blind-mate connector assembly system described in any one of claims 1 to 4; the assembly method comprises the following steps: Step 1: Place the PCB functional board and antenna board to be assembled on the loading fixture, use the workpiece clamping cylinder to clamp the workpiece, and complete the workpiece loading; Step 2: The PLC controller issues a command, the KK connector automatic feeding module feeds the material, the first servo motion module drives the KK connector insertion module to move to the specified position, and the electric gripper grabs the KK connector to complete the feeding; Step 3: The workpiece transfer module drives the PCB function board to move below the KK connector plug-in module. The industrial camera takes the image of the SMPM socket, obtains the coordinates of the center position of the socket through the image processing algorithm and converts it to the world coordinate system. Step 4: According to the position coordinate instruction, the workpiece transfer module drives the PCB function board to the specified position, and the electric gripper drops to the specified insertion depth and releases the KK connector, inserting the KK connector into the SMPM socket; Step 5: The industrial camera takes the image again, and the image processing algorithm is used to determine the insertion quality, check whether there is any missing insertion, and manually adjust the KK connector with abnormal posture; Step 6: Follow the process described in Step 2, Step 3, Step 4 and Step 5 to complete the installation of all KK connectors on the PCB functional board in the specified order; Step 7: After the KK connector is installed, the industrial camera takes an image to identify the mark point of the PCB function board, determines the position of the PCB function board, and the pneumatic gripper grabs the antenna board. The PCB function board moves along the guide rail to the bottom of the antenna board press-fit module. After the floating posture adjustment device adjusts the antenna board posture according to the position coordinates, the antenna board is pressed onto the PCB function board as a whole. Step 8: After the antenna board is pressed, the whole is moved along the guide rail to the bottom of the screw tightening module. The motion cylinder drives the screw tightening bit to tighten the antenna board and the PCB functional board to complete the final assembly.

6. The method for assembling a vertical blind-mate connector array under visual guidance according to claim 5, characterized in that: In the step 3, the socket center positioning method using DBSCAN clustering is specifically including: Perform preprocessing operations on the collected socket image to obtain an edge contour point set; A random three-point circle fitting method is used to obtain multiple circle centers and construct a candidate circle center point set; The DBSCAN method is used to cluster the circle center point set, remove image noise points, and obtain the true center coordinates of the socket.

7. The method for assembling a vertical blind-mate connector array under vision guidance according to claim 5, characterized in that: In step 4, a three-dimensional force sensor and a laser displacement sensor are used to monitor the KK connector insertion pressure and insertion displacement in real time. If the curve is abnormal or exceeds the insertion pressure threshold, and the insertion displacement threshold A warning is issued.

8. The method for assembling a vertical blind-mate connector array under vision guidance according to claim 7, characterized in that: In step 5, the insertion quality inspection uses a visual processing algorithm to fit the center of the SMPM socket and the center of the KK connector to determine the distance between the two. If the timepiece is unqualified, manual intervention is required; In step 7, a six-dimensional force sensor is used to monitor the overall press-fitting force of the antenna board in real time. If the press-fitting force exceeds the insertion pressure threshold, A warning is issued.

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