Automatic butting and tightening device for connector and using method of automatic butting and tightening device

Abstract

The invention discloses an automatic connector butting and tightening device and a using method thereof. The automatic connector butting and tightening device comprises an equipment base. The workbench is arranged on the equipment base; the robot system is arranged on the base, and the robot system is provided with a mechanical arm and a visual camera; the servo translation system is arranged on the workbench, and the servo translation system is provided with a tightening gun and a tightening head; the robot control system is arranged on the base; wherein the visual camera is used for identifying a target interface and a connector, guiding posture transformation and movement of the mechanical arm and assisting the mechanical arm in completing unmanned automatic taking and alignment of the connector. And the servo moving translation system is used for driving the tightening gun and the tightening head to tighten the connector and the female seat, and unmanned automatic tightening is completed. The connection between the work heads and the female seats of excessive wire harness connectors can be automatically completed, and the connector taking by a mechanical arm can be automatically completed; the nut of the connector is automatically tightened; and the whole process is less in human intervention.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing and butt-joint tightening devices, and in particular to an automatic butt-joint tightening device for connectors and a method for using the same. Background Art

[0002] At present, with the development of aerospace industry, there are many connectors in various equipment, and at the same time, there are high requirements for the connection performance of connectors. Before the equipment leaves the factory or during use, it is often necessary to conduct multiple electrical tests.

[0003] In the prior art, such work is often done by manually picking up the connector and tightening the connector nut with a corresponding torque gun. When there are a large number of installations, it is difficult to avoid accidental errors, such as incorrect connector installation position, incorrect connector tightening torque, etc., which will bring difficulties to subsequent work and even cause irreversible damage. In addition, for a large number of connection installations, it is also a waste of time and inefficiency to rely solely on manual work.

[0004] In summary, there is at least one of the following technical problems:

[0005] Manually picking up the connector and tightening the connector nut with a corresponding torque gun will inevitably lead to accidental errors when working with a large number of installations;

[0006] A large amount of connection and installation work is a waste of time and inefficient if it is done manually. Summary of the invention

[0007] The main purpose of the present invention is to provide an automatic connector docking and tightening device and a method of using the same, so as to solve at least one technical problem that in the prior art, when manually taking the connector and tightening the connector nut through a corresponding torque gun, accidental errors are difficult to avoid when a large number of installation tasks are performed; and a large number of connection and installation tasks are also a waste of time and inefficiency if performed manually alone.

[0008] In order to achieve the above object, according to one aspect of the present invention, there is provided a connector automatic docking and tightening device, comprising:

[0009] Equipment base;

[0010] A workbench, wherein the workbench is arranged on a device base;

[0011] A robot system, wherein the robot system is arranged on a base, and the robot system has a robot arm and a visual camera;

[0012] A servo translation system, wherein the servo translation system is arranged on a workbench and comprises a tightening gun and a tightening head;

[0013] A robot control system, wherein the robot control system is arranged on a base;

[0014] The visual camera is used to identify the target interface and connector, guide the posture change and movement of the robot arm, and assist the robot arm to complete the unmanned automatic picking and alignment of the connector. The servo mobile translation system is used to drive the tightening gun and the tightening head to tighten the connector and the socket to complete the unmanned automatic tightening.

[0015] Preferably, the robot system comprises:

[0016] Robotic arm base;

[0017] A mechanical arm, wherein the mechanical arm is arranged on a mechanical arm base;

[0018] A visual camera, wherein the visual camera is arranged on the robot arm;

[0019] A movable clamping claw is arranged on the mechanical arm.

[0020] Preferably, the servo translation system comprises:

[0021] A cylinder, wherein the cylinder is arranged on a workbench;

[0022] A support frame, the support frame is arranged at the upper end of the cylinder;

[0023] A servo motor, wherein the servo motor is arranged on a support frame and connected to a sliding frame via a transmission belt;

[0024] A transverse guide rail, wherein the transverse guide rail is arranged on the support frame;

[0025] a sliding frame, the sliding frame cooperating with the transverse guide rail;

[0026] A longitudinal guide rail, the longitudinal guide rail being arranged on the sliding frame;

[0027] a tightening gun mounting frame, the tightening gun mounting frame cooperating with the longitudinal guide rail;

[0028] A tightening gun, wherein the tightening gun is arranged on a tightening gun mounting frame;

[0029] A tightening head is arranged on the tightening gun.

[0030] Preferably, the cylinder, the transverse guide rail and the longitudinal guide rail are used to drive the tightening gun mounting frame to translate along the transverse and longitudinal directions, and the tightening gun mounting frame drives the tightening gun and the tightening head to align with the nut to be tightened.

[0031] Preferably, the connector to be connected is connected by the testing equipment, the position of the connector to be connected is obtained by a visual camera, and the robot control system moves the mechanical arm to the corresponding position to automatically realize the alignment position.

[0032] Preferably, the movable clamping jaws grasp the corresponding connector and move to the corresponding socket to adjust the posture, so as to realize automatic docking of the connectors. The clamping jaws adopt a floating unit to ensure smooth docking of the connector and the socket.

[0033] Preferably, when the connectors are docked, the servo motor receives a servo signal and drives the transverse guide rail slider and the longitudinal guide rail slider to adjust their positions, and when the tightening gun and the tightening head reach the specified position, the tightening gun drives the tightening head to tighten the connector, and when the specified torque is reached, the tightening is completed.

[0034] Preferably, the robot control system is controlled by a PLC controller.

[0035] Preferably, the tightening gun mounting bracket is connected to a servo translation device, and the servo translation device is used to move the tightening gun mounting bracket.

[0036] According to another aspect of the present invention, a method for using a connector automatic docking and tightening device is provided, comprising:

[0037] Step 1: Manually install the tooling and place it on the workbench in order;

[0038] Step 2: Use a visual camera to take a photo and identify the position of the workpiece base;

[0039] Step 3: Take the corresponding second connector by the movable gripper in the robotic arm;

[0040] Step 4: Take a photo with a visual camera to confirm the location again;

[0041] Step 5: Use the robotic arm to dock the second connector with the workpiece base according to visual guidance;

[0042] Step 6: After the docking is completed, the servo translation system drives the tightening gun to tighten the connector nut through the tightening head;

[0043] Step 7: After the torque feedback is qualified, the tightening head is pushed out and the robot gripper is released;

[0044] Step 8: Take another photo with the visual camera and dock at the next location;

[0045] Step 9: After multiple connectors are docked, the robot system is reset, the servo translation system is reset, and the tightening process is completed.

[0046] The application of the technical solution of the present invention has the following technical effects:

[0047] The present invention adopts automatic recognition and precise control technology, which can realize the automatic alignment and tightening process of the connector and the socket, and can replace manual operation, especially play an advantage in large-scale work, greatly improve test efficiency and reduce labor costs; the present invention adopts intelligent visual recognition and real-time feedback robot control system, which does not require human intervention, effectively avoids errors caused by manual operation, ensures the accuracy and reliability of the connector plugging process, and improves the degree of automation; the servo translation system adopts PLC control, and the servo motor drives the cylinder and the guide rail slider. The whole process has fast response and high precision, and can quickly and accurately move the tightening gun and the tightening head to the specified position after receiving the movement instruction; the tightening gun is equipped with a torque sensor to prevent damage when tightening the connector nut. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0049] Figure 1 A schematic structural diagram of an automatic connector docking and tightening device according to the present invention is shown;

[0050] Figure 2 Shows Figure 1 A structural view of the robot system of the automatic connector docking and tightening device;

[0051] Figure 3 Shows Figure 1 Structural view of the servo translation system of the connector automatic docking and tightening device;

[0052] Figure 4 Shows Figure 1 Figure 2. The docking and tightening process view of the connector automatic docking and tightening device.

[0053] The above drawings include the following reference numerals:

[0054] Robot system 1; robot arm 11; visual camera 12; movable gripper 13; connector 14; robot arm base 15; servo translation system 2; tightening head 21; tightening gun 22; tightening gun mounting bracket 23; cylinder 24; servo motor 25; transverse guide slider 26; longitudinal guide slider 27; workbench 3; equipment base 4; tooling 5; workpiece base 51; testing equipment 6; robot controller system 8. DETAILED DESCRIPTION

[0055] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] like Figures 1 to 4 As shown, an embodiment of the present invention provides an automatic connector docking and tightening device, including: an equipment base 4; a workbench 3, the workbench 3 is arranged on the equipment base 4; a robot system 1, the robot system 1 is arranged on the base, the robot system 1 has a mechanical arm 11 and a visual camera; a servo translation system 2, the servo translation system 2 is arranged on the workbench 3, the servo translation system 2 has a tightening gun 22 and a tightening head 21; a robot control system, the robot control system is arranged on the base; wherein, the visual camera is used to identify the target interface and connector, guide the posture change and movement of the mechanical arm 11, and assist the mechanical arm 11 to complete the unmanned automatic picking and alignment of the connector. The servo mobile translation system is used to drive the tightening gun 22 and the tightening head 21 to tighten the connector and the socket to complete unmanned automatic tightening.

[0057] In this embodiment, the equipment base 4 plays a role in supporting the entire device; the workbench 3 is set on the equipment base 4; based on the robot system 1, a visual camera is used to identify the target interface and connector, guide the posture change and movement of the robot arm 11, and complete the unmanned automatic pick-up and alignment of the connector; based on the servo translation system 2, the tightening gun 22 and the tightening head 21 are driven to realize the tightening of the connector and the socket, and complete the unmanned automatic tightening process. The entire device is reliable and responsive, especially in batch work, saving a lot of manpower. At the same time, based on the recognition of the visual camera, the reliability is guaranteed. The robot system 1 is set on the base, and the robot system 1 has a robot arm 11 and a visual camera; the robot arm base 15 of the robot system 1 is used to support the robot arm 11; the robot arm 11 is set on the robot arm base 15; the visual camera is used to identify the target interface and connector, guide the posture change and movement of the robot arm 11, and assist the robot arm 11 to complete the unmanned automatic pick-up and alignment of the connector.

[0058] In this embodiment, the visual camera is arranged on the mechanical arm 11; the movable clamp is arranged on the mechanical arm 11, and the corresponding connector is grasped by the movable clamp, and the movable clamp is moved to the corresponding mother seat for posture adjustment to realize the automatic docking of the connector. The clamp adopts a floating unit to ensure the smooth docking of the connector and the mother seat. The clamp is a device that floats in the horizontal and vertical directions and can realize the rotation function. When the connector is taken horizontally, it can make up for the disadvantage that the connector is damaged due to the insufficient precision of the mechanical arm 11; when the connector is clamped to the specified position, the connector is coaxial with the mother seat at this time. Since the connector has an anti-fool keyway, the connector is not connected to the mother seat, and the movable clamp is in a compressed state in the vertical direction; the clamp drives the connector to rotate until the anti-fool keyway is aligned, the movable clamp is restored and stops rotating, and the tightening process begins. The efficiency of manual docking of connectors is improved, and the docking of connectors can be completed quickly. The entire device can improve the efficiency, reliability and accuracy of connector testing, can perform 24-hour automatic work for a long time, and reduce labor costs. Specifically, the robot system 1 consists of a robot arm 11, wherein the robot arm 11 is composed of a five-axis robot arm 11, a visual camera, a movable clamp and a robot arm base 15. The five-axis robot arm 11 can move freely within the working space, which is convenient for picking up the connector and aligning the socket; the visual camera can identify the spatial position of the workpiece socket 51 and the connector, and feed back to the robot control system, so as to guide the robot arm 11 to the specified working position. In addition, the position is identified multiple times to ensure the accuracy of the docking and tightening process; the robot arm 11 is equipped with a movable clamp to pick up and tighten the connector to ensure that the connector does not fall off in the subsequent process.

[0059] In this embodiment, the servo mobile translation system is used to drive the tightening gun 22 and the tightening head 21 to tighten the connector and the socket to complete unmanned automatic tightening. The servo translation system 2 is set on the workbench 3. The servo translation system 2 has a tightening gun 22 and a tightening head 21; the servo translation system 2 is used to guide the tightening gun 22 and the tightening head 21 to the specified position to complete the tightening process of the connector nut.

[0060] In this embodiment, the servo translation system 2 includes: a cylinder 24, which is arranged on the workbench 3; a support frame, which is arranged on the upper end of the cylinder 24; a servo motor 25, which is arranged on the support frame and connected to the sliding frame through a transmission belt; a transverse guide rail, which is arranged on the support frame; a sliding frame, which cooperates with the transverse guide rail; a longitudinal guide rail, which is arranged on the sliding frame; a tightening gun mounting frame 23 connected to the servo translation device, which is used to move the tightening gun mounting frame 23, which cooperates with the longitudinal guide rail; a tightening gun 22, which is arranged on the tightening gun mounting frame 23; and a tightening head 21, which is arranged on the tightening gun 22. The cylinder 24, the transverse guide rail slider 26 and the longitudinal guide rail slider 27 are used to drive the tightening gun mounting frame 23 to translate along the transverse and longitudinal directions, and the tightening gun mounting frame 23 drives the tightening gun 22 and the tightening head 21 to align with the nut to be tightened. Specifically, the servo translation system 2 includes a tightening head 21, a tightening gun 22, a tightening gun mounting frame 23, a servo motor 25, a cylinder 24, a transverse guide slider 26, and a longitudinal guide slider 27. The cylinder 24 and the guide slider assembly drive the tightening gun mounting frame 23 to achieve transverse and longitudinal translation, so that the tightening head 21 and the tightening gun 22 can be accurately aligned with the nut to be tightened. The servo motor 25 is used to drive the translation mechanism, which has fast response and high reliability.

[0061] In this embodiment, the robot control system is controlled by a PLC controller, and the robot control system is set on the base; the connector to be connected is connected by the test equipment 6, the position of the connector to be connected is obtained by the visual camera, and the robot control system moves the mechanical arm 11 to the corresponding position to automatically realize the alignment position. After the connector is docked, the servo motor 25 receives the servo signal and drives the transverse guide slider 26 and the longitudinal guide slider 27 to adjust the position, and when the tightening gun 22 and the tightening head 21 reach the specified position, the tightening gun 22 drives the tightening head 21 to tighten the connector, and when the specified torque is reached, the tightening is completed. Specifically, the robot controller system 8 is controlled by PLC, which can realize simple and high-precision automation tasks, and the design with strong scalability and high flexibility can realize the communication interface of the highest standard industrial communication and a set of powerful integrated technical functions. The whole device is automated, and the operator only needs to install the tooling 5, and the device can guide the mechanical arm 11 and the servo translation system 2 through the visual camera to complete the picking, alignment and tightening process. The whole process can be realized quickly, with high reliability, and greatly reducing the input of manpower.

[0062] Another embodiment of the present invention provides a method for using a connector automatic docking and tightening device, comprising:

[0063] Step 1: Manually install the tooling 5 and place it on the workbench 3 in order;

[0064] Step 2: Identify the position of the workpiece base 51 by taking a photo with a visual camera;

[0065] Step 3: Take the corresponding second connector by the movable gripper in the robot arm 11;

[0066] Step 4: Take a photo with a visual camera to confirm the location again;

[0067] Step 5: The second connector and the workpiece base 51 are docked by the robot arm 11 according to visual guidance;

[0068] Step 6: After the docking is completed, the servo translation system 2 drives the tightening gun 22 to tighten the connector nut through the tightening head 21;

[0069] Step 7: After the torque feedback is qualified, the tightening head 21 is pushed out and the robot gripper is released;

[0070] Step 8: Take another photo with the visual camera and dock at the next location;

[0071] Step 9: After multiple connectors are docked, the robot system 1 is reset, the servo translation system 2 is reset, and the tightening process is completed.

[0072] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0073] The present invention adopts automatic recognition and precise control technology, which can realize the automatic alignment and tightening process of the connector and the socket, and can replace manual operation, especially play an advantage in large-scale work, greatly improve test efficiency and reduce labor costs; the present invention adopts intelligent visual recognition and real-time feedback robot control system, without human intervention, effectively avoiding errors caused by manual operation, ensuring the accuracy and reliability of the connector plugging process, and improving the degree of automation; the servo translation system 2 adopts PLC control, and the servo motor 25 drives the cylinder 24 and the guide rail slider. The whole process has fast response and high precision, and can quickly and accurately move the tightening gun 22 and the tightening head 21 to the specified position after receiving the moving instruction; the tightening gun 22 is equipped with a torque sensor to prevent damage when tightening the connector nut.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A connector automatic docking and tightening device, characterized in that: include: Equipment base; A workbench, wherein the workbench is arranged on a device base; A robot system, wherein the robot system is arranged on a base, and the robot system has a robot arm and a visual camera; A servo translation system, wherein the servo translation system is arranged on a workbench and comprises a tightening gun and a tightening head; A robot control system, wherein the robot control system is arranged on a base; Among them, the visual camera is used to identify the target interface and connector, guide the posture change and movement of the robotic arm, and assist the robotic arm to complete unmanned automatic picking and alignment of the connector. The servo mobile translation system is used to drive the tightening gun and the tightening head to tighten the connector and the socket to complete unmanned automatic tightening.

2. The automatic connector docking and tightening device according to claim 1, characterized in that: The robot system comprises: Robotic arm base; A mechanical arm, wherein the mechanical arm is arranged on a mechanical arm base; A visual camera, wherein the visual camera is arranged on the robot arm; A movable clamping claw is arranged on the mechanical arm.

3. The automatic connector docking and tightening device according to claim 1, characterized in that: The servo translation system comprises: A cylinder, wherein the cylinder is arranged on a workbench; A support frame, the support frame is arranged at the upper end of the cylinder; A servo motor, wherein the servo motor is arranged on a support frame and connected to a sliding frame via a transmission belt; A transverse guide rail, wherein the transverse guide rail is arranged on the support frame; a sliding frame, the sliding frame cooperating with the transverse guide rail; A longitudinal guide rail, the longitudinal guide rail being arranged on the sliding frame; a tightening gun mounting frame, the tightening gun mounting frame cooperating with the longitudinal guide rail; A tightening gun, wherein the tightening gun is arranged on a tightening gun mounting frame; A tightening head is arranged on the tightening gun.

4. The automatic connector docking and tightening device according to claim 3, characterized in that: The cylinder, the transverse guide rail and the longitudinal guide rail are used to drive the tightening gun mounting frame to translate along the transverse and longitudinal directions, and the tightening gun mounting frame drives the tightening gun and the tightening head to align with the nut to be tightened.

5. The automatic connector docking and tightening device according to claim 1, characterized in that: The connector to be connected is connected by the testing equipment, the position of the connector to be connected is obtained by the visual camera, and the robot control system moves the mechanical arm to the corresponding position to automatically realize the alignment position.

6. The automatic connector butt tightening device according to claim 1, characterized in that: The movable clamp grasps the corresponding connector and moves to the corresponding socket to adjust the posture to achieve automatic docking of the connector. The clamp adopts a floating unit to ensure smooth docking of the connector and the socket.

7. The automatic connector docking and tightening device according to claim 1, characterized in that: When the connectors are docked, the servo motor receives the servo signal and drives the transverse guide slider and the longitudinal guide slider to adjust their positions. When the tightening gun and the tightening head reach the specified position, the tightening gun drives the tightening head to tighten the connector. When the specified torque is reached, the tightening is completed.

8. The automatic connector docking and tightening device according to claim 1, characterized in that: The robot control system is controlled by a PLC controller.

9. The automatic connector docking and tightening device according to claim 1, characterized in that: The tightening gun mounting bracket is connected to a servo translation device, and the servo translation device is used to move the tightening gun mounting bracket.

10. A method for using an automatic connector butt tightening device, based on the automatic connector butt tightening device according to any one of claims 1 to 9, characterized in that: include: Step 1: Manually install the tooling and place it on the workbench in order; Step 2: Use a visual camera to take a photo and identify the position of the workpiece base; Step 3: Take the corresponding second connector by the movable gripper in the robotic arm; Step 4: Take a photo with a visual camera to confirm the location again; Step 5: Use the robotic arm to dock the second connector with the workpiece base according to visual guidance; Step 6: After the docking is completed, the servo translation system drives the tightening gun to tighten the connector nut through the tightening head; Step 7: After the torque feedback is qualified, the tightening head is pushed out and the robot gripper is released; Step 8: Take another photo with the visual camera and dock at the next location; Step 9: After multiple connectors are docked, the robot system is reset, the servo translation system is reset, and the tightening process is completed.

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