Intelligent control device and control method for tightening test of radio frequency cable

Abstract

The invention discloses an intelligent control device and method for a radio frequency cable tightening test, and relates to the technical field of intelligent control, and the method comprises the steps: moving test equipment to an initial position of a to-be-tested workpiece; correcting the position of a first butt joint tool assembly on the test equipment relative to a second butt joint tool assembly at the initial position, outputting the corrected butt joint position of the first butt joint tool assembly, performing butt joint tightening on the first butt joint tool assembly and the second butt joint tool assembly, and obtaining tightening torque monitoring data; if the tightening torque monitoring data reach a preset threshold value, tightening operation is stopped; and detecting a radio frequency signal connection state of the test equipment, and if the connection state is abnormal, obtaining an optimized tightening control parameter, and tightening the to-be-tested workpiece. The technical problems of insufficient butt joint precision, unstable tightening torque and inaccurate connection state detection in the radio frequency cable tightening process in the prior art are solved, and the technical effect of improving the tightening precision and reliability of the radio frequency connector is achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent control device and a control method for a radio frequency cable tightening test. Background Art

[0002] In existing RF cable tightening test technologies, the docking accuracy and tightening torque of RF connectors are often affected by manual operation and imprecise equipment control, resulting in unstable connections and affecting the accuracy of test results. Traditional methods usually rely on manual docking and tightening of RF connectors, which not only increases the difficulty and error of operation, but also makes it difficult to achieve high-precision tightening and real-time monitoring. During the tightening process, the instability of the torque and inaccurate detection of the connection status also make it difficult to ensure the tightening quality, which in turn affects the transmission quality of the RF signal and the reliability of the equipment. Summary of the invention

[0003] The present application provides an intelligent control device and a control method for radio frequency cable tightening testing, which are used to solve the technical problems of insufficient docking accuracy, unstable tightening torque and inaccurate connection status detection during the tightening process of radio frequency cables in the prior art.

[0004] In view of the above problems, the present application provides an intelligent control device and a control method for radio frequency cable tightening test.

[0005] In a first aspect of the present application, an intelligent control device for a radio frequency cable tightening test is provided, the device comprising: A mobile platform, on which a test device is arranged; a robotic arm module, which is installed on the mobile platform and is used to move the test device to an initial position of a workpiece to be tested through the robotic arm module; a floating grasping module, which is arranged at the end of the robotic arm module and has a visual position correction component embedded in the floating grasping module, which corrects the position of a first docking tooling component on the test device relative to a second docking tooling component at the initial position and outputs the corrected docking position of the first docking tooling component; a radio frequency automatic tightening component, which is arranged at the end of the robotic arm module and is used to dock and tighten the first docking tooling component and the second docking tooling component according to the docking position of the tooling components, wherein the first docking tooling component is a male tooling component arranged on the test device, and the second docking tooling component is a female tooling component arranged on the workpiece to be tested.

[0006] A second aspect of the present application provides an intelligent control method for a radio frequency cable tightening test, the method comprising: A mobile platform, on which a test device is arranged; a robotic arm module, which is installed on the mobile platform and is used to move the test device to an initial position of a workpiece to be tested through the robotic arm module; a floating grasping module, which is arranged at the end of the robotic arm module and has a visual position correction component embedded in the floating grasping module, which corrects the position of a first docking tooling component on the test device relative to a second docking tooling component at the initial position and outputs the corrected docking position of the first docking tooling component; a radio frequency automatic tightening component, which is arranged at the end of the robotic arm module and is used to dock and tighten the first docking tooling component and the second docking tooling component according to the corrected docking position, wherein the first docking tooling component is a male tooling component arranged on the test device, and the second docking tooling component is a female tooling component arranged on the workpiece to be tested.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: The present application moves the first tooling assembly on the test equipment to the initial position of the workpiece to be tested through a robotic arm module; corrects the position of the first docking tooling assembly on the test equipment relative to the second docking tooling assembly at the initial position according to the visual position correction assembly, and outputs the corrected docking position of the first docking tooling assembly; the radio frequency automatic tightening assembly docks and tightens the first docking tooling assembly and the second docking tooling assembly according to the corrected docking position, and obtains tightening torque monitoring data; if the tightening torque monitoring data reaches a preset threshold, stops the tightening operation; detects the radio frequency signal connection status of the test equipment, and if the connection status is abnormal, feeds back the tightening torque history monitoring data to the radio frequency automatic tightening assembly, and obtains optimized tightening control parameters; and re-tightens the workpiece to be tested according to the optimized tightening control parameters. The present invention solves the technical problems of insufficient docking accuracy, unstable tightening torque and inaccurate connection status detection in the tightening process of RF cables in the prior art. The test equipment is moved to the initial position by a robotic arm module, and the position of the tooling components on the test equipment is corrected by a visual position correction component to ensure accurate docking. Subsequently, the RF automatic tightening component tightens according to the docking position, monitors and adjusts the tightening torque in real time to ensure a stable connection. If an abnormal connection status is detected, the tightening control parameters are optimized by feedback from historical monitoring data, and tightened again, thereby achieving the technical effect of improving the tightening accuracy and reliability of the RF connector. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0009] Figure 1 One of the structural schematic diagrams of the intelligent control device for radio frequency cable tightening test provided in an embodiment of the present application; Figure 2 The second structural schematic diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Figure 3 The third structural schematic diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Figure 4 The fourth structural schematic diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Figure 5 A fifth structural diagram of an intelligent control device for radio frequency cable tightening test provided in an embodiment of the present application; Figure 6 The sixth structural diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Figure 7 The seventh structural diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Figure 8 The eighth structural diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Fig. 9 A ninth structural diagram of an intelligent control device for radio frequency cable tightening test provided in an embodiment of the present application; Fig.10 The tenth structural diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Fig.11 Schematic diagram of the structure of the intelligent control device for RF cable tightening test provided in the embodiment of the present application Fig.12 The twelfth structural diagram of the intelligent control device for radio frequency cable tightening test provided in the embodiment of the present application; Fig.13 Thirteenth structural schematic diagram of the intelligent control device for radio frequency cable tightening test provided in an embodiment of the present application.

[0010] Description of the reference numerals: mobile platform 10, vehicle body 11, vector network analyzer 12, male tooling placement position 13, robotic arm module 20, floating gripping module 30, floating assembly 31, support plate 32, visual position correction assembly 33, gripping assembly 34, laser ranging sensor support 35, laser ranging sensor 36, bottom plate 31-1, Y-axis linear slide 31-2, transition plate 31-3, X-axis linear slide 31-4, top plate 31-5, X-axis limit bracket 31-6, X-axis spring plunger locking nut 31-7, X-axis spring plunger 31-8, Y-axis limit bracket 31-9, Y-axis spring plunger locking nut 31-10, Y-axis spring plunger 31-11, micro camera support 33-1, cylindrical micro camera 33-2, electric clamp 34-1, clamp base 34-2, clamp finger 34-3, positioning block 34-4, radio frequency automatic tightening assembly 40, servo reduction motor 41, servo motor support 42, connecting shaft 43, output shaft 44, spring 45, tip set screw 46, locking nut 47, The first docking tooling assembly 50, the male load plate 51, the arc guide block 52, the transmission shaft 53, the bearing 54, the retaining ring 55, the small gear 56, the end cover 57, the rotating sleeve 58, the large gear 59, the steel ball 510, the concave end set screw 511, the joint fixing flange 512, the clamping sleeve 513, the RF cable support sleeve 514, the RF connector (male) and its armor cable 515, the second guide pin 516, the second docking tooling assembly 60, the female load connecting plate 61, the spring floating assembly 62, the chessboard second Dimensional code 63, spacer block 64, connecting plate 65, locking block 66, linear bearing 67, flange copper sleeve 68, sliding shaft 69, spring 610, fixing sleeve 611, RF connector (female) 612, limiting top plate 613, guide frame 614, spring bottom plate 62-1, compact nut 62-2, spring plunger 62-3, limiting plate 62-4, cover plate 62-5, buffer guide column 62-6, bearing 62-7, self-lubricating spherical bearing 62-8, shaft retaining ring 62-9, and tip set screw 62-10. DETAILED DESCRIPTION

[0011] The present application provides an intelligent control device and a control method for RF cable tightening testing, aiming to solve the technical problems of insufficient docking accuracy, unstable tightening torque and inaccurate connection status detection in the prior art during the tightening process of RF cables. The test equipment is moved to the initial position by a robotic arm module, and the position of the tooling components on the test equipment is corrected by a visual position correction component to ensure accurate docking. Subsequently, the RF automatic tightening component tightens according to the docking position, monitors and adjusts the tightening torque in real time to ensure a stable connection. If an abnormal connection status is detected, the tightening control parameters are optimized through feedback from historical monitoring data, and tightened again, thereby achieving the technical effect of improving the tightening accuracy and reliability of the RF connector.

[0012] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0013] It should be noted that any variations of the terms "include" and "have" are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules that are not explicitly listed or inherent to these processes, methods, products or devices.

[0014] Embodiment 1, the present application embodiment provides an intelligent control device for radio frequency cable tightening test, the device comprising: A mobile platform 10 is provided with a testing device.

[0015] In the embodiments of the present application, Figure 1 As shown, the mobile platform 10 is an AGV (automatic guided vehicle) vehicle-mounted platform, which includes a vehicle body 11, a vector network analyzer 12 (test equipment), and a male tooling placement position 13. Its working principle is based on the navigation system, which automatically navigates through magnetic stripe and QR code positioning to ensure that the platform can accurately move between multiple stations. Through the navigation facilities installed on the ground, the mobile platform 10 can operate autonomously and accurately dock at the set test station.

[0016] After the platform moves to the designated test position, the test equipment (ie, the vector network analyzer 12 ) is located on the vehicle-mounted platform, waiting for automatic testing of the RF cable.

[0017] A robot arm module 20 is installed on the mobile platform and is used to move the test device to an initial position of a workpiece to be tested through the robot arm module 20 .

[0018] In the embodiments of the present application, Figure 1 As shown, the robot module 20 is installed on the mobile platform 10 as one of its core functional modules. The mobile platform 10 uses an autonomous navigation system (such as magnetic stripe navigation and QR code positioning) to enable the robot module 20 to move accurately between multiple workstations. Its position is identified and controlled by navigation marks on the ground so that the robot can accurately reach the target position.

[0019] When the platform reaches the position of the workpiece to be tested, Figure 2As shown, the role of the robot module 20 begins to emerge. The robot, through its flexible joints and high-precision drive system, grabs the male fixture assembly (first docking fixture assembly 50) connected to the test equipment (such as the vector network analyzer 12) through the RF cable from the bracket on the mobile platform and moves it accurately to the initial position to be tested.

[0020] A floating grasping module 30 is provided at the end of the robotic arm module 20, and a visual position correction component 33 is embedded in the floating grasping module 30. The visual position correction component 33 corrects the position of the first docking tooling component 50 on the test equipment relative to the second docking tooling component 60 at the initial position, and outputs the corrected docking position of the first docking tooling component 50.

[0021] In the embodiments of the present application, Figure 2 , Figure 3 As shown, the floating gripping module 30 is installed at the end of the robot arm module 20 as an interface module between the robot arm and the workpiece to be tested. The module not only has the functions of gripping and moving, but also integrates a visual position correction component 33, which is used to correct the position of the first docking fixture component 50 on the test equipment relative to the second docking fixture component 60, and output the corrected docking position of the first docking fixture component 50. The design of the floating gripping module 30 allows it to float in the X and Y directions, thereby achieving flexible docking, allowing a certain error range, and preventing mechanical shock or damage caused by inaccurate docking.

[0022] When the robot arm module 20 moves the first docking fixture assembly 50 on the testing device to the initial position of the workpiece to be tested, the visual position correction assembly 33 in the floating gripping module 30 comes into play. Fig.10 As shown, the position correction component includes a micro camera and a checkerboard two-dimensional code 63. The visual position correction component 33 uses the micro camera to shoot the checkerboard two-dimensional code 63 on the second docking fixture component 60, obtains relevant image data, and calculates the position deviation of the first docking fixture component 50 relative to the second docking fixture component 60 through an image processing algorithm. After calculation, the visual position correction component 33 outputs the corrected docking position of the first docking fixture component 50 according to the deviation value.

[0023] To summarize, the floating grasping module 30, through its embedded visual position correction component 33, combined with a high-precision micro camera and a checkerboard QR code 63, can calibrate the position of the first docking tooling component on the test equipment relative to the second docking tooling component in real time, and output the precise tooling component docking position based on the correction result.

[0024] A radio frequency automatic tightening assembly 40 is arranged at the end of the robotic arm module 20, and is used to dock and tighten the first docking tooling assembly 50 and the second docking tooling assembly 60 according to the corrected docking position, wherein the first docking tooling assembly 50 is a male tooling assembly arranged on the test equipment, and the second docking tooling assembly 60 is a female tooling assembly arranged on the workpiece to be tested.

[0025] In the embodiment of the present application, the RF automatic tightening assembly 40 is installed at the end of the robot arm module 20, and is responsible for accurately docking and tightening the male tooling assembly and the female tooling assembly according to the corrected docking position previously determined by the visual position correction assembly 33. Specifically, the male tooling assembly (first docking tooling assembly 50) is arranged on the test equipment and is used to dock with the female tooling assembly (second docking tooling assembly 60) on the workpiece to be tested. The RF automatic tightening assembly 40 drives the rotation of the connector through the transmission shaft controlled by the servo motor, connects the male and female tooling assemblies together, and realizes docking and tightening.

[0026] The process first uses a robotic arm to align and push the male and female tooling components of the RF connector together. During the docking process, the RF automatic tightening component 40 starts working and adjusts precisely according to the previously determined correction docking position to ensure that the connectors at both ends can be accurately docked. After the initial docking is completed, the rotating part of the RF automatic tightening component 40 engages through gears to push the connector to continue rotating until the male and female tooling components are fully docked and the predetermined tightening torque is reached.

[0027] Furthermore, in the device provided in the application embodiment, if Figure 6 , Figure 7 As shown, the floating grasping module 30 includes a floating component 31 and a grasping component 34; the floating component 31 includes a Y-axis linear slide and an X-axis linear slide 31-4; wherein, the slider on the Y-axis linear slide is installed on one side of a transition plate 31-3, the X-axis linear slide 31-4 is installed on one side of a transition plate 31-3, the slider on the X-axis linear slide 31-4 is installed on a top plate 31-5, X-axis limit brackets 31-6 are installed at both ends of the transition plate 31-3 in the movement direction of the Y-axis linear slide, and Y-axis limit brackets 31-9 are installed at both ends of the bottom plate 31-1 in the movement direction of the X-axis linear slide 31-4; the grasping component 34 includes an electric clamp 34-1, the electric clamp 34-1 includes a clamp base 34-2, and a clamp finger 34-3 is installed on the clamp base 34-2 for clamping the workpiece to be tested.

[0028] In the embodiment of the present application, the floating grabbing module 30 is used to ensure high-precision grabbing and docking of the RF connector. The module is composed of two major parts: a floating component 31 and a grabbing component 34, which work together to complete the grabbing and positioning operations of the RF connector.

[0029] The floating assembly 31 is the core of the entire gripping module, providing high-precision floating and positioning functions. It consists of two parts: a Y-axis linear slide 31-2 and an X-axis linear slide 31-4. These two slide systems enable the floating assembly 31 to move accurately in two directions.

[0030] Specifically, the slider on the Y-axis linear slide 31-2 is installed on one side of the transition plate 31-3, while the X-axis linear slide 31-4 is installed on the other side of the transition plate 31-3. The slider on the X-axis linear slide 31-4 is installed on the top plate 31-5, providing additional support for the floating assembly 31 to ensure the stability of the entire system. In the movement direction of the Y-axis linear slide 31-2, X-axis limit brackets 31-6 are installed at both ends of the transition plate 31-3. These limit brackets can effectively limit the movement range of the slider to prevent errors caused by excessive movement. At the same time, Y-axis limit brackets 31-9 are installed at both ends of the bottom plate 31-1 of the X-axis linear slide 31-4 to limit the movement range of the Y-axis linear slide 31-2 and ensure high-precision movement of the floating assembly 31.

[0031] In addition, the support plate 32 serves as a supporting structure of the floating assembly 31, connecting the floating assembly 31 and the grabbing assembly 34, and providing stable support for the entire module.

[0032] The floating assembly 31 also integrates multiple spring plungers and locking nuts to ensure the stability and accuracy of the system. The X-direction spring plunger locking nut 31-7 cooperates with the X-direction spring plunger 31-8 to maintain the stability of the X-direction linear guide 31-4, while the Y-direction spring plunger locking nut 31-10 and the Y-direction spring plunger 31-11 ensure that the Y-direction linear guide 31-2 will not loosen or deviate during movement. The cooperation of these components ensures the stability and flexibility of the floating assembly 31 during high-precision docking.

[0033] The gripping assembly 34 is responsible for the actual gripping and clamping operations. It includes an electric gripper 34-1, which controls the opening and closing of the gripper through an electric drive, so that the gripper can accurately grip and clamp the first docking fixture assembly 50. The gripper base 34-2 is the core structure of the electric gripper 34-1, and the gripper fingers 34-3 are installed on the gripper base 34-2, which are specifically used to contact with the first docking fixture assembly 50 and perform gripping operations. The design of the gripper fingers 34-3 ensures stability and accuracy during the gripping process, and can ensure the accurate positioning and stability of the workpiece during the test process. The positioning block 34-4 is installed inside the gripper base 34-2, which further enhances the positioning accuracy of the gripper and prevents the gripper fingers 34-3 from deviating from the target position.

[0034] Through the above design, the floating assembly 31 of the floating gripping module 30 provides precise movement and adjustment capabilities, allowing the gripper to adapt to the slight position error of the workpiece to be tested, while the gripping assembly 34 achieves stable gripping and clamping through the electric gripper 34-1. The synergy of these two parts ensures high-precision gripping, clamping and docking of RF connectors in automated testing, ensuring the efficiency and accuracy of the testing process.

[0035] Furthermore, in the device provided in the application embodiment, the RF automatic tightening assembly 40 includes a servo reduction motor 41, the servo reduction motor 41 is installed through a servo motor support 42, one end of the connecting shaft 43 is installed on the shaft of the servo reduction motor 41, and the other end of the connecting shaft 43 is inserted into a spring 45 and an output shaft 44.

[0036] In the embodiments of the present application, Figure 4 , Figure 5 As shown, the function of the RF automatic tightening assembly 40 is to achieve accurate tightening of the RF connector. The assembly ensures the stable connection of the RF connector through the coordinated work of multiple precision parts.

[0037] The RF automatic tightening assembly 40 includes key components such as a servo reduction motor 41, a servo motor support 42, a connecting shaft 43, an output shaft 44, a spring 45, a tip set screw 46, and a locking nut 47. First, the servo reduction motor 41 is the core driving part of the assembly and is responsible for providing rotational power. The motor is supported by the servo motor support 42 to ensure stable operation of the motor, and the rotation speed and torque are adjusted through precise control of the motor.

[0038] Next, one end of the connecting shaft 43 is mounted on the shaft of the servo reduction motor 41, and the other end is inserted into the spring 45 and the output shaft 44. The function of the connecting shaft 43 is to transmit the rotational power output by the servo motor to the output shaft 44, and then to the subsequent connector tooling assembly through the shaft. The spring 45 is installed between the connecting shaft 43 and the output shaft 44. As a buffer mechanism, it can absorb certain deviations and impacts during the tightening process, ensure flexible adjustment during the docking process, and prevent excessive impact force from damaging the equipment.

[0039] The output shaft 44 is fixed to the connecting shaft 43 by a tip set screw 46, but its design allows a certain degree of flexibility. Specifically, a strip groove is provided at the portion where the connecting shaft 43 contacts the output shaft 44, and the tip set screw 46 can slide in the strip groove, so that the output shaft 44 has a certain Z-direction floating ability under the pre-pressure of the spring 45. This floating design allows the output shaft 44 to be flexibly adjusted in the axial direction, thereby compensating for slight errors during the docking process. In addition, the output shaft 44 can also swing radially at the end of the connecting shaft 43, with a swing angle of approximately 60°. This radial swinging ability further enhances the flexibility of the docking process, allowing the insertion of the RF connector to adapt to assembly deviations within a certain range, effectively avoiding jamming or mechanical collisions caused by inaccurate docking.

[0040] The entire process is completed through the precise control of the servo motor, which adjusts the output torque in real time through the feedback system to ensure the accuracy and reliability of the tightening process. When the tightening torque reaches the preset value, the servo motor stops rotating, completing the precise tightening operation of the RF connector.

[0041] In summary, the RF automatic tightening assembly 40 is powered by the servo reduction motor 41, which transmits the power to the output shaft 44 through the connecting shaft 43, and ensures the precise tightening of the RF connector through the spring 45 and the tip set screw 46. During the entire tightening process, the precise coordination of the servo motor support 42, the connecting shaft 43, the output shaft 44 and other components ensures the stability of the tightening operation and the reliable connection of the RF connector, thereby ensuring the efficiency and accuracy of the test system.

[0042] Furthermore, in the device provided in the application embodiment, the first docking tooling assembly includes a first guide pin and a second guide pin 516, and the first guide pin and the second guide pin 516 are symmetrically installed to guide when the first docking tooling assembly and the second docking tooling assembly 60 are docked; a gear set, the gear set includes a large gear 59 and a small gear 56, wherein the transmission shaft is rotated by the gear set to drive the RF automatic tightening assembly 40 to tighten.

[0043] In the embodiment of the present application, the first docking tooling assembly 50 and the second docking tooling assembly 60 work together to achieve high-precision docking and tightening operations of the RF connector.

[0044] like Figure 8 , Fig. 9 As shown, the first docking tooling assembly 50 includes a male load plate 51, a curved guide block 52, a transmission shaft 53, a bearing 54, a retaining ring 55, a small gear 56, an end cover 57, a rotating sleeve 58, a large gear 59, a steel ball 510, a concave end set screw 511, a joint fixing flange 512, a clamping sleeve 513, an RF cable support sleeve 514, an RF connector (male) and its armor cable 515, and a second guide pin 516 and other components.

[0045] During the docking process, the first guide pin and the second guide pin 516 play an important guiding role. The first guide pin and the second guide pin 516 are symmetrically installed in the first docking tooling assembly 50. When docking with the second docking tooling assembly 60, they provide precise guidance through symmetrical design to ensure that the two tooling assemblies can be accurately aligned during the docking process, thereby preventing offset or misalignment. In this process, the role of the arc guide block 52 is particularly critical. The arc guide block 52 is located on the male load plate 51, and the two sides of the clamping finger 34-3 in the grasping assembly 34 are designed with inclined surfaces to ensure that when the grasping assembly 34 is clamped, the clamping finger 34-3 is in close contact with the curved surface of the arc guide block 52, so that the first docking tooling assembly 50 (male tooling assembly) is not clamped off, and the two components can be aligned more smoothly during docking, reducing the mechanical impact caused by incomplete docking or errors.

[0046] After the docking is completed, the gear set begins to play an important role. Specifically, the gear set consists of a small gear 56 and a large gear 59. The small gear 56 drives the transmission shaft 53 to rotate by precisely meshing with the large gear 59. The RF automatic tightening assembly 40 transmits the rotational force of the servo motor 41 to the transmission shaft 53 through the output shaft 44 to achieve the tightening operation of the RF connector. The transmission shaft 53 provides stable support through the bearing 54 and the retaining ring 55, so that the rotation movement can be carried out smoothly.

[0047] The power of rotation is transmitted through the rotating sleeve 58, which further drives the nut on the RF connector (male head) and its armor cable 515 and the RF connector 612 (female head) on the female head tooling of the second docking tooling assembly 60 to be tightened. The clamping sleeve 513 is used to fix the RF connector (male head) and its armor cable 515. The cooperation of the connector fixing flange 512, the steel ball 510 and the concave end set screw 511 ensures the stability of the RF connector during the tightening process and prevents the thread from slipping or loosening. The RF cable support sleeve 514 ensures that the armor cable connected to the RF connector will not bend due to its own weight, which will affect the transmission of the RF signal.

[0048] Finally, through the precise meshing and transmission of the gear set, the servo motor and output shaft 44 of the RF automatic tightening assembly 40 work together to ensure that the RF connector reaches the set tightening torque. During the tightening process, the precise control of the servo reduction motor 41, combined with the buffering effect of the spring 45, ensures the flexibility and accuracy of the tightening, thereby avoiding over-tightening or loosening.

[0049] Furthermore, in the device provided in the application embodiment, the second docking tooling assembly 60 includes a female load connecting plate 61 and a spring floating assembly 62, which are used for flexible docking; wherein, spring floating assemblies 62 are installed at both ends of the female load connecting plate 61, RF connectors are symmetrically distributed on one side of the female load connecting plate 61, and a guide frame 614 is installed on the other side of the female load connecting plate 61.

[0050] In the embodiment of the present application, the second docking tooling assembly 60 is composed of multiple key components such as a female load connecting plate 61 and a spring floating assembly 62, aiming to achieve flexible docking and precise connection of the RF connector.

[0051] like Fig.11 , Fig.12 and Fig.13 As shown, the female load connection plate 61 serves as the core support structure of the second docking fixture assembly 60, and is responsible for supporting and fixing the RF connector (female connector) 612 and related components. Spring floating components 62 are installed at both ends of the female load connection plate 61. Through this design, the female load connection plate 61 can float flexibly during the docking process, adapt to slight deviations, and ensure that the RF connector can maintain a stable connection during docking.

[0052] The spring floating assembly 62 provides elastic support and buffering functions through the spring plunger 62-3 and buffer guide column 62-6 contained therein, allowing the female load connecting plate 61 to make adjustments with slight offsets during the docking process to avoid damage or misalignment caused by hard contact.

[0053] The spring floating assembly 62 includes a plurality of key components, such as a spring base plate 62-1, a compact nut 62-2, a stop plate 62-4, a bearing 62-7, a self-lubricating spherical bearing 62-8, etc., which provide the ability of flexible docking. Among them, the spring base plate 62-1 provides basic support for the entire spring floating assembly 62. The compact nut 62-2 ensures that the spring plunger 62-3 is loose during the docking process, while the bearing 62-7 and the self-lubricating spherical bearing 62-8 ensure smoothness during the sliding process, reduce friction and extend the service life. Through this series of designs, the spring floating assembly 62 can maintain the flexible docking of the RF connector (female head) 612 during the docking process, thereby adapting to possible position errors.

[0054] On one side of the female load connection plate 61, the RF connector (female) 612 is symmetrically distributed and fixed by the flange copper sleeve 68 and the sliding shaft 69. The sliding shaft 69 allows the RF connector (female) 612 to float accurately in the Z direction during the docking process, ensuring that the connector can automatically adapt to the deviation during the docking process, while the flange copper sleeve 68 ensures the smooth and stable support of the sliding shaft 69 and its RF connector (female) 612 to avoid inaccurate docking due to position offset. Through these designs, the RF connector (female) 612 can be docked with the RF connector (male) in the first docking tooling assembly 50 with high precision to ensure the stability of signal transmission.

[0055] A guide frame 614 is installed on the other side of the female load connection plate 61. The guide frame 614 plays a supporting and guiding role to ensure that the RF connector (female connector) 612 can be smoothly connected with the male connector.

[0056] In order to further improve the docking accuracy, the checkerboard QR code 63 is installed in the middle and upper position of the female load connection plate 61, and is used in conjunction with the cylindrical micro camera 33-2 in the micro visual position correction component 33 to perform position correction. Through the image recognition of the QR code, the position deviation can be calculated in real time, and the X- and Y-direction positions of the female load connection plate 61 can be adjusted through algorithms to ensure that it is accurately docked with the RF connector (male) in the male load tooling component 50.

[0057] To ensure the stability of the assembly, the pad 64, the connecting plate 65, and the locking block 66 are installed on the female load connecting plate 61 to provide additional support and fixing functions. The limit top plate 613 is used to limit the range of motion of the female load connecting plate 61 to ensure that it will not deviate too much during the docking process. These components ensure that the RF connector will not loosen or deviate during the entire test process, ensuring the accuracy of the test results.

[0058] When the RF connector (male) in the first docking fixture assembly 50 is docked with the RF connector (female) 612 in the second docking fixture assembly 60, the female load connecting plate 61 realizes flexible adaptation in the X, Y and Z directions through the spring floating assembly 62. The spring 610 on the sliding shaft 69 provides appropriate pressure, so that the RF connector (female) 612 can always maintain a flexible docking state with the RF connector (male), thereby avoiding docking failure caused by hard contact or error.

[0059] The linear bearing 67 is mounted on the female load connection plate 61 to ensure the smooth movement of the first guide pin and the second guide pin 516 to prevent inaccurate position due to friction resistance. The fixing sleeve 611 is used to stabilize the connection between the RF connector (female connector) 612 and the sliding shaft 69 to ensure the stability of the connector during the docking process. The cover plate 62-5 provides protection and support for the spring floating assembly 62 to prevent external interference and ensure the safe and stable operation of the assembly.

[0060] The self-lubricating spherical bearing 62-8 is fixed on the female load connecting plate 61, and the two ends are fixed by the shaft retaining ring 62-9. The buffer guide column 62-6 is under the self-lubricating spherical bearing 62-8, which can make the female load connecting plate 61 swing slightly left and right. The tip set screw 62-10 is used to fix the buffer guide column 62-6.

[0061] In summary, the second docking tooling assembly 60 ensures the high precision and high flexibility adaptability of the RF connector during the automatic docking process through the precise coordination of components such as the female load connecting plate 61, the spring floating assembly 62, the RF connector (female connector) 612, the guide frame 614 and the checkerboard QR code 63.

[0062] Furthermore, in the device provided in the embodiment of the application, the visual position correction component 33 includes a cylindrical micro camera 33-2 and a laser ranging sensor 36, the cylindrical micro camera 33-2 is fixed by the micro camera support 33-1, and the steps performed by the visual position correction component 33 include: According to the cylindrical micro camera 33-2 and the laser ranging sensor 36, an image data set and a ranging data set based on the workpiece to be tested at the initial position are obtained; pixel offset is identified based on the image data set and the ranging data set, and a pixel identification result is output; according to the pixel identification result, the position of the first docking fixture component 50 on the test device relative to the second docking fixture component 60 is corrected, and the corrected docking position of the first docking fixture component is output.

[0063] In the embodiment of the present application, the visual position correction component 33 is composed of a cylindrical micro camera 33-2 and a laser ranging sensor 36, which work together to complete high-precision correction of the workpiece position through high-precision image data sets and ranging data sets.

[0064] Specifically, the cylindrical micro camera 33-2 and the laser ranging sensor 36 work together to obtain image data and ranging data of the workpiece to be tested. The cylindrical micro camera 33-2 is fixed to the end of the floating gripping module 30 through its micro camera support 33-1, and is responsible for capturing the image data set of the surface of the workpiece to be tested. After acquiring the image, the cylindrical micro camera 33-2 converts the surface shape, position and other information of the workpiece into an image data set, and provides basic data for the subsequent correction process.

[0065] At the same time, the laser distance sensor 36 is installed at the same position through its laser distance sensor support 35, and is responsible for measuring the distance between the workpiece to be tested and the visual position correction component 33, and obtaining a distance measurement data set. The laser distance sensor 36 accurately measures the depth information between the workpiece surface and the sensor by emitting and receiving laser beams.

[0066] Next, based on the image data set and the distance measurement data set, the pixel offset is identified by comparing the results of the two. In this process, the image data set is two-dimensional information, while the distance measurement data set provides depth (Z direction) information. Through the image processing algorithm, these two types of data are combined to calculate the precise position of the workpiece to be tested, including its offset in the X, Y and Z directions. Based on this offset, the error between the actual position of the workpiece and the target position is identified.

[0067] Based on the pixel recognition results, the visual position correction component 33 accurately corrects the position of the first docking fixture component 50 on the test equipment relative to the second docking fixture component 60. According to the calculated offset, the position of the robot module 20 and the floating gripper module 30 is adjusted, and fine-tuning is performed in the X, Y and Z directions to ensure that the RF connectors (male and female) on the first docking fixture component 50 and the second docking fixture component 60 can be accurately docked. This process is precisely controlled by the robot module 20, so that the fixture components remain stable during docking, ensuring that the RF connectors can be smoothly docked and automatically tightened.

[0068] Finally, the corrected docking position of the first docking fixture assembly 50 is output. Through the operation of the visual position correction component 33, the first docking fixture assembly 50 and the second docking fixture assembly 60 can maintain the correct docking position during the entire test process, ensuring the accuracy of RF signal transmission and the reliability of test results.

[0069] Furthermore, in the device provided in the embodiment of the application, the steps performed by the visual position correction component 33 also include: Acquire the position parameters of the second docking tooling component 60; perform visual imaging analysis on the second docking tooling component 60 according to the position parameters of the second docking tooling component 60 to match the preset pixel granularity; perform pixel point recognition on the image data set and the ranging data set according to the preset pixel granularity, and output the pixel point recognition result corresponding to the preset pixel granularity.

[0070] In the embodiment of the present application, the position parameters of the second docking fixture assembly 60 are first obtained. The visual position correction component 33 performs joint data acquisition on the second docking fixture assembly 60 through the cylindrical micro camera 33-2 and the laser ranging sensor 36. The cylindrical micro camera 33-2 is responsible for photographing the identification features of the second docking fixture assembly 60 (such as the checkerboard two-dimensional code 63) to generate an image data set containing two-dimensional plane feature point information. The laser ranging sensor 36 measures the depth distance between the second docking fixture assembly 60 and the sensor by emitting and receiving laser beams to generate a ranging data set. Through the collaboration of the two, the key position parameters of the second docking fixture assembly 60 are obtained, including its initial position in three-dimensional space, posture angle, and relative position relative to the first docking fixture assembly 50.

[0071] Next, visual imaging analysis is performed on the second docking fixture assembly 60. Based on the acquired position information, the visual position correction component 33 performs feature point extraction and analysis on the image data set, and combines the depth information in the ranging data set to perform imaging analysis on the second docking fixture assembly 60 through an image processing algorithm. The focus of this step is to accurately identify the identification features of the second docking fixture assembly 60, for example, by extracting the intersection features or other shape features of the checkerboard two-dimensional code 63 to determine the position and angle information of the fixture assembly. In this process, the preset pixel granularity is matched, that is, according to the resolution requirements of the image data and the ranging data, the image is divided into multiple pixel units, and each pixel unit is accurately analyzed according to a certain granularity. The preset pixel granularity is a pre-set image accuracy standard used to control the size and density of each pixel unit to achieve the purpose of precise matching.

[0072] Then, pixel recognition is performed on the image data set and the ranging data set according to the preset pixel granularity. The visual position correction component 33 analyzes the position state of each pixel unit point by point by fusing the two-dimensional information in the image data set and the depth information in the ranging data set. In this process, the image data provides the X and Y coordinate information of the pixel points, and the ranging data provides the Z-direction depth coordinate information of the corresponding pixel points. By combining the two types of data, the three-dimensional spatial position of each pixel point is calculated, including the offset and position error. The accuracy of pixel point recognition is directly affected by the preset pixel granularity. The smaller the granularity, the higher the recognition resolution. The output result of this step is a high-precision pixel point recognition result data set that matches the preset pixel granularity, containing the spatial coordinates of all pixels and their offsets.

[0073] Finally, the pixel point recognition result corresponding to the preset pixel granularity is output. After the pixel point recognition is completed, the visual position correction component 33 generates and outputs the recognition result data set. The data set clearly identifies the spatial position state of the second docking fixture component 60 and provides the error information between its actual position and the target position. This result provides an accurate input basis for subsequent correction operations, guides the motion control of the robot arm module 20 and the floating gripping module 30, and enables the first docking fixture component 50 to be accurately docked to the second docking fixture component 60 in three-dimensional space.

[0074] In the embodiments of the present application, in summary, the embodiments of the present application have at least the following technical effects: The present application moves the first tooling assembly on the test equipment to the initial position of the workpiece to be tested through a robotic arm module; corrects the position of the first docking tooling assembly on the test equipment relative to the second docking tooling assembly at the initial position according to the visual position correction assembly, and outputs the corrected docking position of the first docking tooling assembly; the radio frequency automatic tightening assembly docks and tightens the first docking tooling assembly and the second docking tooling assembly according to the corrected docking position, and obtains tightening torque monitoring data; if the tightening torque monitoring data reaches a preset threshold, stops the tightening operation; detects the radio frequency signal connection status of the test equipment, and if the connection status is abnormal, feeds back the tightening torque history monitoring data to the radio frequency automatic tightening assembly, and obtains optimized tightening control parameters; and re-tightens the workpiece to be tested according to the optimized tightening control parameters. The present invention solves the technical problems of insufficient docking accuracy, unstable tightening torque and inaccurate connection status detection in the tightening process of RF cables in the prior art. The test equipment is moved to the initial position by a robotic arm module, and the position of the tooling component is corrected by a visual position correction component to ensure accurate docking. Subsequently, the RF automatic tightening component tightens according to the docking position, monitors and adjusts the tightening torque in real time to ensure a stable connection. If an abnormal connection status is detected, the tightening control parameters are optimized by feedback from historical monitoring data, and tightened again, thereby achieving the technical effect of improving the tightening accuracy and reliability of the RF connector.

[0075] Embodiment 2, based on the same inventive concept as the intelligent control device for radio frequency cable tightening test in the aforementioned embodiment, the embodiment of the present application provides an intelligent control method for radio frequency cable tightening test, the method comprising: The test equipment is moved to the initial position of the workpiece to be tested by the robot arm module 20; the position of the first docking fixture component 50 on the test equipment relative to the second docking fixture component 60 is corrected at the initial position according to the visual position correction component 33, and the corrected docking position of the first docking fixture component 50 is output; the radio frequency automatic tightening component 40 docks and tightens the first docking fixture component 50 and the second docking fixture component 60 according to the corrected docking position, and obtains tightening torque monitoring data; if the tightening torque monitoring data reaches a preset threshold, the tightening operation is stopped; the radio frequency signal connection status of the test equipment is detected, and if the connection status is abnormal, the tightening torque history monitoring data is fed back to the radio frequency automatic tightening component 40 to obtain optimized tightening control parameters; the workpiece to be tested is re-tightened according to the optimized tightening control parameters.

[0076] In the embodiment of the present application, the robot module 20 moves the test device to the initial position of the workpiece to be tested. Specifically, the robot module 20 grabs the first docking fixture assembly 50 carrying the test device from the test device and moves it to the initial position of the workpiece to be tested where the second docking fixture assembly 60 is located.

[0077] Next, the position of the first docking fixture component 50 on the test equipment relative to the second docking fixture component 60 is corrected at the initial position according to the visual position correction component 33, and the corrected docking position of the first docking fixture component 50 is output. The visual position correction component 33 is composed of a cylindrical micro camera 33-2 and a laser ranging sensor 36, which work together to obtain an image data set and a ranging data set. By performing image processing and depth measurement on the position features of the second docking fixture component 60 (such as the checkerboard two-dimensional code 63), the visual position correction component 33 identifies the deviation between the current position of the first docking fixture component 50 and the theoretical target position of the second docking fixture component 60. Subsequently, the specific correction position is calculated based on the recognition result, and the corrected docking position of the first docking fixture component 50 is output in the form of three-dimensional coordinates.

[0078] Then, the RF automatic tightening component 40 docks and tightens the first docking tooling component 50 and the second docking tooling component 60 according to the corrected docking position, and obtains the tightening torque monitoring data. The RF automatic tightening component 40 controls the first docking tooling component 50 (male head) and the second docking tooling component 60 (female head) to perform precise docking and tightening. The built-in servo motor and transmission system of the RF automatic tightening component 40 controls the tightening action according to the set docking position, and monitors the tightening torque data in real time to ensure that the torque meets the standard during the docking process. When the tightening torque monitoring data reaches the preset threshold, the tightening operation stops automatically to prevent damage caused by over-tightening of the docking.

[0079] After the tightening operation is completed, the RF signal connection status of the test equipment is detected. If the connection status is abnormal (such as incomplete connection or error outside the allowable range), the historical tightening torque monitoring data is fed back and analyzed. These historical data include the torque records of normal connection achieved during the previous tightening process, representing a successful tightening operation. By reading these successful historical data, optimized tightening control parameters, such as appropriate tightening torque and other parameters, are extracted.

[0080] Finally, based on the optimized tightening control parameters, the radio frequency automatic tightening assembly 40 re-executes the tightening operation.

[0081] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. The processes depicted in the accompanying drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0082] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0083] This specification and drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. An intelligent control device for tightening test of radio frequency cables, characterized in that: The device comprises: A mobile platform, wherein a testing device is arranged on the mobile platform; A mechanical arm module, the mechanical arm module is installed on the mobile platform, and is used to move the test device to an initial position of a workpiece to be tested through the mechanical arm module; A floating grasping module, wherein the floating grasping module is arranged at the end of the mechanical arm module and has a visual position correction component embedded therein, wherein the visual position correction component corrects the position of the first docking fixture component on the test device relative to the second docking fixture component at the initial position and outputs the corrected docking position of the first docking fixture component; A radio frequency automatic tightening assembly, wherein the radio frequency automatic tightening assembly is arranged at the end of the robotic arm module, and is used to dock and tighten the first docking tooling assembly and the second docking tooling assembly according to the corrected docking position, wherein the first docking tooling assembly is a male tooling assembly arranged on the test equipment, and the second docking tooling assembly is a female tooling assembly arranged on the workpiece to be tested.

2. The device according to claim 1, characterized in that The floating grabbing module includes a floating component and a grabbing component; The floating assembly includes a Y-axis linear slide and an X-axis linear slide; Wherein, the slider on the Y-direction linear slide is installed on one side of the transition plate, the X-direction linear slide is installed on one side of the transition plate, the slider on the X-direction linear slide is installed on the top plate, the two ends of the transition plate in the movement direction of the Y-direction linear slide are installed with X-direction limit brackets, and the two ends of the bottom plate in the movement direction of the X-direction linear slide are installed with Y-direction limit brackets; The gripping assembly comprises an electric clamp, and the electric clamp comprises a clamp base, on which clamp fingers are mounted for clamping the workpiece to be tested.

3. The device according to claim 1, characterized in that The radio frequency automatic tightening assembly includes a servo reduction motor, which is installed through a servo motor support, one end of a connecting shaft is installed on the shaft of the servo reduction motor, and the other end of the connecting shaft is inserted into a spring and an output shaft.

4. The device according to claim 1, characterized in that The first docking tooling assembly includes a first guide pin and a second guide pin, and the first guide pin and the second guide pin are symmetrically installed and used for guiding when the first docking tooling assembly and the second docking tooling assembly are docked; A gear set, the gear set includes a large gear and a small gear, wherein the transmission shaft is rotated by the gear set to drive the radio frequency automatic tightening assembly to tighten.

5. The device according to claim 1, characterized in that The second docking tooling assembly includes a female load connection plate and a spring floating assembly for flexible docking; Wherein, spring floating components are installed at both ends of the female load connection plate, radio frequency connectors are symmetrically distributed on one side of the female load connection plate, and a guide frame is installed on the other side of the female load connection plate.

6. The device according to claim 1, characterized in that The visual position correction component includes a cylindrical micro camera and a laser ranging sensor, the cylindrical micro camera is supported and fixed by the micro camera, and the steps performed by the visual position correction component include: According to the cylindrical micro camera and the laser ranging sensor, an image data set and a ranging data set based on the workpiece to be tested at the initial position are acquired; Perform pixel point offset identification based on the image data set and the distance measurement data set, and output a pixel point identification result; The position of the first docking fixture component on the test device relative to the second docking fixture component is corrected according to the pixel point recognition result, and the corrected docking position of the first docking fixture component is output.

7. The device according to claim 6, characterized in that The steps performed by the visual position correction component also include: Obtaining position parameters of the second docking tooling component; Performing visual imaging analysis on the second docking fixture component according to the position parameters of the second docking fixture component to match a preset pixel granularity; Pixel recognition is performed on the image data set and the distance measurement data set according to a preset pixel granularity, and a pixel recognition result corresponding to the preset pixel granularity is output.

8. An intelligent control method for radio frequency cable tightening test, characterized in that: The method is used to implement the device according to any one of claims 1 to 7, and the method comprises: The test device is moved to the initial position of the workpiece to be tested by the robot arm module; Correcting the position of the first docking fixture component on the test device relative to the second docking fixture component at the initial position according to the visual position correction component, and outputting the corrected docking position of the first docking fixture component; The radio frequency automatic tightening component docks and tightens the first docking tooling component and the second docking tooling component according to the corrected docking position, and obtains tightening torque monitoring data; If the tightening torque monitoring data reaches a preset threshold, the tightening operation is stopped; Detecting the radio frequency signal connection status of the test device, and if the connection status is abnormal, feeding back the tightening torque history monitoring data to the radio frequency automatic tightening component to obtain optimized tightening control parameters; The workpiece to be tested is re-tightened according to the optimized tightening control parameters.

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