Grabbing and assembling tool for parts with wire harness plugs and material taking and assembling method

Abstract

The invention provides a grabbing and assembling tool for parts with wire harness plugs and a material taking and assembling method, and relates to the field of automatic grabbing. The grabbing and assembling tool comprises a wire harness plug clamping jaw module, a part clamping jaw module, a wire harness plug clamping jaw driving cylinder, a part clamping jaw driving cylinder and a part clamping jaw sliding table driving cylinder. When the wire harness plug clamping jaw driving cylinder is closed, the replaceable finger end on the wire harness plug clamping jaw module is in contact with the wire harness end of the part with the wire harness plug, and grabbing is completed; when the part clamping jaw driving cylinder is closed, part clamping jaw fingers on the part clamping jaw module make contact with the non-wire-harness end of the part with the wire harness plug, and grabbing is completed. And mechanical interference generated when the wire harness plug clamping jaw module and the part clamping jaw module take materials is avoided through the part clamping jaw sliding table driving cylinder. The structure is reasonable, the cost is reduced, and the takt time and the process stability are improved; the cost is reduced by adopting the replaceable finger tip; the accuracy and the firmness degree are improved through a limiting structure.

Description

Technical Field

[0001] The invention relates to the field of automated grasping, and in particular to a grasping and assembling tool for parts with wiring harness plugs and a material taking and assembling method. Background Art

[0002] The two parts of the components with wiring harness plugs are often highly independent of each other, but also have mutual involvement. Therefore, in automated assembly, it is often necessary to grab and assemble the wiring harness plug and the components in two steps. However, due to the flexibility of the cable, the state of the unmounted end is six degrees of freedom, which will cause considerable positioning difficulties for re-identification and grasping. For this reason, additional visual recognition systems or other positioning fixtures are often required to perform another positioning and grasping at the installation end of the product. This method will not only increase the cycle time, but also increase the cost. At the same time, the stable grasping of the unmounted end is technically difficult and has poor stability. Summary of the invention

[0003] In view of the defects in the prior art, the object of the present invention is to provide a grabbing and assembling tool for parts with wiring harness plugs and a material taking and assembling method.

[0004] According to the present invention, a grasping and assembling tool for parts with a wiring harness plug comprises a wiring harness plug clamping claw module, a parts clamping claw module, a wiring harness plug clamping claw driving cylinder, a parts clamping claw driving cylinder and a parts clamping claw slide driving cylinder, wherein the output end of the wiring harness plug clamping claw driving cylinder is drivingly connected to the wiring harness plug clamping claw module, the output end of the parts clamping claw slide driving cylinder is drivingly connected to the parts clamping claw driving cylinder, and the output end of the parts clamping claw driving cylinder is drivingly connected to the parts clamping claw module;

[0005] The harness plug gripper drive cylinder drives the fingers of the harness plug gripper module to close / open, grab and assemble the harness end of the parts with the harness plug; the parts gripper drive cylinder drives the fingers of the parts gripper module to close / open, grab and assemble the non-harness end of the parts with the harness plug; the parts gripper slide drive cylinder drives the parts gripper drive cylinder to move up and down;

[0006] A component height limit block is installed at the bottom of the component clamp slide drive cylinder, and the component height limit block limits the displacement of the component clamp module in the height direction.

[0007] Preferably, the wiring harness plug clamp module includes a wiring harness plug clamp mounting plate, a connecting air port adapter, a wiring harness plug clamp driving cylinder, a wiring harness plug clamp left finger and a wiring harness plug clamp right finger, the wiring harness plug clamp left finger and the wiring harness plug clamp right finger are respectively installed on two parallel movable fingers of the wiring harness plug clamp driving cylinder, the wiring harness plug clamp driving cylinder is installed in front of the wiring harness plug clamp mounting plate, the connecting air port adapter is installed on the wiring harness plug clamp driving cylinder, and the wiring harness plug clamp driving cylinder is used to connect the air pipe joint through the connecting air port adapter to connect the external control air circuit.

[0008] Preferably, the inner side of the lower end of the left finger of the wiring harness plug clamp is detachably connected with a left replaceable finger end, and the inner side of the right finger end of the wiring harness plug clamp is detachably connected with a right replaceable finger end;

[0009] The left replaceable finger end and the right replaceable finger end are used to contact and grasp the wire harness end of the component with the wire harness plug when the wire harness plug clamp driving cylinder is closed.

[0010] Preferably, a clamp opening and closing limit plate is installed on the left side of the wiring harness plug clamp driving cylinder. When the fingers of the wiring harness plug clamp driving cylinder are opened, the distance between the left finger of the wiring harness plug clamp and the right finger of the wiring harness plug clamp is limited by the clamp opening and closing limit plate.

[0011] Preferably, the component gripper finger comprises a component gripper left finger and a component gripper right finger, and the component gripper left finger and the component gripper right finger are respectively mounted on two parallel moving fingers of the component gripper driving cylinder;

[0012] When the component gripper driving cylinder is closed, the component gripper left finger and the component gripper right finger contact the non-wiring harness end of the component with the wiring harness plug and complete the grasping.

[0013] Preferably, a component height limit block mounting plate is installed below the component clamp slide drive cylinder, and a component height limit block is installed on the component height limit block mounting plate. The component height limit block provides height limitation when grasping and assembling non-wiring harness end parts of components with wiring harness plugs.

[0014] Preferably, the component clamp drive cylinder is installed in front of the component clamp drive cylinder adapter plate, and the component clamp drive cylinder adapter plate is installed in front of the component clamp slide drive cylinder.

[0015] Preferably, the component clamp slide drive cylinder is installed in front of the component clamp slide mounting plate, and the component clamp slide mounting plate is installed on the right side of the component clamp slide adapter plate;

[0016] The harness plug clamp mounting plate and the component clamp slide adapter plate are both installed on one side of the connecting flange.

[0017] Preferably, a robot is further included, and a grabbing and assembling tool is installed on the output side of the robot.

[0018] The present invention also provides a method for using a grabbing and assembling tool for a component with a wiring harness plug, the method for using is a material taking method, comprising the following steps:

[0019] Step A1, the grabbing assembly tool moves to the top of the component product with the wiring harness plug, the wiring harness plug clamping claw driving cylinder opens, the component clamping claw slide driving cylinder moves to the upper limit position, and the component clamping claw driving cylinder opens;

[0020] Step A2, the grabbing assembly tool moves downward so that the wiring harness end of the component with the wiring harness plug is between the left replaceable finger end and the right replaceable finger end of the wiring harness plug clamping claw module, and the wiring harness plug clamping claw driving cylinder is closed to complete the grabbing action of the wiring harness end of the component with the wiring harness plug;

[0021] Step A3, the component clamp slide drive cylinder drives the component clamp drive cylinder to move downward until the component height limit block is aligned with the upper surface of the non-wiring harness end part of the component with the wiring harness plug, so that the non-wiring harness end part of the component with the wiring harness plug is located between the left finger of the component clamp and the right finger of the component clamp of the component clamp module pair, and the component clamp drive cylinder is closed to complete the grabbing action of the non-wiring harness end part of the component with the wiring harness plug.

[0022] The present invention also provides a method for using a grabbing and assembling tool for a component with a wiring harness plug, the method for using is an assembly method, comprising the following steps:

[0023] Step B1, grab the assembly tool and move it to the assembly position, so that the component clamping claw drive cylinder and the non-wiring harness end parts enter the assembly position for assembly, and open the component clamping claw drive cylinder after the assembly is completed;

[0024] Step B2, the component clamp slide drive cylinder is retracted, the harness plug clamp drive cylinder and the harness plug enter the assembly position for assembly, and the harness plug clamp drive cylinder is opened after the assembly is completed;

[0025] Step B3, grab the assembly tool and leave the assembly position.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The present invention arranges multiple groups of cylinders, including a wire harness plug clamp driving cylinder, a component clamp driving cylinder, and a component clamp slide driving cylinder, at the same end, and reasonably designs the distance height and the end action step planning, so that the components with the wire harness plug can be grasped at both ends by the same execution end in one execution;

[0028] (2) The present invention uses a component gripper slide drive cylinder to utilize the flexibility of the harness itself, thereby avoiding mechanical interference between the assembly direction and assembly position of the harness plug and the non-harness end parts during grasping and assembly, thereby making it possible to flexibly assemble one end while maintaining stable grasping of the other end;

[0029] (3) The present invention adopts a left replaceable finger end and a right replaceable finger end, so that different finger ends can be replaced for different joints, and when the finger ends are worn, they can be replaced at the lowest cost;

[0030] (4) The present invention adopts a limiting structure on the clamping claw and is matched with an adaptive robot to improve the accuracy of height and other directions during material grasping and installation, and to improve the firmness of installation and grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 This is a schematic diagram mainly showing the overall structure of the assembly tool in Embodiment 1 of the present invention;

[0033] Figure 2 This is a schematic diagram mainly showing the bottom structure of the assembly tool in Embodiment 1 of the present invention;

[0034] FIG3 is a state diagram of the material picking process of the grabbing assembly tool in Example 2; wherein FIG3(a) is a schematic diagram of the case where the tool has moved to the joint grabbing position but has not grabbed the joint or the part; FIG3(b) is a schematic diagram of the case where the tool has grabbed the joint and moved to the joint grabbing position but has not grabbed the part; FIG3(c) is a schematic diagram of the case where the tool has grabbed the joint but has not grabbed the part; FIG3(d) is a schematic diagram of the case where the tool has grabbed the joint and the height limit is aligned but has not grabbed the part; and FIG3(e) is a schematic diagram of the case where the tool has grabbed the joint and grabbed the part;

[0035] FIG4 is a state diagram of the assembly process of the assembly tool in Example 3; wherein FIG4(a) is a schematic diagram of assembling a non-wiring harness end; FIG4(b) is a schematic diagram of assembling a non-wiring harness end but not assembling a wiring harness end; and FIG4(c) is a schematic diagram of assembling a non-wiring harness end and assembling a wiring harness end;

[0036] Figure 5 This is a schematic diagram of a robot with assembly tools in Example 4 of the present invention.

[0037] Reference numerals:

[0038] Connecting flange 1 Parts Gripper left finger 10

[0039] Wiring harness plug clamp mounting plate 2 Component height limit block 11

[0040] Connecting air port adapter 3 Parts gripper right finger 12

[0041] Gripper opening and closing limit plate 4 Parts Gripper drive cylinder 13

[0042] Wiring harness plug Gripper drive cylinder 5 Parts Gripper drive cylinder adapter plate 14

[0043] Wiring harness connector Gripper left finger 6 Parts Gripper slide drive cylinder 15

[0044] Left replaceable finger tip 7 Component height limiter mounting plate 16

[0045] Replaceable finger tip on the right 8 Component gripper slide mounting plate 17

[0046] Wiring harness plug clamp right finger 9 Parts clamp slide adapter plate 18 DETAILED DESCRIPTION

[0047] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0048] Example 1

[0049] According to the present invention, a grabbing and assembling tool for a component with a wiring harness plug is provided, such as Figure 1 and Figure 2 As shown, it includes a connecting flange 1, a wiring harness plug clamp mounting plate 2, a connecting air port adapter 3, a clamp opening and closing limit plate 4, a wiring harness plug clamp driving cylinder 5, a wiring harness plug clamp left finger 6, a left replaceable finger end 7, a right replaceable finger end 8, a wiring harness plug clamp right finger 9, a component clamp left finger 10, a component height limit block 11, a component clamp right finger 12, a component clamp driving cylinder 13, a component clamp driving cylinder adapter plate 14, a component clamp slide drive cylinder 15, a component height limit block mounting plate 16, a component clamp slide mounting plate 17 and a component clamp slide adapter plate 18.

[0050] The harness plug clamp mounting plate 2 and the component clamp slide adapter plate 18 are both installed under the connecting flange 1. The harness plug clamp left finger 6 and the harness plug clamp right finger 9 are respectively installed on the two parallel moving fingers of the harness plug clamp drive cylinder 5. The harness plug clamp drive cylinder 5 is installed in front of the harness plug clamp mounting plate 2. The connecting air port adapter 3 is installed on the harness plug clamp drive cylinder 5. The harness plug clamp drive cylinder 5 is used to connect the air pipe joint through the connecting air port adapter 3 to connect the external control air path. The left replaceable finger end 7 is installed at the lower end of the harness plug clamp left finger 6, and the right replaceable finger end 8 is installed at the end of the harness plug clamp right finger 9; the left replaceable finger end 7 and the right replaceable finger end 8 are used to contact the harness end of the component with the harness plug and complete the grasping when the harness plug clamp drive cylinder 5 is closed. A clamp opening and closing limit plate 4 is installed on the left side of the harness plug clamp driving cylinder 5. When the wire harness plug clamp driving cylinder 5 fingers are opened, the distance between the left wire harness plug clamp finger 6 and the left replaceable finger end 7, and between the right replaceable finger end 8 and the right wire harness plug clamp finger 9 is limited by the clamp opening and closing limit plate 4. When the harness plug clamp driving cylinder 5 is opened, the fingers will not complete the stroke of the clamp driving cylinder itself, but will stop moving because the fingers are blocked by the clamp opening and closing limit plate 4, thereby controlling the actual opening and closing stroke to be less than the default stroke of the clamp driving cylinder.

[0051] The left finger 10 of the component gripper and the right finger 12 of the component gripper are respectively mounted on two parallel moving fingers of the component gripper drive cylinder 13; when the component gripper drive cylinder 13 is closed, the left finger 10 of the component gripper and the right finger 12 of the component gripper contact the non-wiring harness end of the component with the wiring harness plug and complete the grasping. The component gripper slide drive cylinder 15 is mounted in front of the component gripper slide mounting plate 17, and the component gripper slide mounting plate 17 is mounted on the right side of the component gripper slide adapter plate 18. The component gripper drive cylinder 13 is mounted in front of the component gripper drive cylinder adapter plate 14, and the component gripper drive cylinder adapter plate 14 is mounted in front of the component gripper slide drive cylinder 15, and the component gripper slide drive cylinder 15 is mounted in front of the component gripper slide drive cylinder 15. A component height limit block 11 is installed below the component gripper slide drive cylinder 15, and a component height limit block mounting plate 16 is installed below the component gripper slide mounting plate 17. The component height limit block 11 is installed in front of the component height limit block mounting plate 16. The component height limit block 11 limits the displacement of the component gripper module in the height direction. The component height limit block mounting plate 16 provides height restriction when grabbing and assembling the non-wiring harness end of the component with a wiring harness plug.

[0052] More specifically, in this embodiment, the harness plug clamp driving cylinder 5 adopts the harness plug clamp cylinder, the component clamp driving cylinder 13 adopts the component clamp cylinder, and the component clamp slide driving cylinder 15 adopts the component clamp slide cylinder. The component clamp slide driving cylinder 15 drives the component clamp driving cylinder 13 to move, which mainly plays the role of adjusting the height of the two as needed during material collection and assembly, thereby achieving flexible process avoidance. When collecting materials, the robot moves downward with the entire tool, the component height limit block 11 hits the upper surface of the product, the adaptive robot senses the force and stops, and the component clamp driving cylinder 13 drives the fingers to grab; when assembling, the robot moves downward with the entire tool until it senses the force and stops, the component height limit block 11 hits the upper surface of the product to enable the parts to be reliably assembled, and the component clamp driving cylinder 13 drives the fingers to release. If the adaptive robot is not used, other mechanisms can be used to control a certain pressure until it can no longer be pressed down, which can also achieve a similar effect.

[0053] It should be noted that this tool can be used directly with the force control characteristics of the adaptive robot. The adaptive robot is a humanoid intelligent robot that deeply integrates industrial-grade force control computer vision, AI and other multiple technologies. It can complete complex tasks such as "hand-eye coordination" like humans and effectively adapt to complex and changing environments, thereby greatly enhancing the flexibility and productivity of the production process. It is a new generation of robots with high position error tolerance, strong anti-interference, and intelligent transferability. If an industrial robot or a collaborative robot is used, a force sensor can be used to make the tool press down to the bottom within a certain pressure range.

[0054] Example 2

[0055] The present invention also provides a method for picking up a material of a grabbing assembly tool for a component with a wiring harness plug in Embodiment 1, such as Figure 3(a) to Figure 3(e) As shown, the following steps are included:

[0056] Step A1, the grabbing assembly tool is moved to the top of the component product with the wiring harness plug, the wiring harness plug clamping claw driving cylinder 5 is opened, the component clamping claw slide driving cylinder 15 is moved to the upper limit position, and the component clamping claw driving cylinder 13 is opened;

[0057] Step A2, the grabbing assembly tool moves downward so that the wiring harness end of the component with the wiring harness plug is between the left replaceable finger end 7 and the right replaceable finger end 8 of the wiring harness plug clamping claw module, and the wiring harness plug clamping claw driving cylinder 5 is closed to complete the grabbing action of the wiring harness end of the component with the wiring harness plug;

[0058] Step A3, the component clamp slide drive cylinder 15 drives the component clamp drive cylinder 13 to move downward until the component height limit block 11 is aligned with the upper surface of the non-wiring harness end part of the component with the wiring harness plug, so that the non-wiring harness end part of the component with the wiring harness plug is located between the component clamp left finger 10 and the component clamp right finger 12 of the component clamp module pair, and the component clamp drive cylinder 13 is closed to complete the grabbing action of the non-wiring harness end part of the component with the wiring harness plug.

[0059] When the present application is in use, a grasping and assembly tool for components with wiring harness plugs is installed on the end of the robot. When picking up materials, the robot drives the grasping and assembly tool for components with wiring harness plugs to above the component products with wiring harness plugs in the material tray.

[0060] The harness plug clamp drive cylinder 5 is opened, the component clamp slide drive cylinder 15 is retracted and is at the upper limit, and the component clamp drive cylinder 13 is opened; the robot drives the tool downward, so that the harness plug is between the left replaceable finger end 7 and the right replaceable finger end 8, and the harness plug clamp drive cylinder 5 is closed. At this time, the harness end of the component with the harness plug is stably grasped.

[0061] The robot drives the tool's component gripper drive cylinder 13 to rise above the non-wiring harness end part of the component with the wiring harness plug. Since the cable is flexible, the appropriate movement path and position can allow the tool to stably grasp the plug without affecting the initial incoming position of this part. The component gripper slide drive cylinder 15 is pushed downward, driving the component gripper drive cylinder 13 to move downward, thereby avoiding mechanical interference when the plug and non-plug parts of the component with the wiring harness plug are fed from the same material tray. The robot drives the tool to move downward until the component height limit block 11 is aligned with the upper surface of the non-wiring harness end part of the component with the wiring harness plug. The non-wiring harness end part of the component with the wiring harness plug is located between the left finger 10 of the component gripper and the right finger 12 of the component gripper. Then the component gripper drive cylinder 13 is closed, so that the non-wiring harness end part of the component with the wiring harness plug can be stably grasped. At this time, the material collection of the component with the wiring harness plug is completed at the same end, and the connector and the non-wiring harness end part are stably grasped, and the height difference does not affect the material collection or the subsequent assembly.

[0062] More specifically, the clamping claws for the harness end and the clamping claws for the non-harness end mainly depend on the assembly position, the wire length and the interference requirements of the material picking position, and can be generally applied if the conditions are appropriate. If the wire length is reasonable, the slide cylinder stroke can be increased to avoid the clamping claws interfering with another part when grabbing a part of the product; after grabbing the joint, it can be moved high enough or far enough to meet the needs of grabbing and installing parts of different shapes.

[0063] Example 3

[0064] The present invention also provides an assembly method of a grabbing assembly tool for a component with a wiring harness plug in Embodiment 1, such as Figure 4(a) to Figure 4(c) As shown, the following steps are included:

[0065] Step B1, grab the assembly tool and move it to the assembly position, so that the component clamping claw driving cylinder 13 and the non-wiring harness end parts enter the assembly position for assembly, and open the component clamping claw driving cylinder 13 after the assembly is completed;

[0066] Step B2, the component clamp slide drive cylinder 15 is retracted, the harness plug clamp drive cylinder 5 and the harness plug enter the assembly position for assembly, and the harness plug clamp drive cylinder 5 is opened after the assembly is completed;

[0067] Step B3, grab the assembly tool and leave the assembly position.

[0068] When the present application is used, the grasping and assembly tool of the parts with the wiring harness plug is installed at the end of the robot. During assembly, the robot drives the tool and the parts with the wiring harness plug to the top of the assembly position. The robot moves downward, driving the parts clamping claw drive cylinder 13 and the non-wiring harness end parts to enter the assembly position. The parts height limit block 11 stably limits the height of the parts during assembly and directly transmits the downward assembly force. At this time, the wiring harness plug clamped by the left replaceable finger end 7 and the right replaceable finger end 8 is still stably grasped, and because of the height and position distance offset, it does not interfere with the installation part. Open the parts clamping claw drive cylinder 13, the parts clamping claw left finger 10 and the parts clamping claw right finger 12 are opened. The parts clamping claw slide drive cylinder 15 is retracted, and the tool is out of the assembly position. Subsequently, the robot drives the wiring harness plug clamping claw drive cylinder 5 and the wiring harness plug for assembly. After assembly, the left replaceable finger end 7 and the right replaceable finger end 8 are opened. The robot drives the grasping and assembly tool of the parts with the wiring harness plug to leave the assembly position.

[0069] Example 4

[0070] Based on Example 1, a grabbing and assembling tool for a component with a wiring harness plug, such as Figure 5 As shown, it includes a robot, and a grabbing and assembling tool is installed on the output side of the robot. Specifically, the present invention also provides a robot, including the grabbing and assembling tool for parts with a wiring harness plug in embodiment 1.

[0071] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0072] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A grabbing and assembling tool for parts with a wiring harness plug, characterized in that: It comprises a wiring harness plug clamping claw module, a component clamping claw module, a wiring harness plug clamping claw driving cylinder (5), a component clamping claw driving cylinder (13) and a component clamping claw slide driving cylinder (15); The output end of the harness plug clamping jaw driving cylinder (5) is drivingly connected to the harness plug clamping jaw module, the output end of the component clamping jaw slide driving cylinder (15) is drivingly connected to the component clamping jaw driving cylinder (13), and the output end of the component clamping jaw driving cylinder (13) is drivingly connected to the component clamping jaw module; The harness plug clamping claw driving cylinder (5) drives the fingers of the harness plug clamping claw module to close / open, so as to grasp and assemble the harness end of the component with the harness plug; the component clamping claw driving cylinder (13) drives the fingers of the component clamping claw module to close / open, so as to grasp and assemble the non-harness end of the component with the harness plug; the component clamping claw slide driving cylinder (15) drives the component clamping claw driving cylinder (13) to move up and down; A component height limiting block (11) is installed at the bottom of the component clamping claw slide drive cylinder (15), and the component height limiting block (11) limits the displacement of the component clamping claw module in the height direction.

2. The grabbing and assembling tool for components with wiring harness plugs according to claim 1, characterized in that: The wiring harness plug clamp module comprises a wiring harness plug clamp mounting plate (2), a connecting air port adapter (3), a wiring harness plug clamp driving cylinder (5), a wiring harness plug clamp left finger (6) and a wiring harness plug clamp right finger (9), wherein the wiring harness plug clamp left finger (6) and the wiring harness plug clamp right finger (9) are respectively mounted on two parallel movable fingers of the wiring harness plug clamp driving cylinder (5), the wiring harness plug clamp driving cylinder (5) is mounted in front of the wiring harness plug clamp mounting plate (2), the connecting air port adapter (3) is mounted on the wiring harness plug clamp driving cylinder (5), and the wiring harness plug clamp driving cylinder (5) is used to connect to the air pipe joint through the connecting air port adapter (3) to connect to the external control air path.

3. The grabbing and assembling tool for components with wiring harness plugs according to claim 2, characterized in that: The inner side of the lower end of the left finger (6) of the wiring harness plug clamp is detachably connected to a left replaceable finger end (7), and the inner side of the end of the right finger (9) of the wiring harness plug clamp is detachably connected to a right replaceable finger end (8); The left replaceable finger end (7) and the right replaceable finger end (8) are used to contact the wire harness end of the component with the wire harness plug and complete the grasping when the wire harness plug clamp drive cylinder (5) is closed.

4. The grabbing and assembling tool for components with wiring harness plugs according to claim 3, characterized in that: The clamping jaw opening and closing limit plate (4) is installed on the left side of the wiring harness plug clamping jaw driving cylinder (5). When the fingers of the wiring harness plug clamping jaw driving cylinder (5) are opened, the distance between the left finger (6) of the wiring harness plug clamping jaw and the right finger (9) of the wiring harness plug clamping jaw when they are opened is limited by the clamping jaw opening and closing limit plate (4).

5. The grabbing and assembling tool for components with wiring harness plugs according to claim 1, characterized in that: The component gripper finger comprises a component gripper left finger (10) and a component gripper right finger (12), wherein the component gripper left finger (10) and the component gripper right finger (12) are respectively mounted on two parallel moving fingers of the component gripper drive cylinder (13); When the component clamp driving cylinder (13) is closed, the component clamp left finger (10) and the component clamp right finger (12) contact the non-wiring harness end of the component with the wiring harness plug and complete the grasping.

6. The grabbing and assembling tool for components with wiring harness plugs according to claim 5, characterized in that: A component height limit block mounting plate (16) is installed below the component gripper slide drive cylinder (15), and the component height limit block mounting plate (16) is installed on the component height limit block mounting plate (16). The component height limit block (11) provides height restriction when grasping and assembling non-wiring harness end parts of components with wiring harness plugs.

7. The grabbing and assembling tool for components with wiring harness plugs according to claim 1, characterized in that: The component clamping jaw driving cylinder (13) is installed in front of the component clamping jaw driving cylinder adapter plate (14), and the component clamping jaw driving cylinder adapter plate (14) is installed in front of the component clamping jaw slide driving cylinder (15); The component clamp slide drive cylinder (15) is installed in front of the component clamp slide mounting plate (17), and the component clamp slide mounting plate (17) is installed on the right side of the component clamp slide adapter plate (18); The harness plug clamping claw mounting plate (2) and the component clamping claw slide adapter plate (18) are both mounted on one side of the connecting flange (1).

8. The grabbing and assembling tool for components with wiring harness plugs according to claim 1, characterized in that: A robot is also included, wherein a gripping assembly tool is installed on the output side of the robot.

9. A method for picking up a material with a grabbing assembly tool for a component with a wiring harness plug according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step A1, the grabbing and assembling tool is moved to the top of the component product with the wiring harness plug, the wiring harness plug clamping jaw driving cylinder (5) is opened, the component clamping jaw slide driving cylinder (15) is moved to the upper limit position, and the component clamping jaw driving cylinder (13) is opened; Step A2, the grasping assembly tool moves downward so that the wiring harness end of the component with the wiring harness plug is between the left replaceable finger end (7) and the right replaceable finger end (8) of the wiring harness plug clamping claw module, and the wiring harness plug clamping claw drive cylinder (5) is closed to complete the grasping action of the wiring harness end of the component with the wiring harness plug; In step A3, the component clamp slide drive cylinder (15) drives the component clamp drive cylinder (13) to move downward until the component height limit block (11) is aligned with the upper surface of the non-wiring harness end part of the component with the wiring harness plug, so that the non-wiring harness end part of the component with the wiring harness plug is located between the component clamp left finger (10) and the component clamp right finger (12) of the component clamp module pair, and the component clamp drive cylinder (13) is closed to complete the grasping action of the non-wiring harness end part of the component with the wiring harness plug.

10. An assembly method of a grabbing assembly tool for a component with a wiring harness plug according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step B1, the grabbing assembly tool moves to the assembly position, so that the component clamping claw drive cylinder (13) and the non-wiring harness end parts enter the assembly position for assembly, and after the assembly is completed, the component clamping claw drive cylinder (13) is opened; Step B2, the component clamp slide drive cylinder (15) is retracted, the harness plug clamp drive cylinder (5) and the harness end enter the assembly position for assembly, and after the assembly is completed, the harness plug clamp drive cylinder (5) is opened; Step B3: the grabbing assembly tool leaves the assembly position.

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