Pick-and-place assembly tool for components with wiring harness plug and method of picking and assembling

Abstract

The application provides a kind of to involve the field of automation grabbing with harness plug part's grabbing assembly tool and material taking, assembly method, including harness plug jaw module, part jaw module, harness plug jaw drive cylinder, part jaw drive cylinder and part jaw sliding table drive cylinder, when harness plug jaw drive cylinder closes, replaceable finger end on harness plug jaw module is contacted with the harness end of part with harness plug and completes grabbing;When part jaw drive cylinder closes, part jaw finger on part jaw module is contacted with the non-harness end of part with harness plug, and completes grabbing;Through part jaw sliding table drive cylinder, it avoids mechanical interference when harness plug jaw module and part jaw module take material.The application has reasonable structure, reduces cost, improves tempo and process stability;Replaceable finger end is used to reduce cost;Through limiting structure, accuracy and firmness are improved.

Description

Technical Field

[0001] This invention relates to the field of automated gripping, and more specifically, to gripping and assembling tools and methods for picking up and assembling parts with wire harness plugs. Background Technology

[0002] The two parts of a component with a wire harness plug are often highly independent yet interconnected. Therefore, automated assembly often requires two separate steps to pick up and assemble the wire harness plug and the component. However, due to the flexibility of the cable, the unattached end has six degrees of freedom, making re-identification and picking extremely difficult. This often necessitates an additional vision recognition system or other positioning fixtures at the installed end of the product for further positioning and picking. This not only increases cycle time but also costs. Furthermore, stable picking of the unattached end is technically challenging and results in poor stability. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the purpose of this invention is to provide a gripping and assembly tool for components with wire harness plugs, as well as a method for picking up and assembling them.

[0004] According to the present invention, a gripping and assembly tool for a component with a wire harness plug is provided, comprising a wire harness plug gripper module, a component gripper module, a wire harness plug gripper drive cylinder, a component gripper drive cylinder, and a component gripper slide drive cylinder. The output end of the wire harness plug gripper drive cylinder is drivenly connected to the wire harness plug gripper module, the output end of the component gripper slide drive cylinder is drivenly connected to the component gripper drive cylinder, and the output end of the component gripper drive cylinder is drivenly connected to the component gripper module.

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

[0006] A component height limiting block is installed at the bottom of the component gripper slide drive cylinder, which limits the displacement of the component gripper module in the height direction.

[0007] Preferably, the wire harness plug gripper module includes a wire harness plug gripper mounting plate, a connecting air port adapter, a wire harness plug gripper drive cylinder, a left finger of the wire harness plug gripper, and a right finger of the wire harness plug gripper. The left finger and right finger of the wire harness plug gripper are respectively mounted on two parallel moving fingers of the wire harness plug gripper drive cylinder. The wire harness plug gripper drive cylinder is mounted in front of the wire harness plug gripper mounting plate. The connecting air port adapter is mounted on the wire harness plug gripper drive cylinder. The wire harness plug gripper drive cylinder is used to connect to the air pipe connector and connect to the external control air circuit through the connecting air port adapter.

[0008] Preferably, the left finger of the wire harness plug clamp is detachably connected to the inner side of the lower end of the left finger, and the right finger of the wire harness plug clamp is detachably connected to the inner side of the lower end of the right finger;

[0009] The replaceable finger tips on the left and right are used to contact the wire harness end of the component with the wire harness plug and complete the gripping when the wire harness plug gripper drive cylinder is closed.

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

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

[0012] When the component gripper drive cylinder closes, the left and right fingers of the component gripper contact the non-wire harness end of the component with the wire harness plug and complete the gripping.

[0013] Preferably, a component height limiting block mounting plate is installed below the component gripper slide drive cylinder, and a component height limiting block is installed on the component height limiting block mounting plate. The component height limiting block provides height restriction when gripping and assembling non-wire harness end parts with wire harness plugs.

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

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

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

[0017] Preferably, the system also includes a robot, the output side of which is equipped with a gripping and assembly tool.

[0018] This invention also provides a method for using a gripping and assembling tool for components with wire harness plugs. The method is a material handling method, including the following steps:

[0019] Step A1: The gripping assembly tool is moved above the component product with the wire harness plug, the wire harness plug gripper drive cylinder is opened, the component gripper slide drive cylinder is moved to the upper limit, and the component gripper drive cylinder is opened.

[0020] Step A2: The gripping assembly tool moves downward so that the wire harness end of the component with the wire harness plug is between the left and right replaceable finger tips of the wire harness plug gripper module. The wire harness plug gripper drive cylinder is closed to complete the gripping action of the wire harness end of the component with the wire harness plug.

[0021] Step A3: The component gripper slide drive cylinder drives the component gripper drive cylinder downward until the component height limit block is aligned with the upper surface of the non-wire harness end part of the component with the wire harness plug, so that the non-wire harness end part of the component with the wire harness plug is located between the left and right fingers of the component gripper module. The component gripper drive cylinder is then closed to complete the gripping action of the non-wire harness end part of the component with the wire harness plug.

[0022] This invention also provides a method for using a gripping and assembling tool for components with wire harness plugs. The method is an assembly method, including the following steps:

[0023] Step B1: Move the gripping assembly tool to the assembly position so that the component gripper drive cylinder and the non-wire harness end parts enter the assembly position for assembly. After the assembly is completed, open the component gripper drive cylinder.

[0024] Step B2: The component gripper slide drive cylinder retracts, the wire harness plug gripper drive cylinder and the wire harness plug enter the assembly position for assembly, and the wire harness plug gripper drive cylinder is opened after the assembly is completed.

[0025] Step B3: Grab the assembly tool and remove it from the assembly position.

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

[0027] (1) The present invention employs multiple sets of cylinders, including a wire harness plug gripper drive cylinder, a component gripper drive cylinder, and a component gripper slide drive cylinder, arranged at the same end. With reasonable distance and height design and end action step planning, the component with wire harness plug can be gripped at both ends in one execution by the same execution end.

[0028] (2) By using a component gripper slide drive cylinder, the present invention can utilize the flexibility of the wire harness itself to avoid mechanical interference between the assembly direction and assembly position of the wire harness plug and non-wire harness end parts during gripping and assembly, thereby enabling flexible assembly of one end while maintaining stable gripping of the other end.

[0029] (3) By adopting a left-side replaceable fingertip and a right-side replaceable fingertip, the present invention allows for the replacement of different fingertip for different connectors and the replacement of the fingertip at the lowest cost when it is worn.

[0030] (4) By using a limiting structure on the gripper and combining it with an adaptive robot, this invention can improve the accuracy of the gripping and installation in terms of height and other directions, and improve the firmness of the installation and gripping. Attached Figure Description

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

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

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

[0034] Figure 3 is a diagram showing the material handling process of the assembly tool in Example 2; wherein, Figure 3(a) is a schematic diagram when the tool has moved to the joint gripping position but has not gripped the joint or the part; Figure 3(b) is a schematic diagram when the tool has gripped the joint and moved to the joint gripping position but has not gripped the part; Figure 3(c) is a schematic diagram when the tool has gripped the joint but has not gripped the part; Figure 3(d) is a schematic diagram when the tool has gripped the joint, the height limit is aligned, and the part has not been gripped; Figure 3(e) is a schematic diagram when the tool has gripped the joint and has gripped the part.

[0035] Figure 4 is a diagram of the assembly process of the assembly tool in Example 3; wherein, Figure 4(a) is a schematic diagram when assembling the non-wire harness end; Figure 4(b) is a schematic diagram when the non-wire harness end is assembled but the wire harness end is not assembled; Figure 4(c) is a schematic diagram when both the non-wire harness end and the wire harness end are assembled.

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

[0037] Figure label:

[0038] Connecting flange 1, component clamping jaws, left finger 10

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

[0040] Connecting air inlet adapter 3, component gripper right finger 12

[0041] 4 gripper opening and closing limit plate; 13 component gripper drive cylinder

[0042] Wire harness plug gripper drive cylinder 5 Component gripper drive cylinder adapter plate 14

[0043] Wire harness plug gripper left finger 6, component gripper slide drive cylinder 15

[0044] Left-side replaceable fingertip 7 component height limit block mounting plate 16

[0045] Replaceable fingertip 8 parts; gripper slide mounting plate 17 on the right side

[0046] Wire harness plug clamp right finger 9 Component clamping jaw slide adapter plate 18 Detailed Implementation

[0047] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0048] Example 1

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

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

[0051] The left finger 10 and right finger 12 of the component gripper are respectively mounted on the two parallel moving fingers of the component gripper drive cylinder 13. When the component gripper drive cylinder 13 is closed, the left finger 10 and right finger 12 of the component gripper contact the non-wire harness end of the component with the wire harness plug and complete the gripping. The component gripper slide drive cylinder 15 is mounted in front of the component gripper slide mounting plate 17, which 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, which 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 limiting block 11 is mounted below the component gripper slide drive cylinder 15. A component height limiting block mounting plate 16 is mounted below the component gripper slide mounting plate 17, and the component height limiting block 11 is mounted in front of the component height limiting block mounting plate 16. The component height limiting block 11 limits the displacement of the component gripper module in the height direction. The component height limiting block mounting plate 16 provides height restriction when gripping and assembling the non-wire harness end of a component with a wire harness plug.

[0052] More specifically, in this embodiment, the wire harness plug gripper drive cylinder 5 is a wire harness plug gripper cylinder, the component gripper drive cylinder 13 is a component gripper cylinder, and the component gripper slide drive cylinder 15 is a component gripper slide cylinder. The main function of the component gripper slide drive cylinder 15 driving the component gripper drive cylinder 13 is to adjust their heights as needed during material handling and assembly, thereby achieving flexible process avoidance. During material handling, the robot moves downwards with the entire tool, the component height limit block 11 presses against the upper surface of the product, the adaptive robot senses the force and stops, and the component gripper drive cylinder 13 drives the fingers to grasp the material. During assembly, the robot moves downwards with the entire tool until it senses the force and stops, the component height limit block 11 presses against the upper surface of the product to ensure reliable assembly, and the component gripper drive cylinder 13 drives the fingers to release the material. If an adaptive robot is not used, other mechanisms can be used to control a certain pressure until it cannot be pressed down further to achieve a similar effect.

[0053] It should be noted that this tool can be used directly in conjunction with the force control characteristics of adaptive robots. Adaptive robots are human-like and intelligent robots that deeply integrate industrial-grade force control, computer vision, AI, and other technologies. They can perform complex tasks such as "hand-eye coordination" like humans, effectively adapting to complex and changing environments. This significantly enhances the flexibility and productivity of the production process, and they are a new generation of robots characterized by high tolerance for positional errors, strong anti-interference capabilities, and intelligent portability. When using industrial robots or collaborative robots, force sensors can be used to ensure the tool is pressed down fully within a certain pressure range.

[0054] Example 2

[0055] The present invention also provides a method for picking up and assembling components with wire harness plugs using a gripping assembly tool as described in Embodiment 1, such as... Figures 3(a) to 3(e) As shown, it includes the following steps:

[0056] Step A1: The gripping assembly tool is moved above the component product with the wire harness plug, the wire harness plug gripper drive cylinder 5 is opened, the component gripper slide drive cylinder 15 is moved to the upper limit, and the component gripper drive cylinder 13 is opened.

[0057] Step A2: The gripping assembly tool moves downward so that the wire harness end of the component with the wire harness plug is between the left replaceable finger 7 and the right replaceable finger 8 of the wire harness plug gripper module. The wire harness plug gripper drive cylinder 5 is closed to complete the gripping action of the wire harness end of the component with the wire harness plug.

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

[0059] In use, the present application involves installing a gripping and assembly tool for parts with wire harness plugs at the end of a robot. When picking up materials, the robot moves the gripping and assembly tool for parts with wire harness plugs above the parts with wire harness plugs in the material tray.

[0060] The wire harness plug gripper drive cylinder 5 opens, the component gripper slide drive cylinder 15 retracts to its upper limit position, and the component gripper drive cylinder 13 opens. The robot moves the tool downwards, positioning the wire harness plug between the left replaceable finger tip 7 and the right replaceable finger tip 8, closing the wire harness plug gripper drive cylinder 5. At this point, the wire harness end of the component with the wire harness plug is stably gripped.

[0061] The robot-driven tool's component gripper cylinder 13 rises above the non-wire harness end of the component with the wire harness plug. Due to the flexibility of the cable, a suitable movement path and position allow the tool to stably grip the plug without affecting the initial feeding position of this part. The component gripper slide cylinder 15 pushes downward, driving the component gripper cylinder 13 downward, thus avoiding mechanical interference during material handling when the plug and non-plug parts of the component with the wire harness plug are fed into the same tray. The robot drives the tool downward until the component height limit block 11 is aligned with the upper surface of the non-wire harness end of the component with the wire harness plug. This positions the non-wire harness end of the component with the wire harness plug between the left finger 10 and the right finger 12 of the component gripper. Then, the component gripper cylinder 13 closes, stably gripping the non-wire harness end of the component with the wire harness plug. At this point, material handling of the component with the wire harness plug at the same end is completed. Both the connector and the non-wire harness end are stably gripped, and the height difference does not affect material handling or subsequent assembly.

[0062] More specifically, the choice between grippers holding the wire harness end and grippers holding the non-wire harness end depends primarily on the assembly position, wire length, and material handling requirements. Under suitable conditions, they are generally applicable. If the wire length is reasonable, the stroke of the slide cylinder can be increased to avoid interference between the grippers and another part of the product when gripping one part. After gripping the connector, the gripper can move a sufficiently high or long distance to accommodate the gripping and installation of components with different shapes.

[0063] Example 3

[0064] The present invention also provides an assembly method for a gripping and assembling tool for components with wire harness plugs as described in Embodiment 1, such as... Figures 4(a) to 4(c) As shown, it includes the following steps:

[0065] Step B1: Move the gripping assembly tool to the assembly position so that the component gripper drive cylinder 13 and the non-wire harness end parts enter the assembly position for assembly. After the assembly is completed, open the component gripper drive cylinder 13.

[0066] Step B2: The component gripper slide drive cylinder 15 retracts, the wire harness plug gripper drive cylinder 5 and the wire harness plug enter the assembly position for assembly, and after the assembly is completed, the wire harness plug gripper drive cylinder 5 is opened.

[0067] Step B3: Grab the assembly tool and remove it from the assembly position.

[0068] In use, this application involves mounting a gripping and assembly tool for components with wire harness plugs onto the end effector of a robot. During assembly, the robot moves the tool and the component with the wire harness plug above the assembly position. The robot moves downward, bringing the component gripper drive cylinder 13 and the non-wire harness end component into the assembly position. The component height limit block 11 stably limits the height of the component during assembly and directly transmits the downward assembly force. At this time, the wire harness plug held by the left replaceable finger tip 7 and the right replaceable finger tip 8 remains stably gripped, and due to the height and positional offset, it does not interfere with the installation part. The component gripper drive cylinder 13 is opened, and the left finger 10 and the right finger 12 of the component gripper open. The component gripper slide drive cylinder 15 retracts, and the tool disengages from the assembly position. Subsequently, the robot drives the wire harness plug gripper drive cylinder 5 and the wire harness plug for assembly. After assembly, the left replaceable finger tip 7 and the right replaceable finger tip 8 open. The robot then moves the gripping and assembly tool for components with wire harness plugs away from the assembly position.

[0069] Example 4

[0070] Based on Embodiment 1, a gripping and assembly tool for components with wire harness plugs, such as... Figure 5 As shown, the invention includes a robot, the output side of which is equipped with a gripping and assembly tool. Specifically, the invention also provides a robot including the gripping and assembly tool for components with wire harness plugs as described in Embodiment 1.

[0071] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0072] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A pick-and-place tool for components with wiring harness plugs, characterized in that, The harness plug jaw module, the part jaw module, the harness plug jaw drive cylinder (5), the part jaw drive cylinder (13) and the part jaw sliding table drive cylinder (15) are included. The output end of the harness plug jaw drive cylinder (5) is in driving connection with the harness plug jaw module, the output end of the part jaw sliding table drive cylinder (15) is in driving connection with the part jaw drive cylinder (13), and the output end of the part jaw drive cylinder (13) is in driving connection with the part jaw module. The harness plug jaw drive cylinder (5) drives the fingers of the harness plug jaw module to close / open, and the harness plug jaw module is used for grabbing and assembling the harness end of the part with the harness plug. The bottom of the part jaw sliding table drive cylinder (15) is provided with a part height limiting block (11), and the part height limiting block (11) limits the displacement of the part jaw module in the height direction. The part jaw drive cylinder (13) is installed on the front of the part jaw drive cylinder adapter plate (14), and the part jaw drive cylinder adapter plate (14) is installed on the front of the part jaw sliding table drive cylinder (15). The part jaw sliding table drive cylinder (15) is installed on the front of the part jaw sliding table mounting plate (17), and the part jaw sliding table mounting plate (17) is installed on the right of the part jaw sliding table adapter plate (18). The harness plug jaw drive cylinder (5) is installed on the front of the harness plug jaw mounting plate (2), and the harness plug jaw mounting plate (2) and the part jaw sliding table adapter plate (18) are installed on one side of the connecting flange (1).

2. The pick-and-place tool with a harness plug of claim 1, wherein, The harness plug jaw module includes a harness plug jaw mounting plate (2), a communication air port adapter (3), a harness plug jaw drive cylinder (5), a harness plug jaw left finger (6) and a harness plug jaw right finger (9), the harness plug jaw left finger (6) and the harness plug jaw right finger (9) are respectively installed on two parallel moving fingers of the harness plug jaw drive cylinder (5), the communication air port adapter (3) is installed on the harness plug jaw drive cylinder (5), and the harness plug jaw drive cylinder (5) is used for connecting the air pipe joint through the communication air port adapter (3) to communicate the external control air path.

3. The pick-and-place tool with a harness plug of claim 2, wherein, The left replaceable finger end (7) is detachably connected to the inner side of the lower end of the harness plug jaw left finger (6), and the right replaceable finger end (8) is detachably connected to the inner side of the lower end of the harness plug jaw right finger (9). The left replaceable finger end (7) and the right replaceable finger end (8) are used for contacting and completing the grabbing of the harness end of the part with the harness plug when the harness plug jaw drive cylinder (5) is closed.

4. The pick-and-place tool with a wire harness plug-in according to claim 3, characterized by, The wire harness plug clamping jaw driving cylinder (5) is provided with a clamping jaw opening and closing limiting plate (4) on the left side. When the wire harness plug clamping jaw driving cylinder (5) drives the fingers to open, the distance between the wire harness plug clamping jaw left finger (6) and the wire harness plug clamping jaw right finger (9) when they are opened is limited by the clamping jaw opening and closing limiting plate (4).

5. The pick-and-place tool with a wiring harness plug-in according to claim 4, characterized in that, The component clamping jaw fingers include a component clamping jaw left finger (10) and a component clamping jaw right finger (12), which are respectively installed on two parallel moving fingers of the component clamping jaw driving cylinder (13); When the component clamping jaw driving cylinder (13) is closed, the component clamping jaw left finger (10) and the component clamping jaw right finger (12) are in contact with the non-wire harness end of the component with a wire harness plug, and the grabbing is completed.

6. The pick-and-place tool with a wiring harness plug-in according to claim 5, characterized in that, The component clamping jaw sliding table driving cylinder (15) is provided with a component height limiting block mounting plate (16) below, and the component height limiting block (11) is installed on the component height limiting block mounting plate (16). The component height limiting block (11) provides height limitation when grabbing and assembling the non-wire harness end component of the component with a wire harness plug.

7. The zero-part pick-and-place tool with wiring harness plug according to claim 1, wherein, Further comprising a robot, and the output side of the robot is provided with a grabbing and assembling tool.

8. A method of picking up the assembly tool for the parts with the wire harness plug according to any one of claims 5 to 6, characterized by, The following steps are included: Step A1, the grabbing and assembling tool moves above the component product with a wire harness plug, the wire harness plug clamping jaw driving cylinder (5) is opened, the component clamping jaw sliding table driving cylinder (15) moves to the upper limit, and the component clamping jaw driving cylinder (13) is opened; Step A2, the grabbing and assembling tool moves downward, so that the wire harness end of the component with a wire harness plug is between the left replaceable finger end (7) and the right replaceable finger end (8) of the wire harness plug clamping jaw module, the wire harness plug clamping jaw driving cylinder (5) is closed, and the grabbing action of the wire harness end of the component with a wire harness plug is completed; Step A3, the component clamping jaw sliding table driving cylinder (15) drives the component clamping jaw driving cylinder (13) to move downward to the component height limiting block (11) and the non-wire harness end component of the component with a wire harness plug, so that the non-wire harness end component of the component with a wire harness plug is located between the component clamping jaw left finger (10) and the component clamping jaw right finger (12) of the component clamping jaw module, the component clamping jaw driving cylinder (13) is closed, and the grabbing action of the non-wire harness end component of the component with a wire harness plug is completed.

9. A method of assembling a pick-and-place tool for pick-and-place of a component with a wire harness plug according to any one of claims 1 to 6, characterized in that, The following steps are included: Step B1, the grabbing and assembling tool moves to the assembling position, so that the component clamping jaw driving cylinder (13) and the non-wire harness end component enter the assembling position for assembling, and the component clamping jaw driving cylinder (13) is opened after the assembling is completed; Step B2, the component clamping jaw sliding table driving cylinder (15) is retracted, the wire harness plug clamping jaw driving cylinder (5) and the wire harness end enter the assembling position for assembling, and the wire harness plug clamping jaw driving cylinder (5) is opened after the assembling is completed; Step B3, the grabbing and assembling tool leaves the assembling position.

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