BTB terminal buckling method and tool

Abstract

The invention provides a BTB terminal buckling method and tool, and relates to the field of BTB terminals. The buckling method comprises the steps that the target position of an XY displacement platform is obtained, and the XY displacement platform is controlled to move to the target position of the XY displacement platform; an output shaft of the Z-axis actuator is controlled to move downwards at a preset speed so as to drive the second plug-in to be buckled and pressed towards the first plug-in; in the downward buckling process, the actual pressure borne by the tail end of the output shaft and the actual position of the tail end of the output shaft are obtained; whether the actual pressure borne by the tail end of the output shaft and / or the actual position of the tail end of the output shaft correspond / corresponds to a preset force-position relation or not is judged; if not, it is judged that buckling fails, then an output shaft of a Z-axis actuator is controlled to rise to a safe position, then the movement position of the XY displacement platform is adjusted, the Z-axis actuator is controlled again to descend for buckling, whether the actual pressure borne by the tail end of the output shaft and / or the actual position where the output shaft is located correspond / corresponds to the preset force-position relation or not is judged, and if yes, buckling fails. And determining that the information corresponds to each other. The buckling method is high in buckling efficiency and high in yield.

Description

Technical Field

[0001] The present invention relates to the technical field of BTB terminals, and in particular to a BTB terminal buckling method and tooling. Background Art

[0002] BTB (Board To Board) terminals are one of the mainstream terminal blocks in the market.

[0003] In the prior art, BTB terminals are usually fastened manually. When the exact fastening position cannot be manually located, the terminals are continuously moved and fastened to try to find the exact fastening position and perform manual fastening. Not only is the fastening efficiency low, but warping and false fastening often occur, and the fastening yield cannot be guaranteed. Summary of the invention

[0004] The first object of the present invention is to provide a BTB terminal fastening method to solve the technical problems of low efficiency and low yield of manual fastening of BTB terminals in the prior art.

[0005] The BTB terminal fastening method provided by the present invention is applied to a BTB terminal fastening tool, wherein the BTB terminal fastening tool comprises an XY displacement platform and a Z-axis actuator, and the BTB terminal comprises a first plug-in and a second plug-in, wherein the first plug-in is arranged on the XY displacement platform, and the second plug-in is arranged at the end of the output shaft of the Z-axis actuator, and the fastening method comprises the following steps: Acquiring a target position of the XY displacement platform, and controlling the XY displacement platform to move to the target position of the XY displacement platform; Controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed to drive the second plug-in to buckle toward the first plug-in; During the downward buckling process of the Z-axis actuator, the actual pressure and the actual position of the end of the output shaft are obtained; According to the actual pressure and the actual position of the output shaft end and the preset force-position relationship, determining whether the actual pressure and / or the actual position of the output shaft end corresponds to the preset force-position relationship; If not, it is determined that the engagement has failed, and then the output shaft of the Z-axis actuator is controlled to rise to a safe position along the Z-axis direction, the movement position of the XY displacement platform is adjusted, and the Z-axis actuator is controlled to downwardly engage again to determine whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

[0006] Optionally, the BTB terminal fastening tool further includes a visual locator, and the fastening method further includes, after controlling the XY displacement platform to move to a target position of the XY displacement platform: Acquire the target position of the first plug-in, and acquire the actual position of the first plug-in through the visual locator, and then determine whether the actual position of the first plug-in corresponds to the target position of the first plug-in according to the actual position of the first plug-in and the target position of the first plug-in; If not, the XY displacement platform is controlled to move according to the error value between the actual position of the first plug-in and the target position of the first plug-in to adjust the position of the first plug-in to the target position of the first plug-in.

[0007] Furthermore, if the fastening fails, the movement position of the XY displacement platform is adjusted according to the following steps: Controlling the XY displacement platform to cyclically move in the order of a first direction in the first horizontal direction, a first direction in the second horizontal direction, a second direction in the first horizontal direction, and a second direction in the second horizontal direction, the number of times of movement in each direction is N times, N is a natural number starting from 1, and the number of times of movement in the corresponding direction increases once every two changes in the movement direction; the distance of each movement is a preset displacement; wherein the first horizontal direction is one of the X-axis direction and the Y-axis direction, the second horizontal direction is the other of the X-axis direction and the Y-axis direction, the first direction and the second direction in the first horizontal direction are opposite directions, and the first direction and the second direction in the second horizontal direction are opposite directions; After controlling the XY displacement platform to move each time, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

[0008] Optionally, the buckling method further comprises obtaining a resultant force Fxy in the horizontal direction applied to the end of the output shaft during the downward buckling process of the Z-axis actuator; If the fastening fails, follow the steps below to adjust the motion position of the XY displacement platform: According to the acquired Fxy, the quadrant to which Fxy belongs is determined, and the XY displacement platform is controlled to change direction and move in the quadrant diagonally related to the quadrant to which Fxy belongs in a cycle in the following order: move along the first direction in the first horizontal direction once, move along the first direction in the second horizontal direction M times, move along the second direction in the first horizontal direction M times, move along the first direction in the second horizontal direction once, move along the first direction in the first horizontal direction M+1 times, move along the second direction in the second horizontal direction M+1 times, assign M+2 to M, and repeat the above movement; wherein M is a natural number starting from 1, the first horizontal direction is one of the X-axis direction and the Y-axis direction, the second horizontal direction is the other of the X-axis direction and the Y-axis direction, the first direction in the X-axis direction is the opposite direction of the X-semi-axis that encloses the quadrant to which Fxy belongs, the second direction in the X-axis direction is the direction of the X-semi-axis that encloses the quadrant to which Fxy belongs, the first direction in the Y-axis direction is the opposite direction of the Y-semi-axis that encloses the quadrant to which Fxy belongs, the second direction in the Y-axis direction is the direction of the Y-semi-axis that encloses the quadrant to which Fxy belongs, and the distance moved each time by the XY displacement platform is a preset displacement amount; After each movement of the XY displacement platform, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

[0009] Furthermore, the buckling method further includes obtaining a force Fx along the X-axis direction and a force Fy along the Y-axis direction applied to the end of the output shaft during the downward buckling process of the Z-axis actuator; If the fastening fails, when adjusting the movement position of the XY displacement platform, the starting direction of the movement of the XY displacement platform is determined according to the sizes of Fx and Fy: if |Fx|≥|Fy|, the opposite direction of Fx is the first direction in the first horizontal direction, and the movement starts in the opposite direction of Fx; otherwise, the opposite direction of Fy is the first direction in the first horizontal direction, and the movement starts in the opposite direction of Fy.

[0010] Optionally, the fastening method further comprises obtaining a force Fx along the X-axis direction and a force Fy along the Y-axis direction applied to the end of the output shaft during the downward fastening process of the Z-axis actuator; If the fastening fails, when adjusting the movement position of the XY displacement platform, the starting direction of the movement of the XY displacement platform is determined according to the magnitudes of Fx and Fy: if |Fx|≥|Fy|, the movement starts in the opposite direction of Fx; otherwise, the movement starts in the opposite direction of Fy; the distance of each movement of the XY displacement platform is the preset displacement; After each movement of the XY displacement platform, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

[0011] Further, the downward stroke of the output shaft end of the Z-axis actuator is divided into a first stroke, a second stroke and a third stroke which are connected in sequence, and the distance of the third stroke is greater than the engagement depth of the second plug-in and the first plug-in; The step of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed includes: controlling the output shaft end of the Z-axis actuator to uniformly accelerate from the starting point of the first stroke, and accelerate to a preset first speed at the end point of the first stroke; uniformly decelerate from the starting point of the second stroke, and decelerate to a preset second speed at the end point of the second stroke; and uniformly move downward at the preset second speed within the third stroke; wherein the distance of the third stroke is 20% to 30% of the total distance of the downward stroke of the output shaft end of the Z-axis actuator, and / or the preset first speed is greater than twice the preset second speed.

[0012] Optionally, the downward stroke of the output shaft end of the Z-axis actuator is divided into a fourth stroke, a fifth stroke, a sixth stroke and a seventh stroke which are connected in sequence, and the distance of the seventh stroke is greater than the engagement depth of the second plug-in and the first plug-in; The step of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed includes: controlling the output shaft end of the Z-axis actuator to uniformly accelerate from the starting point of the fourth stroke, and accelerate to a preset third speed at the end point of the fourth stroke; uniformly descending at the preset third speed in the fifth stroke; uniformly decelerating from the starting point of the sixth stroke, and decelerating to a preset fourth speed at the end point of the sixth stroke; and uniformly descending at the preset fourth speed in the seventh stroke; wherein the distance of the seventh stroke is 20% to 30% of the total distance of the downward stroke of the output shaft end of the Z-axis actuator, and / or the preset third speed is greater than twice the preset fourth speed.

[0013] Further, the situation that the actual pressure and / or the actual position of the output shaft end does not correspond to the preset force-position relationship includes at least one of the following: The error between the actual pressure on the end of the output shaft and the preset pressure corresponding to the actual position of the output shaft at the preset force-position relationship exceeds the preset pressure error range; The error between the actual total distance traveled downward by the output shaft end and the preset total distance exceeds the preset distance error range.

[0014] The BTB terminal fastening method provided by the present invention can produce the following beneficial effects: The BTB terminal fastening method provided by the present invention can control the BTB terminal fastening tooling to make the second plug-in at the end of the output shaft of the Z-axis actuator fasten to the first plug-in on the XY displacement platform, thereby realizing the automatic fastening of the BTB terminal. That is, the BTB terminal fastening method provided by the present invention is used to control the BTB terminal fastening tooling, which can replace manual fastening, thereby reducing labor costs; and compared with manual fastening, automatic fastening is more stable, so the BTB terminal fastening method provided by the present invention is used to control the BTB terminal fastening tooling, and the fastening efficiency can also be effectively guaranteed.

[0015] Specifically, in the process of fastening the BTB terminal, the BTB terminal fastening method provided by the present invention controls the XY displacement platform where the first plug-in of the BTB terminal is located to move to its target position, controls the output shaft of the Z-axis actuator where the second plug-in of the BTB terminal is located to move downward at a preset speed, and obtains the actual pressure and / or the actual position of the end of the output shaft during the downward movement of the output shaft of the Z-axis actuator. When the actual pressure and / or the actual position of the end of the output shaft does not correspond to the preset force-position relationship, it is promptly determined that the fastening has failed, and after raising the end of the output shaft, the movement position of the XY displacement platform is adjusted, and the pressure is pressed down again to fasten until the fastening is successful.

[0016] Among them, controlling the XY displacement platform to move to its target position and adjusting the movement position of the XY displacement platform after the fastening fails lays the foundation for successful fastening and ensures the fastening yield; controlling the downward speed of the output shaft of the Z-axis actuator can improve the movement efficiency and movement stability of the output shaft, thereby improving both the fastening efficiency of the BTB terminal and the stability of the second plug-in and the first plug-in when fastening, thereby improving the fastening yield; and comparing the force condition and / or position condition of the end of the output shaft of the Z-axis controller with the preset force-position relationship can effectively determine the fastening progress of the second plug-in and the first plug-in, thereby effectively avoiding the failed fastening conditions such as false buckles and warping caused by excessive pressure, insufficient pressure, position deviation, etc., thereby greatly improving the fastening yield.

[0017] A second object of the present invention is to provide a BTB terminal fastening tool to solve the technical problems of low efficiency and low yield of manual fastening of BTB terminals in the prior art.

[0018] The BTB terminal fastening tool provided by the present invention comprises an XY displacement platform, a Z-axis actuator and a controller. The actuator of the XY displacement platform and the Z-axis actuator are both connected to the controller, and the controller can execute the above-mentioned BTB terminal fastening method.

[0019] The BTB terminal fastening tool provided by the present invention has a controller capable of executing the above-mentioned BTB terminal fastening method, so it has all the beneficial effects of the above-mentioned BTB terminal fastening method, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A flow chart of a BTB terminal fastening method provided by an embodiment of the present invention; Figure 2 One of the schematic diagrams of speed planning of the output shaft of the Z-axis actuator during the downward movement in the BTB terminal fastening method provided in an embodiment of the present invention; Figure 3 A second schematic diagram of speed planning during the downward movement of the output shaft of the Z-axis actuator in the BTB terminal fastening method provided in an embodiment of the present invention; Figure 4 A schematic diagram of one of the motion position adjustment methods of the XY displacement platform after the fastening fails in the BTB terminal fastening method provided by an embodiment of the present invention; Figure 5 One of the schematic diagrams of the second method of adjusting the movement position of the XY displacement platform after the fastening fails in the BTB terminal fastening method provided by the embodiment of the present invention; Figure 6 A second schematic diagram of a second method for adjusting the movement position of an XY displacement platform after a fastening failure in the BTB terminal fastening method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] In the prior art, the first plug-in and the second plug-in of the BTB terminal are usually manually plugged and assembled, which is not only inefficient but also has a low yield.

[0024] In order to solve the above problems, the present embodiment provides a BTB terminal fastening method and a BTB terminal fastening tool, wherein the BTB terminal fastening method is applied to the BTB terminal fastening tool, and the BTB terminal fastening tool includes an XY displacement platform, a Z-axis actuator and a controller. The XY displacement platform can move in a horizontal plane when driven by its actuator, and the output shaft of the Z-axis actuator can move along the Z-axis direction. The actuator of the XY displacement platform and the Z-axis actuator are both connected to the controller, and the controller can execute the BTB terminal fastening method.

[0025] When the BTB terminal fastening method provided in this embodiment is used to fasten the first plug-in and the second plug-in of the BTB terminal, the first plug-in is set on the XY displacement platform, and the second plug-in is set at the end of the output shaft of the Z-axis actuator. Specifically, Figure 1 As shown, the BTB terminal fastening method provided in this embodiment includes the following steps: S110, acquiring a target position of the XY displacement platform, and controlling the XY displacement platform to move to its target position, that is, controlling the XY displacement platform to move to the target position of the XY displacement platform.

[0026] S120, controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed to drive the second plug-in to buckle the first plug-in. Controlling the downward speed of the Z-axis actuator can improve the movement efficiency and movement stability of the output shaft, thereby improving the buckling efficiency of the BTB terminal and the stability of the buckling of the second plug-in and the first plug-in, thereby improving the buckling yield rate.

[0027] During the downward buckling process of the Z-axis actuator, the actual pressure and actual position of the output shaft end are obtained. For example, the actual pressure of the output shaft end can be detected by a force sensor, or it can be obtained through the relationship between the current data of the Z-axis actuator and the force applied thereto. The actual position of the output shaft end can be obtained by detecting the displacement of the output shaft end through a displacement sensor, combined with the initial position of the output shaft end.

[0028] S130, judging whether the actual pressure and / or the actual position of the output shaft end corresponds to the preset force-position relationship according to the actual pressure and the actual position of the output shaft end and the preset force-position relationship.

[0029] S140, if not corresponding, it is determined as a fastening failure, and then the output shaft of the Z-axis actuator is controlled to rise to a safe position along the Z-axis direction, and then the movement position of the XY displacement platform is adjusted, and the Z-axis actuator is controlled to go down and fasten again to determine whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

[0030] S150: If they are corresponding, it is determined that the fastening is successful, and the fastening of the next BTB terminal is continued.

[0031] The BTB terminal fastening method provided in this embodiment can control the BTB terminal fastening tooling to make the second plug-in at the end of the output shaft of the Z-axis actuator fasten to the first plug-in on the XY displacement platform, thereby realizing the automatic fastening of the BTB terminal. That is, the BTB terminal fastening method provided in this embodiment is used to control the BTB terminal fastening tooling, which can replace manual fastening, thereby reducing labor costs; and compared with manual fastening, automatic fastening is more stable, so the BTB terminal fastening method provided in this embodiment is used to control the BTB terminal fastening tooling, which can also effectively ensure the fastening efficiency.

[0032] Specifically, in the process of fastening the BTB terminal, the BTB terminal fastening method provided in this embodiment controls the XY displacement platform where the first plug-in of the BTB terminal is located to move to its target position, controls the output shaft of the Z-axis actuator where the second plug-in of the BTB terminal is located to move downward at a preset speed, and obtains the actual pressure and / or the actual position of the end of the output shaft during the downward movement of the output shaft of the Z-axis actuator. When the actual pressure and / or the actual position of the end of the output shaft does not correspond to the preset force-position relationship, it is promptly determined that the fastening has failed, and after raising the end of the output shaft, the movement position of the XY displacement platform is adjusted, and the pressure is pressed down again to fasten until the fastening is successful.

[0033] Among them, by comparing the force condition and / or position condition of the end of the output shaft of the Z-axis controller with the preset force-position relationship, the progress of the fastening of the second plug-in and the first plug-in can be effectively judged, thereby effectively avoiding failed fastening conditions such as false fastening and warping caused by excessive pressure, insufficient pressure, position deviation, etc., thereby greatly improving the fastening yield.

[0034] The situation where the actual pressure and / or the actual position of the output shaft end does not correspond to the preset force-position relationship includes at least one of the following: (a) The error between the actual pressure on the end of the output shaft and the preset pressure corresponding to the actual position of the output shaft in the preset force-position relationship exceeds the preset pressure error range. That is, in the preset force-position relationship, the error between the preset pressure corresponding to the actual position of the output shaft end and the actual pressure on the output shaft end is not within the preset pressure error range. In this case, it means that the actual pressure on the end of the output shaft is too large or too small. The former may be due to inaccurate positioning, causing the second plug-in and the first plug-in to be squeezed, and the latter may be due to inaccurate positioning, causing the second plug-in and the first plug-in to not be engaged at all.

[0035] (b) The error between the actual total distance of the output shaft end downward and the preset total distance exceeds the preset distance error range. The preset total distance of the output shaft end downward is the total distance that the output shaft end descends from its initial position to the point where the second plug-in and the first plug-in are engaged. When the type of the BTB terminal, the target position of the XY displacement platform, and the initial position of the output shaft end of the Z-axis actuator are determined, the above preset total distance is determined. If the error between the actual total distance of the output shaft end downward and the preset total distance exceeds the preset distance error range, it means that the total distance of the output shaft end downward is too large or too small. The former may be due to inaccurate positioning, which causes the second plug-in and the first plug-in to not engage at all, thereby exceeding the preset total distance downward. The latter may be due to inaccurate positioning, which causes the second plug-in and the first plug-in to be squeezed in the Z-axis direction.

[0036] Among them, the preset force-position relationship, the preset pressure error range, and the preset distance error range can be determined according to the specific model, size, material, etc. of the BTB terminal to be fastened, and the preset force-position relationship, the preset pressure error range, and the preset distance error range can be obtained by measuring the force and position of the end of the output shaft during the successful fastening process and combining it with actual experience as a basis.

[0037] Preferably, the BTB terminal fastening tool provided in this embodiment further includes a visual locator, such as a camera. Figure 1 As shown, the BTB terminal fastening method provided in this embodiment further includes, after controlling the XY displacement platform to move to the target position of the XY displacement platform: S112, obtaining a target position of the first plug-in, and obtaining an actual position of the first plug-in through a visual locator; S114, judging whether the actual position of the first plug-in corresponds to the target position of the first plug-in according to the actual position of the first plug-in and the target position of the first plug-in; If they correspond, then step S120 is executed; if they do not correspond, then step S116 is executed, and according to the error value between the actual position of the first plug-in and the target position of the first plug-in, the XY displacement platform is controlled to move and the position of the first plug-in is adjusted to its target position, that is, the XY displacement platform is controlled to move and the position of the first plug-in is adjusted to the target position of the first plug-in. It should be noted here that if the error value between the actual position of the first plug-in and its target position is within the allowable range, it can be determined that the first plug-in has reached its target position, and the rough positioning of the first plug-in has been achieved.

[0038] By performing the above steps of visually positioning the first plug-in, the coarse positioning accuracy of the first plug-in can be ensured, thereby greatly improving the first-time fastening success rate of the second plug-in with the first plug-in. Even if the first fastening fails, the number of subsequent movement position adjustments of the XY displacement platform can be greatly shortened, thereby greatly improving the fastening efficiency. Of course, in other embodiments, the BTB terminal fastening tooling may not include a visual locator, and correspondingly, the BTB terminal fastening method no longer performs visual coarse positioning of the first plug-in, or the BTB terminal fastening method uses other methods to perform coarse positioning of the first plug-in, so it is not limited to this.

[0039] In this embodiment, Figure 2 and Figure 3 As shown, the downward speed of the output shaft of the Z-axis actuator can be controlled in one of the following two ways: Figure 2 One of the speed planning methods is shown, such as Figure 2 As shown, in this speed planning method, the downward stroke of the output shaft end of the Z-axis actuator is divided into a first stroke, a second stroke and a third stroke which are connected in sequence, with distances d1, d2 and d3 respectively, and the total distance of the downward stroke of the output shaft end is D=d1+d2+d3, and the distance d3 of the third stroke is greater than the engagement depth of the second plug-in and the first plug-in; the step of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed includes: controlling the output shaft end of the Z-axis actuator to uniformly accelerate from the starting point of the first stroke, and accelerate to a preset first speed v1 at the end of the first stroke; uniformly decelerate from the starting point of the second stroke, and decelerate to a preset second speed v2 at the end of the second stroke; and uniformly descend at the preset second speed within the third stroke; wherein the distance d3 of the third stroke is 20%~30% of the total distance D of the downward stroke of the output shaft end of the Z-axis actuator, and the preset first speed v1 is greater than twice the preset second speed v2.

[0040] Figure 3 Another speed planning method is shown, such as Figure 3As shown, in this speed planning method, the downward stroke of the output shaft end of the Z-axis actuator is divided into a fourth stroke, a fifth stroke, a sixth stroke and a seventh stroke which are connected in sequence, and the distances are d4, d5, d6 and d7 respectively, and the distance d7 of the seventh stroke is greater than the engagement depth of the second plug-in and the first plug-in; the step of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed includes: controlling the output shaft end of the Z-axis actuator to uniformly accelerate from the starting point of the fourth stroke, and accelerate to a preset third speed v3 at the end of the fourth stroke; uniformly descending at the preset third speed v3 in the fifth stroke; uniformly decelerating from the starting point of the sixth stroke, and decelerating to a preset fourth speed v4 at the end of the sixth stroke; uniformly descending at the preset fourth speed v4 in the seventh stroke; wherein, the distance d7 of the seventh stroke is 20% to 30% of the total distance of the downward stroke of the output shaft end of the Z-axis actuator, and the preset third speed is greater than twice the preset fourth speed.

[0041] The above two planning methods for the downward speed of the output shaft of the Z-axis actuator both uniformly accelerate the output shaft to a higher speed at the initial stage of the downward movement, so that the downward speed of the output shaft can be quickly increased and the stability of its downward movement can be ensured; both make the output shaft uniformly descend at a lower speed during the stage where the second plug-in is engaged with the first plug-in, so that the second plug-in can be stably engaged with the first plug-in, and can effectively avoid the situation where the second plug-in excessively presses the first plug-in when the positioning is inaccurate; and in the stage before the stage where the second plug-in is engaged with the first plug-in, that is, the penultimate stage, the output shaft is uniformly decelerated to the speed at the time of engagement, so that the speed can be quickly reduced to the speed at the time of engagement, and the stability of the output shaft and the second plug-in thereon can be ensured. Figure 2 In the speed planning method shown, only the downward process of the output shaft is divided into three strokes according to the above three stages. Figure 3 The speed planning method shown includes not only the three strokes divided by the above three stages, but also a high-speed downward stage between the uniform acceleration stage and the uniform deceleration stage. In this stage, the output shaft moves downward steadily at a relatively high speed, which can ensure both downward efficiency and motion stability. In the specific implementation process, a suitable speed planning method can be selected according to the specific value of the total distance D and the acceleration and deceleration performance of the Z-axis actuator. For example, a speed planning method with a faster average speed for the entire stroke can be selected. Of course, a speed planning method with higher downward stability can also be selected.

[0042] In this embodiment, if the fastening fails, the movement position of the XY displacement platform can be adjusted in one of the following three ways: Figure 4 The first method of adjusting the movement position of the XY displacement platform after the fastening failure is shown. Figure 4 In this way, follow the steps below to adjust the movement position of the XY displacement platform: The XY displacement platform is controlled to cyclically move in the order of a first direction in the first horizontal direction, a first direction in the second horizontal direction, a second direction in the first horizontal direction, and a second direction in the second horizontal direction, the number of times of movement in each direction is N times, N is a natural number starting from 1, and the number of times of movement in the corresponding direction increases once every two changes in the movement direction; the distance of each movement is a preset displacement; wherein the first horizontal direction is one of the X-axis direction and the Y-axis direction, the second horizontal direction is the other of the X-axis direction and the Y-axis direction, the first direction and the second direction in the first horizontal direction are opposite directions, and the first direction and the second direction in the second horizontal direction are opposite directions; After controlling the XY displacement platform to move each time, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the output shaft end corresponds to the preset force-position relationship, until it is determined to correspond.

[0043] In the first adjustment method of the XY displacement platform movement position, the XY displacement platform moves clockwise or counterclockwise around its position. Figure 4 In the figure, "+1" means moving one position along the positive direction of the coordinate axis, and "-2" means moving two positions along the negative direction of the coordinate axis. The distance of each movement is the preset displacement, which can be the minimum displacement that the XY displacement platform can move. In this way, it can be ensured that the correct position will not be missed during the process of controlling the movement of the XY displacement platform.

[0044] It should also be noted here that although Figure 4 In the figure, the positive direction of the X-axis is the first direction of the first horizontal direction, and the negative direction of the Y-axis is the second direction of the second horizontal direction. However, the first direction of the first horizontal direction can also be: the negative direction of the X-axis direction, the positive direction of the Y-axis direction, and the negative direction of the Y-axis direction. The first direction of the second horizontal direction can also be: the positive direction of the Y-axis direction, the positive direction of the X-axis direction, and the negative direction of the X-axis direction. When the first direction of the first horizontal direction is determined, there are still two possibilities for the first direction of the second horizontal direction, that is, under the first adjustment method of the motion position of the XY displacement platform, 8 specific motion position trajectories can be obtained.

[0045] Figure 5 and Figure 6 Both show the second way of adjusting the movement position of the XY displacement platform after the fastening fails, such as Figure 5 and Figure 6 As shown, in this manner, the buckling method provided in this embodiment further includes obtaining the resultant force Fxy in the horizontal direction received by the end of the output shaft during the downward buckling process of the Z-axis actuator; If the fastening fails, follow the steps below to adjust the movement position of the XY stage: According to the obtained Fxy, the quadrant to which Fxy belongs is determined, and the XY displacement platform is controlled to change direction and move in the quadrant diagonally related to the quadrant to which Fxy belongs in a cycle in the following order: move once in the first direction of the first horizontal direction, move M times in the first direction of the second horizontal direction, move M times in the second direction of the first horizontal direction, move once in the first direction of the second horizontal direction, move M+1 times in the first direction of the first horizontal direction, move M+1 times in the second direction of the second horizontal direction, assign M+2 to M, and repeat the above movement ; Wherein, M is a natural number starting from 1, the first horizontal direction is one of the X-axis direction and the Y-axis direction, the second horizontal direction is the other of the X-axis direction and the Y-axis direction, the first direction in the X-axis direction is the opposite direction of the X-semi-axis that encloses the quadrant to which Fxy belongs, the second direction in the X-axis direction is the direction of the X-semi-axis that encloses the quadrant to which Fxy belongs, the first direction in the Y-axis direction is the opposite direction of the Y-semi-axis that encloses the quadrant to which Fxy belongs, the second direction in the Y-axis direction is the direction of the Y-semi-axis that encloses the quadrant to which Fxy belongs, and the distance moved each time by the XY displacement platform is the preset displacement amount; After each movement of the XY displacement platform, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

[0046] In the second adjustment method of the XY displacement platform movement position, the XY displacement platform moves in a quadrant that is diagonally opposite to the quadrant to which Fxy belongs. Figure 5 and Figure 6 In the figure, "+M" means moving M times in the positive direction of the coordinate axis, and "-M" means moving M times in the negative direction of the coordinate axis. When the quadrant of Fxy is determined, there are two trajectories for adjusting the movement position of the XY displacement platform. For example, if Fxy is in the third quadrant, after the fastening fails, the XY displacement platform takes its current position as the origin and moves in the first quadrant (including the quadrant axis) to adjust its position. Figure 5 and Figure 6 As shown, in this way of adjusting the movement position of the XY displacement platform, the acquisition of Fxy and related judgment are increased, and the movement range of the XY displacement platform, or the position search range, is reduced.

[0047] Furthermore, in this embodiment, the above two methods for adjusting the movement position of the XY displacement platform may also include obtaining the force Fx along the X-axis direction and the force Fy along the Y-axis direction received by the end of the output shaft during the downward buckling process of the Z-axis actuator; if the buckling fails, when adjusting the movement position of the XY displacement platform, the starting direction of the movement of the XY displacement platform is determined according to the magnitudes of Fx and Fy: if |Fx|≥|Fy|, the opposite direction of Fx is the first direction in the first horizontal direction, and the movement starts in the opposite direction of Fx; otherwise, the opposite direction of Fy is the first direction in the first horizontal direction, and the movement starts in the opposite direction of Fy. That is, by obtaining Fx and Fy and the related magnitude and direction judgment, the starting movement direction of the XY displacement platform after the buckling fails is determined, so that the number of movements of the XY displacement platform can be reduced, thereby improving the adjustment efficiency, and further improving the buckling efficiency.

[0048] In addition to the above two adjustment methods for the movement position of the XY displacement platform, the present embodiment also provides the following third adjustment method. Specifically, in this adjustment method, the force Fx along the X-axis direction and the force Fy along the Y-axis direction received by the end of the output shaft are obtained during the downward buckling process of the Z-axis actuator; if the buckling fails, when adjusting the movement position of the XY displacement platform, the starting direction of the movement of the XY displacement platform is determined according to the magnitudes of Fx and Fy: if |Fx|≥|Fy|, the movement starts in the opposite direction of Fx; otherwise, the movement starts in the opposite direction of Fy; the distance moved by the XY displacement platform each time is the preset displacement; after the XY displacement platform moves once, the Z-axis actuator is controlled to buckle downward again, and it is determined whether the actual pressure received by the end of the output shaft and / or the actual position where it is located corresponds to the preset force-position relationship, until it is determined to be corresponding.

[0049] In the third method of adjusting the movement position of the XY displacement platform, each time the XY displacement platform moves a position, the current latest position is used as the origin to re-determine the next movement direction, which increases the judgment of the movement direction, but each movement is close to the target position, so it can also improve the adjustment efficiency, or the efficiency of the target position search, thereby improving the engagement efficiency.

[0050] It should be particularly noted that the above-mentioned preset displacement can be the minimum displacement that the XY displacement platform can translate in both the X-axis direction and the Y-axis direction, or it can be the minimum error of the first plug-in relative to the second plug-in in both the X-axis direction and the Y-axis direction found based on data statistics, so as to ensure that the XY displacement platform can move to a reasonable range where the position error of the first plug-in relative to the second plug-in can be smoothly plugged in, but it is not limited to this.

[0051] In summary, the present embodiment provides a BTB terminal fastening method, which can be applied to the BTB terminal fastening tooling provided in the present embodiment. In the process of controlling the BTB terminal fastening tooling to complete the BTB terminal fastening, the fastening method controls the XY displacement platform to move to its target position at the beginning of the fastening and quickly and accurately adjusts the movement position according to the planned trajectory after the fastening fails, thereby laying a good foundation for the fast and successful fastening of the terminal; with the help of the visual locator, the first plug-in is adjusted by controlling the movement of the XY displacement platform, so that the first plug-in is accurately positioned at its target position, further laying a foundation for the fast and successful fastening of the terminal; by controlling the downward speed of the output shaft of the Z-axis actuator, the fastening efficiency is improved and the downward stability of the output shaft and the second plug-in thereon is ensured; by detecting the force position at the end of the output shaft and comparing it with the preset force position relationship, not only the fastening progress can be grasped in time, but also the abnormality can be discovered in time to avoid damaging the plug-in, and the movement position of the XY displacement platform is adjusted in time, and the fastening is attempted again.

[0052] In short, the BTB terminal fastening method and tooling provided in this embodiment can accurately position or adjust the XY displacement platform and the first plug-in, can quickly and smoothly lift the second plug-in, and can timely adjust the fastening process according to the force and position of the end of the Z-axis actuator. It has high efficiency and high yield. Of course, it can also replace manual fastening, so the cost is low.

[0053] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0054] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A BTB terminal fastening method, applied to a BTB terminal fastening tool, the BTB terminal fastening tool comprising an XY displacement platform and a Z-axis actuator, the BTB terminal comprising a first plug-in and a second plug-in, the first plug-in being arranged on the XY displacement platform, the second plug-in being arranged at the end of the output shaft of the Z-axis actuator, characterized in that: The fastening method comprises the following steps: Acquiring a target position of the XY displacement platform, and controlling the XY displacement platform to move to the target position of the XY displacement platform; Controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed to drive the second plug-in to buckle toward the first plug-in; During the downward buckling process of the Z-axis actuator, the actual pressure and the actual position of the end of the output shaft are obtained; According to the actual pressure and the actual position of the output shaft end and the preset force-position relationship, determining whether the actual pressure and / or the actual position of the output shaft end corresponds to the preset force-position relationship; If not, it is determined that the engagement has failed, and then the output shaft of the Z-axis actuator is controlled to rise to a safe position along the Z-axis direction, the movement position of the XY displacement platform is adjusted, and the Z-axis actuator is controlled to downwardly engage again to determine whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

2. The BTB terminal fastening method according to claim 1, characterized in that: The BTB terminal fastening tool further includes a visual locator. After controlling the XY displacement platform to move to a target position of the XY displacement platform, the fastening method further includes: Acquire the target position of the first plug-in, and acquire the actual position of the first plug-in through the visual locator, and then determine whether the actual position of the first plug-in corresponds to the target position of the first plug-in according to the actual position of the first plug-in and the target position of the first plug-in; If not, the XY displacement platform is controlled to move according to the error value between the actual position of the first plug-in and the target position of the first plug-in to adjust the position of the first plug-in to the target position of the first plug-in.

3. The BTB terminal fastening method according to claim 1, characterized in that: If the fastening fails, follow the steps below to adjust the motion position of the XY displacement platform: Controlling the XY displacement platform to cyclically move in the order of a first direction in the first horizontal direction, a first direction in the second horizontal direction, a second direction in the first horizontal direction, and a second direction in the second horizontal direction, the number of times of movement in each direction is N times, N is a natural number starting from 1, and the number of times of movement in the corresponding direction increases once every two changes in the movement direction; the distance of each movement is a preset displacement; wherein the first horizontal direction is one of the X-axis direction and the Y-axis direction, the second horizontal direction is the other of the X-axis direction and the Y-axis direction, the first direction and the second direction in the first horizontal direction are opposite directions, and the first direction and the second direction in the second horizontal direction are opposite directions; After controlling the XY displacement platform to move each time, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

4. The BTB terminal fastening method according to claim 1, characterized in that: The buckling method further includes obtaining a resultant force Fxy in the horizontal direction applied to the end of the output shaft during the downward buckling process of the Z-axis actuator; If the fastening fails, follow the steps below to adjust the motion position of the XY displacement platform: According to the acquired Fxy, the quadrant to which Fxy belongs is determined, and the XY displacement platform is controlled to change direction and move in the quadrant diagonally related to the quadrant to which Fxy belongs in a cycle in the following order: move along the first direction in the first horizontal direction once, move along the first direction in the second horizontal direction M times, move along the second direction in the first horizontal direction M times, move along the first direction in the second horizontal direction once, move along the first direction in the first horizontal direction M+1 times, move along the second direction in the second horizontal direction M+1 times, assign M+2 to M, and repeat the above movement; wherein M is a natural number starting from 1, the first horizontal direction is one of the X-axis direction and the Y-axis direction, the second horizontal direction is the other of the X-axis direction and the Y-axis direction, the first direction in the X-axis direction is the opposite direction of the X-semi-axis that encloses the quadrant to which Fxy belongs, the second direction in the X-axis direction is the direction of the X-semi-axis that encloses the quadrant to which Fxy belongs, the first direction in the Y-axis direction is the opposite direction of the Y-semi-axis that encloses the quadrant to which Fxy belongs, the second direction in the Y-axis direction is the direction of the Y-semi-axis that encloses the quadrant to which Fxy belongs, and the distance moved each time by the XY displacement platform is a preset displacement amount; After each movement of the XY displacement platform, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

5. The BTB terminal fastening method according to claim 3 or 4, characterized in that: The buckling method further includes obtaining a force Fx along the X-axis direction and a force Fy along the Y-axis direction applied to the end of the output shaft during the downward buckling process of the Z-axis actuator; If the fastening fails, when adjusting the movement position of the XY displacement platform, the starting direction of the movement of the XY displacement platform is determined according to the sizes of Fx and Fy: if |Fx|≥|Fy|, the opposite direction of Fx is the first direction in the first horizontal direction, and the movement starts in the opposite direction of Fx; otherwise, the opposite direction of Fy is the first direction in the first horizontal direction, and the movement starts in the opposite direction of Fy.

6. The BTB terminal fastening method according to claim 1, characterized in that: The buckling method further includes obtaining a force Fx along the X-axis direction and a force Fy along the Y-axis direction applied to the end of the output shaft during the downward buckling process of the Z-axis actuator; If the fastening fails, when adjusting the movement position of the XY displacement platform, the starting direction of the movement of the XY displacement platform is determined according to the magnitudes of Fx and Fy: if |Fx|≥|Fy|, the movement starts in the opposite direction of Fx; otherwise, the movement starts in the opposite direction of Fy; the distance of each movement of the XY displacement platform is the preset displacement; After each movement of the XY displacement platform, the Z-axis actuator is controlled to press downward again, and it is determined whether the actual pressure and / or the actual position of the end of the output shaft corresponds to the preset force-position relationship, until it is determined to correspond.

7. The BTB terminal fastening method according to claim 1, characterized in that: The downward stroke of the output shaft end of the Z-axis actuator is divided into a first stroke, a second stroke and a third stroke which are connected in sequence, and the distance of the third stroke is greater than the engagement depth of the second plug-in and the first plug-in; The step of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed includes: controlling the output shaft end of the Z-axis actuator to uniformly accelerate from the starting point of the first stroke, and accelerate to a preset first speed at the end point of the first stroke; uniformly decelerate from the starting point of the second stroke, and decelerate to a preset second speed at the end point of the second stroke; and uniformly move downward at the preset second speed within the third stroke; wherein the distance of the third stroke is 20% to 30% of the total distance of the downward stroke of the output shaft end of the Z-axis actuator, and / or the preset first speed is greater than twice the preset second speed.

8. The BTB terminal fastening method according to claim 1, characterized in that: The downward stroke of the output shaft end of the Z-axis actuator is divided into a fourth stroke, a fifth stroke, a sixth stroke and a seventh stroke which are connected in sequence, and the distance of the seventh stroke is greater than the engagement depth of the second plug-in and the first plug-in; The step of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis direction at a preset speed includes: controlling the output shaft end of the Z-axis actuator to uniformly accelerate from the starting point of the fourth stroke, and accelerate to a preset third speed at the end point of the fourth stroke; uniformly descending at the preset third speed in the fifth stroke; uniformly decelerating from the starting point of the sixth stroke, and decelerating to a preset fourth speed at the end point of the sixth stroke; and uniformly descending at the preset fourth speed in the seventh stroke; wherein the distance of the seventh stroke is 20% to 30% of the total distance of the downward stroke of the output shaft end of the Z-axis actuator, and / or the preset third speed is greater than twice the preset fourth speed.

9. The BTB terminal fastening method according to claim 1, characterized in that: The situation where the actual pressure and / or the actual position of the output shaft end does not correspond to the preset force-position relationship includes at least one of the following: The error between the actual pressure on the end of the output shaft and the preset pressure corresponding to the actual position of the output shaft at the preset force-position relationship exceeds the preset pressure error range; The error between the actual total distance traveled downward by the output shaft end and the preset total distance exceeds the preset distance error range.

10. A BTB terminal buckling tool, characterized in that: It comprises an XY displacement platform, a Z-axis actuator and a controller, wherein the actuator of the XY displacement platform and the Z-axis actuator are both connected to the controller, and the controller can execute the BTB terminal fastening method according to any one of claims 1 to 9.

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