A BTB terminal buckling method and tooling

Abstract

The present invention provides a BTB terminal buckling method and tooling, which relates to the field of BTB terminals. The buckling method includes: obtaining the target position of the XY displacement platform and controlling the XY displacement platform to move to its target position; controlling the output shaft of the Z-axis actuator to descend at a preset speed to drive the second plug to buckle towards the first plug; during the downward buckling process, obtaining the actual pressure received at the end of the output shaft and the actual position where it is located; judging whether the actual pressure received at the end of the output shaft and / or the actual position where it is located corresponds to the preset force-position relationship; if not, it is determined that the buckling fails. Subsequently, first control the output shaft of the Z-axis actuator to rise to a safe position, then adjust the movement position of the XY displacement platform, and again control the Z-axis actuator to descend and buckle, and judge whether the actual pressure received at 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 judged to be corresponding. This buckling method has high buckling efficiency and high yield.

Description

Technical Field

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

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

[0003] In the prior art, BTB terminals are usually buckled manually. When the accurate buckling position cannot be located manually, the terminals are continuously moved and buckled to try to find the accurate buckling position and then manually buckled. This not only has a low buckling efficiency but also often results in situations such as warping and loose buckling, and the buckling yield cannot be guaranteed. Summary of the Invention

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

[0005] The BTB terminal buckling method provided by the present invention is applied to a BTB terminal buckling tooling. The BTB terminal buckling tooling includes an XY displacement platform and a Z-axis actuator. The BTB terminal includes a first plug-in and a second plug-in. 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. The buckling method includes the following steps:

[0006] Obtain the target position of the XY displacement platform and control the XY displacement platform to move to the target position of the XY displacement platform;

[0007] Control the output shaft of the Z-axis actuator to descend along the Z-axis direction at a preset speed to drive the second plug-in to buckle towards the first plug-in;

[0008] During the buckling process of the Z-axis actuator descending, obtain the actual pressure received by the end of the output shaft and the actual position where it is located;

[0009] According to the actual pressure received by the end of the output shaft, the actual position where it is located, and the preset force-position relationship, determine 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;

[0010] If not corresponding, it is determined that the buckling fails. Then, first control the output shaft of the Z-axis actuator to rise along the Z-axis direction to a safe position, then adjust the movement position of the XY displacement platform, and again control the Z-axis actuator to descend and buckle, and determine 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.

[0011] Optionally, the BTB terminal buckling tooling further includes a vision locator. After the buckling method controls the XY displacement platform to move to the target position of the XY displacement platform, it further includes:

[0012] Obtain the target position of the first plug-in, and obtain the actual position of the first plug-in through the vision locator. Then, based on the actual position and the target position of the first plug-in, determine whether the actual position of the first plug-in corresponds to the target position of the first plug-in;

[0013] If not, control the XY displacement platform to move according to the error value between the actual position 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.

[0014] Further, if the buckling fails, adjust the movement position of the XY displacement platform according to the following steps:

[0015] Control the XY displacement platform to move in a cycle in the order of the first direction in the first horizontal direction, the first direction in the second horizontal direction, the second direction in the first horizontal direction, and the second direction in the second horizontal direction. The number of times of movement in each direction is N times, where N is a natural number starting from 1, and every time the movement direction changes twice, the number of times of movement in the corresponding direction increases by one; 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;

[0016] After controlling the XY displacement platform to move its position each time, control the Z-axis actuator to move downward and buckle again, and judge whether the actual pressure and / or the actual position at the end of the output shaft correspond to the preset force-position relationship until it is judged to be corresponding.

[0017] Optionally, the buckling method further includes obtaining the resultant force Fxy in the horizontal direction received at the end of the output shaft during the downward buckling process of the Z-axis actuator;

[0018] If the buckling fails, adjust the movement position of the XY displacement platform according to the following steps:

[0019] Based on the obtained Fxy, determine the quadrant to which Fxy belongs, and control the XY displacement platform to cyclically change the direction and move in the quadrant that is diagonally related to the quadrant to which Fxy belongs 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 movements; where 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 reverse direction of the X half-axis that encloses the quadrant to which Fxy belongs, the second direction in the X-axis direction is the direction of the X half-axis that encloses the quadrant to which Fxy belongs, the first direction in the Y-axis direction is the reverse direction of the Y half-axis that encloses the quadrant to which Fxy belongs, the second direction in the Y-axis direction is the direction of the Y half-axis that encloses the quadrant to which Fxy belongs, and the distance of each movement of the XY displacement platform is a preset displacement amount;

[0020] After the XY displacement platform moves to a new position each time, control the Z-axis actuator to move downward and press again, and determine whether the actual pressure and / or the actual position at the end of the output shaft correspond to the preset force-position relationship until it is determined to be corresponding.

[0021] Further, the fastening method further includes obtaining the force Fx in the X-axis direction and the force Fy in the Y-axis direction applied to the end of the output shaft during the downward pressing of the Z-axis actuator;

[0022] If the fastening fails, when adjusting the movement position of the XY displacement platform, determine the starting direction of the movement of the XY displacement platform according to the magnitudes of Fx and Fy: if |Fx| ≥ |Fy|, the reverse direction of Fx is the first direction in the first horizontal direction, and start moving along the reverse direction of Fx; otherwise, the reverse direction of Fy is the first direction in the first horizontal direction, and start moving along the reverse direction of Fy.

[0023] Optionally, the fastening method further includes obtaining the force Fx in the X-axis direction and the force Fy in the Y-axis direction applied to the end of the output shaft during the downward pressing of the Z-axis actuator;

[0024] If the fastening fails, when adjusting the movement position of the XY displacement platform, determine the starting direction of the movement of the XY displacement platform according to the magnitudes of Fx and Fy: if |Fx| ≥ |Fy|, start moving along the reverse direction of Fx; otherwise, start moving along the reverse direction of Fy; the distance of each movement of the XY displacement platform is a preset displacement amount;

[0025] After the XY displacement platform moves to a new position each time, the Z-axis actuator is controlled to move downward and press 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.

[0026] Further, the downward stroke of the end of the output shaft of the Z-axis actuator is divided into a first stroke, a second stroke, and a third stroke that are connected in sequence, and the distance of the third stroke is greater than the fastening depth between the second plug and the first plug;

[0027] 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 end of the output shaft of the Z-axis actuator to accelerate uniformly from the starting point of the first stroke, and accelerating to a preset first speed at the end of the first stroke; starting to decelerate uniformly from the starting point of the second stroke, and decelerating to a preset second speed at the end of the second stroke; moving downward at a constant speed with the preset second speed within the third stroke; wherein, the distance of the third stroke is 20% - 30% of the total downward stroke distance of the end of the output shaft of the Z-axis actuator, and / or, the preset first speed is more than twice the preset second speed.

[0028] Optionally, the downward stroke of the end of the output shaft of the Z-axis actuator is divided into a fourth stroke, a fifth stroke, a sixth stroke, and a seventh stroke that are connected in sequence, and the distance of the seventh stroke is greater than the fastening depth between the second plug and the first plug;

[0029] 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 end of the output shaft of the Z-axis actuator to accelerate uniformly from the starting point of the fourth stroke, and accelerating to a preset third speed at the end of the fourth stroke; moving downward at a constant speed with the preset third speed within the fifth stroke; starting to decelerate uniformly from the starting point of the sixth stroke, and decelerating to a preset fourth speed at the end of the sixth stroke; moving downward at a constant speed with the preset fourth speed within the seventh stroke; wherein, the distance of the seventh stroke is 20% - 30% of the total downward stroke distance of the end of the output shaft of the Z-axis actuator, and / or, the preset third speed is more than twice the preset fourth speed.

[0030] Further, the situation where the actual pressure received by the end of the output shaft and / or the actual position where it is located does not correspond to the preset force-position relationship includes at least one of the following:

[0031] The error between the actual pressure received by the end of the output shaft and the preset pressure corresponding to its actual position in the preset force-position relationship exceeds the preset pressure error range;

[0032] The error between the actual total distance of the end of the output shaft moving downward and the preset total distance exceeds the preset distance error range.

[0033] The BTB terminal fastening method provided by the present invention can produce the following beneficial effects:

[0034] The BTB terminal fastening method provided by the present invention can control the BTB terminal fastening tooling, so that the second plug at the end of the output shaft of the Z-axis actuator is fastened to the first plug on the XY displacement platform, thereby realizing the automatic fastening of the BTB terminal. That is, by using the BTB terminal fastening method provided by the present invention to control the BTB terminal fastening tooling, manual fastening can be replaced, thereby reducing labor costs; moreover, compared with manual fastening, automatic fastening is more stable. Therefore, by using the BTB terminal fastening method provided by the present invention to control the BTB terminal fastening tooling, the fastening efficiency can also be effectively guaranteed.

[0035] Specifically, during 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 of the BTB terminal is located to move to its target position, and controls the output shaft of the Z-axis actuator where the second plug of the BTB terminal is located to move downward at a preset speed. And during the process of the output shaft of the Z-axis actuator moving downward, the actual pressure received by the end of the output shaft and / or the actual position where it is located are acquired. When the actual pressure received by the end of the output shaft and / or the actual position where it is located do not correspond to the preset force-position relationship, it is immediately determined that the fastening fails. After raising the end of the output shaft, the movement position of the XY displacement platform is adjusted, and the pressing and fastening are performed again until the fastening is successful.

[0036] 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 lay the foundation for successful fastening and ensure the fastening yield; controlling the downward speed of the output shaft of the Z-axis actuator can improve the movement efficiency and movement smoothness of the output shaft, thereby improving both the fastening efficiency of the BTB terminal and the smoothness when the second plug and the first plug are fastened, and further 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 judge the fastening progress of the second plug and the first plug, thereby effectively avoiding failed fastening situations such as virtual fastening and edge warping caused by excessive pressure, too small pressure, position deviation, etc., and further greatly improving the fastening yield.

[0037] The second object of the present invention is to provide a BTB terminal fastening tooling to solve the technical problems of low efficiency and low yield in manually fastening BTB terminals in the prior art.

[0038] The BTB terminal buckling tooling provided by the present invention includes an XY displacement platform, a Z-axis actuator, and a controller. The actuators 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 buckling method.

[0039] For the BTB terminal buckling tooling provided by the present invention, since its controller can execute the above-mentioned BTB terminal buckling method, it has all the beneficial effects of the above-mentioned BTB terminal buckling method, so they will not be elaborated here. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0041] Figure 1 It is a flowchart of the BTB terminal buckling method provided by the embodiment of the present invention;

[0042] Figure 2 It is one of the schematic diagrams of the speed planning during the downward movement of the output shaft of the Z-axis actuator in the BTB terminal buckling method provided by the embodiment of the present invention;

[0043] Figure 3 It is the second of the schematic diagrams of the speed planning during the downward movement of the output shaft of the Z-axis actuator in the BTB terminal buckling method provided by the embodiment of the present invention;

[0044] Figure 4 It is a schematic diagram of one of the adjustment methods of the movement position of the XY displacement platform after the buckling fails in the BTB terminal buckling method provided by the embodiment of the present invention;

[0045] Figure 5 It is the first of the schematic diagrams of the second adjustment method of the movement position of the XY displacement platform after the buckling fails in the BTB terminal buckling method provided by the embodiment of the present invention;

[0046] Figure 6 It is the second of the schematic diagrams of the second adjustment method of the movement position of the XY displacement platform after the buckling fails in the BTB terminal buckling method provided by the embodiment of the present invention. Detailed Embodiments

[0047] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0048] In the prior art, the first plug and the second plug of the BTB terminal are usually assembled by manual insertion, which not only has low efficiency but also low yield.

[0049] To solve the above problems, this embodiment provides a BTB terminal buckling method and a BTB terminal buckling tooling. Among them, the BTB terminal buckling method is applied to the BTB terminal buckling tooling. The BTB terminal buckling tooling includes an XY displacement platform, a Z-axis actuator, and a controller. The XY displacement platform can move in the horizontal plane under the drive of its actuator, 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 buckling method.

[0050] When using the BTB terminal buckling method provided in this embodiment to buckle the first plug and the second plug of the BTB terminal, the first plug is set on the XY displacement platform, and the second plug is set at the end of the output shaft of the Z-axis actuator. Specifically, as Figure 1 shown, the BTB terminal buckling method provided in this embodiment includes the following steps:

[0051] S110, obtain the target position of the XY displacement platform, and control the XY displacement platform to move to its target position, that is, control the XY displacement platform to move to the target position of the XY displacement platform.

[0052] S120, control the output shaft of the Z-axis actuator to move downward along the Z-axis at a preset speed to drive the second plug to buckle towards the first plug. Controlling the downward speed of the Z-axis actuator can improve the movement efficiency and movement smoothness of the output shaft, so that both the buckling efficiency of the BTB terminal can be improved, and the smoothness when the second plug and the first plug are buckled can be improved, thereby improving the buckling yield.

[0053] During the downward buckling process of the Z-axis actuator, obtain the actual pressure received at the end of the output shaft and the actual position where it is located. For example: the actual pressure received at the end of the output shaft can be detected by a force sensor, or obtained through the relationship between the current data of the Z-axis actuator and its force; the actual position where the end of the output shaft is located can be obtained by detecting the displacement of the end of the output shaft by a displacement sensor and combining the initial position of the end of the output shaft.

[0054] S130, according to the actual pressure received at the end of the output shaft, the actual position where it is located, and the preset force-position relationship, judge whether the actual pressure received at the end of the output shaft and / or the actual position where it is located corresponds to the preset force-position relationship.

[0055] S140, if they do not correspond, it is determined that the buckling fails. Subsequently, first control the output shaft of the Z-axis actuator to rise along the Z-axis direction to a safe position, then adjust the movement position of the XY displacement platform, and then control the Z-axis actuator to move downward for buckling again. Determine whether the actual pressure received by the end of the output shaft and / or the actual position where it is located correspond to the preset force-position relationship until it is determined that they correspond.

[0056] S150, if they correspond, it is determined that the buckling is successful, and continue with the buckling of the next BTB terminal.

[0057] The BTB terminal buckling method provided in this embodiment can control the BTB terminal buckling tooling to buckle the second plug at the end of the output shaft of the Z-axis actuator to the first plug on the XY displacement platform, thereby realizing the automatic buckling of the BTB terminal. That is, using the BTB terminal buckling method provided in this embodiment to control the BTB terminal buckling tooling can replace manual buckling, thereby reducing labor costs; moreover, compared with manual buckling, automatic buckling is more stable. Therefore, using the BTB terminal buckling method provided in this embodiment to control the BTB terminal buckling tooling can also effectively ensure the buckling efficiency.

[0058] Specifically, during the process of buckling the BTB terminal, the BTB terminal buckling method provided in this embodiment controls the XY displacement platform where the first plug 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 of the BTB terminal is located to move downward at a preset speed, and obtains the actual pressure received by the end of the output shaft and / or the actual position where it is located during the downward movement of the output shaft of the Z-axis actuator. When the actual pressure received by the end of the output shaft and / or the actual position where it is located do not correspond to the preset force-position relationship, it is immediately determined that the buckling fails. After raising the end of the output shaft, adjust the movement position of the XY displacement platform and press down for buckling again until the buckling is successful.

[0059] Among them, comparing the force condition and / or position condition at the end of the output shaft of the Z-axis controller with the preset force-position relationship can effectively judge the buckling progress of the second plug and the first plug, thereby effectively avoiding failed buckling situations such as virtual buckling and warping caused by excessive pressure, too little pressure, position deviation, etc., and then being able to greatly improve the buckling yield.

[0060] Among them, the situation where the actual pressure received by the end of the output shaft and / or the actual position where it is located do not correspond to the preset force-position relationship includes at least one of the following:

[0061] (a)The error between the actual pressure received at the end of the output shaft and the preset pressure corresponding to its actual position 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 where the end of the output shaft is located and the actual pressure received at the end of the output shaft is not within the preset pressure error range. In this case, it indicates that the actual pressure received at the end of the output shaft is too large or too small. The former may be due to inaccurate positioning, causing the second plug and the first plug to be squeezed, and the latter may be due to inaccurate positioning, resulting in the second plug and the first plug not being engaged at all.

[0062] (b)The error between the actual total distance of the downward movement of the end of the output shaft and the preset total distance exceeds the preset distance error range. Among them, the preset total distance of the downward movement of the end of the output shaft is the total distance that the end of the output shaft descends from its initial position to the position where the second plug and the first plug are engaged in place. When the type of the BTB terminal, the target position of the XY displacement platform, and the initial position of the end of the output shaft of the Z-axis actuator are all determined, the above preset total distance is determined. If the error between the actual total distance of the downward movement of the end of the output shaft and the preset total distance exceeds the preset distance error range, it indicates that the total distance of the downward movement of the end of the output shaft is too large or too small. The former may be due to inaccurate positioning, resulting in the second plug and the first plug not being engaged at all, so the downward movement exceeds the preset total distance, and the latter may be due to inaccurate positioning, causing the second plug and the first plug to be squeezed in the Z-axis direction.

[0063] 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 engaged. It can be obtained by measuring the force and position of the end of the output shaft during the successful engagement process and, based on this, combining practical experience to obtain the above preset force-position relationship, preset pressure error range, and preset distance error range.

[0064] Preferably, the BTB terminal engagement tooling provided in this embodiment further includes a vision locator, such as a camera. Correspondingly, as Figure 1 shown, the BTB terminal engagement method provided in this embodiment further includes, after controlling the XY displacement platform to move to the target position of the XY displacement platform:

[0065] S112, obtaining the target position of the first plug and obtaining the actual position of the first plug through the vision locator;

[0066] S114, then judging whether the actual position of the first plug corresponds to the target position of the first plug according to the actual position of the first plug and the target position of the first plug;

[0067] If they correspond, step S120 can be executed; if they do not correspond, S116 is executed. According to the error value between the actual position and the target position of the first plug, the XY displacement platform is controlled to move to adjust the position of the first plug to its target position, that is, the XY displacement platform is controlled to move to adjust the position of the first plug to the target position of the first plug. It should be noted here that if the error value between the actual position and the target position of the first plug is within the allowable range, it can be determined that the first plug has reached its target position, and the rough positioning of the first plug is achieved.

[0068] Through the above steps of visually positioning the first plug, the accuracy of the rough positioning of the first plug can be ensured, thereby greatly improving the success rate of the first engagement between the second plug and the first plug. Even if the first engagement fails, the number of times of adjusting the movement position of the subsequent XY displacement platform can be greatly reduced, thus greatly improving the engagement efficiency. Of course, in other embodiments, the BTB terminal engagement tooling may not include a vision locator. Correspondingly, the BTB terminal engagement method no longer performs the visual rough positioning of the first plug, or the BTB terminal engagement method uses other methods to perform the rough positioning of the first plug, so it is not limited thereto.

[0069] In this embodiment, as Figure 2 and Figure 3 shown, the downward speed of the output shaft of the Z-axis actuator can be controlled in one of the following two ways:

[0070] Figure 2 shows one of the speed planning methods. As Figure 2 shown, in this speed planning method, the downward stroke at the end of the output shaft of the Z-axis actuator is divided into a first stroke, a second stroke, and a third stroke that are sequentially connected, with distances of d1, d2, and d3 respectively. The total distance of the downward stroke at the end of the output shaft is D = d1 + d2 + d3, and the distance d3 of the third stroke is greater than the engagement depth between the second plug and the first plug. The steps of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis at a preset speed include: controlling the end of the output shaft of the Z-axis actuator to start uniformly accelerating from the starting point of the first stroke and accelerating to a preset first speed v1 at the end of the first stroke; starting to decelerate uniformly from the starting point of the second stroke and decelerating to a preset second speed v2 at the end of the second stroke; moving downward at a constant speed at the preset second speed within the third stroke; where the distance d3 of the third stroke is 20% - 30% of the total distance D of the downward stroke at the end of the output shaft of the Z-axis actuator, and the preset first speed v1 is more than twice the preset second speed v2.

[0071] Figure 3 shows another speed planning method. As Figure 3As shown, in this speed planning method, the downward stroke at the end of the output shaft of the Z-axis actuator is divided into a fourth stroke, a fifth stroke, a sixth stroke, and a seventh stroke that are connected in sequence, with distances of d4, d5, d6, and d7 respectively. The distance d7 of the seventh stroke is greater than the latching depth between the second plug and the first plug. The steps of controlling the output shaft of the Z-axis actuator to move downward along the Z-axis at a preset speed include: controlling the end of the output shaft of the Z-axis actuator to accelerate uniformly from the starting point of the fourth stroke and accelerating to a preset third speed v3 at the end of the fourth stroke; moving downward at a constant speed with the preset third speed v3 within the fifth stroke; starting to decelerate uniformly from the starting point of the sixth stroke and decelerating to a preset fourth speed v4 at the end of the sixth stroke; moving downward at a constant speed with the preset fourth speed v4 within the seventh stroke; where the distance d7 of the seventh stroke is 20% - 30% of the total distance of the downward stroke at the end of the output shaft of the Z-axis actuator, and the preset third speed is more than twice the preset fourth speed.

[0072] In the above two speed planning methods for the downward movement of the output shaft of the Z-axis actuator, the output shaft is uniformly accelerated to a higher speed at the initial stage of the downward movement. In this way, the downward speed of the output shaft can be quickly increased, and the smoothness of its downward movement can also be ensured; in the stage where the second plug and the first plug are latched, the output shaft moves downward at a low speed uniformly. In this way, the second plug and the first plug can be stably latched, and the situation where the second plug presses down on the first plug excessively when the positioning is inaccurate can be effectively avoided; in the stage before the stage where the second plug and the first plug are latched, that is, the penultimate stage, the output shaft is uniformly decelerated to the speed at the time of latching. In this way, the speed can be quickly reduced to the speed at the time of latching, and the smoothness of the output shaft and the second plug on it can be ensured. Figure 2 In the speed planning method shown, the downward movement process of the output shaft is only divided into three strokes according to the above three stages. Figure 3 In the speed planning method shown, in addition to the three strokes divided according to the above three stages, it also includes a high-speed downward movement stage between the uniformly accelerating stage and the uniformly decelerating stage. In this stage, the output shaft moves downward smoothly at a higher speed, which can not only ensure the downward efficiency but also ensure the movement smoothness. In the specific implementation process, the appropriate 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: select the speed planning method with a faster average speed for the entire stroke. Of course, the speed planning method with higher downward smoothness can also be selected.

[0073] In this embodiment, if the latching fails, the movement position of the XY displacement platform can be adjusted in one of the following three ways:

[0074] Figure 4 Shows the first way to adjust the movement position of the XY displacement platform after the latching fails, as Figure 4As shown, in this way, adjust the movement position of the XY displacement platform according to the following steps:

[0075] Control the XY displacement platform to move in a cycle in the order of the first direction in the first horizontal direction, the first direction in the second horizontal direction, the second direction in the first horizontal direction, and the second direction in the second horizontal direction. The number of times of movement in each direction is N times, where N is a natural number starting from 1, and every time the movement direction changes twice, the number of times of movement in the corresponding direction increases by one; the distance of each movement is a preset displacement amount; 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;

[0076] After controlling the XY displacement platform to move its position each time, control the Z-axis actuator to move downward and buckle again, and judge whether the actual pressure received at the end of the output shaft and / or the actual position is corresponding to the preset force-position relationship until it is judged to be corresponding.

[0077] In the first adjustment method of the movement position of the XY displacement platform above, the XY displacement platform rotates clockwise or counterclockwise around its position. Figure 4 Among them, "+1" means moving one position in the positive direction of the coordinate axis, and "-2" means moving two positions in the negative direction of the coordinate axis. The distance of each movement is a preset displacement amount, which can be the minimum displacement amount 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.

[0078] It should also be noted here that although Figure 4 in this case, the positive direction of the X-axis direction is the first direction of the first horizontal direction, and the negative direction of the Y-axis direction 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, the negative direction of the Y-axis direction, and 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, 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, in the first adjustment method of the movement position of the XY displacement platform, 8 specific movement position trajectories can be obtained.

[0079] Figure 5 and Figure 6 Both show the second method of adjusting the movement position of the XY displacement platform after the buckling fails. As Figure 5 and Figure 6As shown, in this way, the fastening method provided in this embodiment further includes obtaining the resultant force Fxy in the horizontal direction received at the end of the output shaft during the downward pressing of the Z-axis actuator;

[0080] If the fastening fails, adjust the movement position of the XY displacement platform according to the following steps:

[0081] According to the obtained Fxy, determine the quadrant to which Fxy belongs, and control the XY displacement platform to cycle through directions and move in the quadrant that is diagonally related to the quadrant to which Fxy belongs, in the following order: move 1 time 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 1 time 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; where 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 enclosing the quadrant to which Fxy belongs, the second direction in the X-axis direction is the direction of the X semi-axis enclosing the quadrant to which Fxy belongs, the first direction in the Y-axis direction is the opposite direction of the Y semi-axis enclosing the quadrant to which Fxy belongs, the second direction in the Y-axis direction is the direction of the Y semi-axis enclosing the quadrant to which Fxy belongs, and the distance of each movement of the XY displacement platform is a preset displacement amount;

[0082] After each movement of the position of the XY displacement platform, control the Z-axis actuator to press downward again, and determine whether the actual pressure received at the end of the output shaft and / or the actual position is corresponding to the preset force-position relationship until it is determined to be corresponding.

[0083] In the second adjustment method of the movement position of the XY displacement platform above, the XY displacement platform moves in the quadrant that is diagonally related to the quadrant to which Fxy belongs. Figure 5 and Figure 6 In, "+M" means moving M positions in the positive direction of the coordinate axis, and "-M" means moving M positions in the opposite 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, then after the fastening fails, the XY displacement platform takes its current position as the origin and moves in the first quadrant (including the quadrant axes) to adjust its position, as Figure 5 and Figure 6 shown. In this way, in this adjustment method of the movement position of the XY displacement platform, the acquisition and related judgment of Fxy are added, and the movement range of the XY displacement platform, or the position search range, is reduced.

[0084] Further, in this embodiment, the above two adjustment methods for the movement position of the XY displacement platform may further include obtaining the force Fx in the X-axis direction and the force Fy in the Y-axis direction applied to the end of the output shaft during the downward pressing process of the Z-axis actuator; if the fastening fails, then when adjusting the movement position of the XY displacement platform, determine the starting direction of the movement of the XY displacement platform according to the magnitudes of Fx and Fy: if |Fx| ≥ |Fy|, then the reverse direction of Fx is the first direction in the first horizontal direction, and start moving along the reverse direction of Fx; otherwise, the reverse direction of Fy is the first direction in the first horizontal direction, and start moving along the reverse direction of Fy. That is, by obtaining Fx and Fy and related magnitude and direction judgments, determine the starting movement direction of the XY displacement platform after the fastening fails. In this way, the number of movements of the XY displacement platform can be reduced, thereby improving the adjustment efficiency, and further improving the fastening efficiency.

[0085] In addition to the above two adjustment methods for the movement position of the XY displacement platform, this embodiment also provides the following third adjustment method. Specifically, in this adjustment method, obtain the force Fx in the X-axis direction and the force Fy in the Y-axis direction applied to the end of the output shaft during the downward pressing process of the Z-axis actuator; if the fastening fails, then when adjusting the movement position of the XY displacement platform, determine the starting direction of the movement of the XY displacement platform according to the magnitudes of Fx and Fy: if |Fx| ≥ |Fy|, then start moving along the reverse direction of Fx; otherwise, start moving along the reverse direction of Fy; the distance of each movement of the XY displacement platform is a preset displacement amount; after each movement of the position of the XY displacement platform, control the Z-axis actuator to press downward again, and judge whether the actual pressure received by the end of the output shaft and / or the actual position is corresponding to the preset force-position relationship until it is judged to be corresponding.

[0086] For the above third adjustment method for the movement position of the XY displacement platform, after each movement of the position of the XY displacement platform, re-determine the next movement direction with the current latest position as the origin, which increases the judgment of the movement direction. However, each movement is approaching the target position, so it can also improve the adjustment efficiency, or the fastening target position search efficiency, thereby improving the fastening efficiency.

[0087] It should be particularly noted that the above preset displacement amount may be the minimum displacement amount that the XY displacement platform can translate in both the X-axis direction and the Y-axis direction, or may be the minimum error amount of the first plug relative to the second plug in both the X-axis direction and the Y-axis direction found according to data statistics, so as to ensure that the position error of the XY displacement platform relative to the first plug and the second plug can be within a reasonable range for smooth and stable insertion, but not limited thereto.

[0088] In summary, this embodiment provides a method for buckling BTB terminals, which can be applied to the BTB terminal buckling tooling provided in this embodiment. During the process of controlling the BTB terminal buckling tooling to complete the buckling of BTB terminals, by controlling the XY displacement platform to move to its target position at the beginning of buckling and quickly and accurately adjusting the movement position according to the planned trajectory after buckling failure, a good foundation is laid for the quick and successful buckling of the terminals; with the help of the vision locator, by controlling the movement of the XY displacement platform to adjust the first plug-in, the first plug-in is accurately positioned at its target position, further laying a foundation for the quick and successful buckling of the terminals; by controlling the downward speed of the output shaft of the Z-axis actuator, both the buckling efficiency is improved and the downward smoothness of the output shaft and the second plug-in thereon is ensured; by detecting the force and position at the end of the output shaft and comparing with the preset force-position relationship, not only can the buckling progress be grasped in time, but also abnormalities can be detected in time to avoid damaging the plug-ins, and the movement position of the XY displacement platform can be adjusted in time and the buckling can be tried again.

[0089] In short, the BTB terminal buckling 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 and lower the second plug-in, and can timely adjust the buckling process according to the force and position at the end of the Z-axis actuator, with high efficiency and high yield. Of course, it can also replace manual buckling, so the cost is low.

[0090] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0091] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can 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 is to be accorded 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 fastening fails, 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 buckle downward 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; 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.

2. The BTB terminal fastening method according to claim 1, characterized in that: 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.

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. A BTB terminal fastening 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 8.

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