An industrial robot for assembling electronic connectors

Abstract

The present invention relates to the technical field of industrial robots, and proposes an electronic connector assembly industrial robot, comprising an adjustment module and a workbench, wherein the adjustment module is evenly distributed with gripper modules, the lower end periphery of the adjustment module is evenly distributed with monitoring modules, the upper end of the adjustment module is fixedly connected to a control module, the outer periphery of the adjustment module is fixedly installed with a fixing seat, and the rear end of the fixing seat is fixedly connected to the front end of the driving end of the workbench. By extending the gripper mechanism downward and becoming thinner at the same time, the electronic connectors can be installed on the circuit board in sequence, shortening the stroke of the adjustment module and the gripper module, thereby achieving efficient installation of the electronic connectors. By cooperating with the central controller in the monitoring module and the control module, when a worker or machine incorrectly arranges the electronic connector on the placement board, the electronic connector can be promptly installed in the correct position, further shortening the installation stroke and improving installation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot for assembling electronic connectors. Background Art

[0002] In the field of electronic connector assembly, existing technologies have many limitations. The current conventional assembly method is to insert the small connector first and then the large connector. Under this operation process, the gripper needs to frequently switch between different grasping and assembly actions, and the stroke is long. This not only consumes a lot of time, but also seriously limits the improvement of assembly efficiency, making it difficult to meet the growing demand for large-scale and high-efficiency production.

[0003] Moreover, the applicability of the clamps is insufficient when faced with connectors of different sizes. For large-sized connectors, ordinary clamps are difficult to exert sufficiently stable and strong clamping force, which causes the connectors to shake and shift during the assembly process, seriously affecting the assembly quality and increasing the defective rate. In the process of inserting the connector onto the circuit board, the traditional clamp structure cannot flexibly adjust its own shape to adapt to the complex assembly environment. The clamp may be subject to space constraints when inserting the connector, making it difficult to smoothly and accurately insert the connector into the circuit board one by one, further reducing assembly efficiency and accuracy. Summary of the Invention

[0004] In view of the problems existing in the prior art, the object of the present invention is to provide an industrial robot for assembling electronic connectors to solve the problems raised by the above background technology.

[0005] To achieve the above objectives, the present invention provides an electronic connector assembly industrial robot, comprising an adjustment module and a workbench, wherein gripper modules are evenly distributed within the adjustment module, monitoring modules are evenly distributed around the lower end of the adjustment module, a control module is fixedly connected to the upper end of the adjustment module, a fixing seat is fixedly mounted on the outer periphery of the adjustment module, and a rear end of the fixing seat is fixedly connected to the front end of the driving end of the workbench;

[0006] The clamping module includes a clamping mechanism, a clamping mechanism and an adjustment mechanism. The clamping mechanism includes a fixed frame, which has eight fixed frames and has two slide grooves 1 on the front and rear inner sides. The fixed frame is slidably connected to a sliding frame 1 inside, and the upper front and rear sides of the sliding frame 1 are rotatably connected to two ball bearings 1. The inner front and rear sides of the sliding frame 1 are provided with two slide grooves 2. The inner front and rear sides of the sliding frame 1 are fixedly connected to a rack, the sliding frame 1 is slidably connected to a sliding frame 2 inside, and the upper front and rear sides of the sliding frame 2 are rotatably connected to two ball bearings 2, and the interior of the ball bearings 2 are slidably connected to an anti-slip pad.

[0007] Preferably, the clamping mechanism includes a drive magazine, there are four drive magazines, and one side of each is fixedly installed with a motor three, the drive end of the motor three is fixedly connected to a bidirectional screw rod, the outer periphery of both ends of the bidirectional screw rod is threadedly connected to a drive block, the lower end of the drive block is fixedly connected to a connecting frame, the interior of the connecting frame is fixedly connected to a limiting cylinder, and the interior of the limiting cylinder is slidably connected to an electric push rod two.

[0008] Preferably, the adjustment mechanism includes a rotating shaft and a mounting plate, and the rotating shaft has sixteen parts, and the outer peripheries of the front and rear ends of the upper rotating shaft are fixedly connected to the driving gear four, the middle part of the rotating shaft is fixedly connected to the bevel gear one, and the bevel gear one is meshed with the bevel gear two, and the middle part of the bevel gear two is fixedly connected to the threaded rod, the outer periphery of the threaded rod is threadedly connected to the threaded sleeve, and the end of the threaded sleeve away from the driving gear four is fixedly connected to the side of the mounting plate away from the anti-slip pad, and the outer periphery of one end of the rotating shaft is fixedly connected to the pulley, and the upper and lower pulleys are connected by a transmission belt, and the lower end of the electric push rod two is fixedly connected to the upper end of the sliding frame two, and the front and rear ends of the rotating shaft are rotatably connected to the upper and lower end openings of the front and rear sides of the sliding frame two, and the driving gear four is meshed with the rack.

[0009] Preferably, the adjustment module includes an adjustment chamber and motor 2, there are four adjustment chambers, and the lower ends are rotatably connected to the control chamber, the middle part of the inner lower end of the adjustment chamber is fixedly connected to the mounting bracket, the upper end of the mounting bracket is fixedly connected to motor 1, the driving end of motor 1 is fixedly connected to driving gear 1, the outer periphery of driving gear 1 is evenly distributed with driving gear 2, the lower end of driving gear 2 is fixedly connected to electric push rod 1, the inner upper part of the control chamber is fixedly connected to a gear ring, and the gear ring is meshed with driving gear 3, the middle part of driving gear 3 is fixedly connected to the driving end of motor 2, the lower end of motor 2 is fixedly connected to one side of the inner lower part of the adjustment chamber, and the lower end of electric push rod 1 is fixedly connected to the upper end of the driving chamber.

[0010] Preferably, a central controller is provided inside the control module, and the central controller is connected to the monitoring module via data transmission technology. The central controller includes:

[0011] A data preprocessing module is used to receive image data from the monitoring module and preprocess the image data;

[0012] The data analysis module is used to analyze the pre-processed data and determine whether the next installed electronic connector is correct;

[0013] An instruction generation module is used to generate installation instructions based on the judgment results;

[0014] The data storage module is used to store image data, data preprocessing results, data analysis results and generated installation instructions.

[0015] Preferably, the data preprocessing module preprocesses the image data including the following steps:

[0016] S11. Obtain the original color image data from the monitoring module and add dimension to the image. The formula is: , where To add dimension to the image pixel value, is the image height, is the image width, is the number of channels, the value is 3;

[0017] S12. Convert the color image to grayscale. The formula is: , where is the pixel value of the grayscale image, and are the indices of the image rows and columns, respectively;

[0018] S13. Use Gaussian filtering to remove noise from the image, and obtain the filtered image through convolution operation. The formula is: , where is the pixel value of the image after filtering, For grayscale images at coordinates The pixel value at is a Gaussian function, is the Gaussian kernel radius;

[0019] S14: Use histogram equalization to enhance the contrast of the image to obtain final preprocessed image data.

[0020] Preferably, in step S14, the histogram equalization enhanced image comprises the following steps:

[0021] S141. Calculate the histogram of the filtered grayscale image using the formula: , where Grayscale The number of occurrences of

[0022] S142. Calculate the cumulative distribution function using the formula: , where Grayscale and the cumulative distribution function of all previous gray levels;

[0023] S143. Transform each pixel using the following formula: , where The enhanced image is at coordinates The pixel value at position, is the value function, is the sum of the image pixels.

[0024] Preferably, the data analysis module analyzes the pre-processed data including the following steps:

[0025] S21. Obtain the features of the electronic connector from the preprocessed image and calculate the gradient value and direction of the image. The formula is: , where For the image at coordinates The gradient value at the position, For the image at coordinates Position along the direction The gradient component of For the image at coordinates Position along the direction The gradient component of For the image at coordinates The gradient direction at the position;

[0026] S22. Obtain the perimeter of the image by traversing the pixel points on the outline of the electronic connector in the image, and calculate the area of the electronic connector in the image. The formula is: , is the pixel coordinate on the contour, is the number of pixels on the contour;

[0027] S23, matching the extracted feature data with the pre-stored features of the correct electronic connector, the formula is: , where The pixel points on the outline of the electronic connector in the image obtain the perimeter of the image, and are the perimeter and area of the correct electronic connector respectively;

[0028] S24, compare the matching result with the set threshold, if , then it is determined that the next installed electronic connector is correct. If , it is judged as an error.

[0029] Preferably, the installation instructions generated by the instruction generation module are divided into correct installation instructions and incorrect installation instructions. The correct installation instructions include the motion trajectory of the clamping claw, the gripping force, and the insertion depth. The insertion depth is determined according to the size of the connector and the hole depth of the circuit board. The motion trajectory is calculated by the forward kinematics equation, and the formula is: , where is the homogeneous transformation matrix of the end effector, is the current three-dimensional position of the robot. The grasping force is calculated based on the weight and friction coefficient of the electronic connector using the formula: , where To grasp the strength, is the weight of the electronic connector, The friction coefficient of electronic connectors, is the acceleration due to gravity.

[0030] Preferably, the generation of the installation instruction for the error situation comprises the following steps:

[0031] S31. Record the position information of the next installed electronic connector on the placement board. The formula is: , where is the coordinate position of the electronic connector on the placement board, is the coordinate position of the electronic connector in the image, and is the center pixel coordinate of the image, and The monitoring modules are Xianghe The focal length of is the distance from the electronic connector to the camera, The offset of the origin of the placement board coordinate system in the monitoring module coordinate system;

[0032] S32. Set a tag array , the array length is equal to the total number of electronic connectors on the placement board , when the When an electronic connector is judged to be wrong, Set to 1 to skip the installation of this electronic connector;

[0033] S33, when the installation position of the electronic connector that was previously marked incorrectly is scanned, controlling one of the gripper modules to grab the connector from the placement plate and install it at the corresponding position;

[0034] S34. When an electronic connector at an unmounted position is scanned, one of the gripper modules is controlled to grab the electronic connector from the placement plate and install it at the unmounted position.

[0035] The electronic connector assembly industrial robot provided by the present invention has the following beneficial effects:

[0036] 1. By starting the electric push rod 2 according to the height of the electronic connector, the ball 2 on the upper end of the sliding frame 2 slides downward in the slide groove 2 inside the sliding frame 1, and the ball 1 on the upper end of the sliding frame 1 slides downward in the slide groove 1 inside the fixed frame, so that the entire clamping mechanism extends downward and becomes thinner at the same time, which makes it easier for the clamping mechanism to install the shorter electronic connector around the higher electronic connector in the later stage, thereby realizing the sequential installation of the electronic connectors on the circuit board, shortening the stroke of the adjustment module and the clamping module, and thus realizing the efficient installation of the electronic connector.

[0037] 2. When the clamping claw module extends downward and becomes thinner, the driving gear 4 drives the upper rotating shaft to rotate through the rack, and then drives the lower rotating shaft to rotate synchronously through the pulley and ball bearing 2, and then drives the threaded rod to rotate through the bevel gear 1 and bevel gear 2, and finally drives the anti-slip pad to be retracted to the inside of the sliding frame 2 through the threaded sleeve and the mounting plate, so that the clamping claw module becomes thinner and more convenient for the installation of shorter and lighter electronic connectors, while preventing the electronic connectors from being clamped. Conversely, when the clamping claw module retracts upward and becomes thicker, the anti-slip pad extends from the inside of the sliding frame 2, so that the clamping claw module that supports the higher and heavier electronic connector can exert greater force to prevent the electronic connector from falling off from the lower end of the clamping claw module.

[0038] 3. Through the cooperation of the monitoring module and the central controller in the control module, the electronic connector can be accurately installed even when the staff or machine incorrectly arranges the electronic connector on the placement board. By identifying the vacant installation positions on the circuit board and the incorrectly arranged electronic connectors, the electronic connector can be installed to the correct position in time, further shortening the installation journey and improving installation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 This is a front perspective schematic diagram of an electronic connector assembly industrial robot provided in this application;

[0041] Figure 2 A front perspective schematic diagram of an assembly mechanism of an electronic connector assembly industrial robot provided in this application;

[0042] Figure 3 This is a front sectional perspective schematic diagram of an assembly mechanism of an electronic connector assembly industrial robot provided in the present application;

[0043] Figure 4 This is a second front sectional perspective schematic diagram of an assembly mechanism of an electronic connector assembly industrial robot provided in the present application;

[0044] Figure 5 A front perspective schematic diagram of a gripper module of an industrial robot for assembling electronic connectors provided in this application;

[0045] Figure 6 This is a partially exploded front view stereoscopic diagram of a gripper module of an electronic connector assembly industrial robot provided in the present application;

[0046] Figure 7 This is a partially exploded front perspective diagram of a gripper module of an industrial robot for assembling electronic connectors provided in the present application;

[0047] Figure 8 The third partially exploded front view stereoscopic diagram of a gripper module of an electronic connector assembly industrial robot provided in the present application;

[0048] Figure 9 A schematic diagram of a central controller system for an electronic connector assembly industrial robot provided in this application.

[0049] In the figure: 1. Adjustment module; 11. Adjustment chamber; 12. Control chamber; 13. Mounting frame; 14. Motor 1; 15. Drive gear 1; 16. Drive gear 2; 17. Electric push rod 1; 18. Motor 2; 19. Drive gear 3; 110. Gear ring; 2. Gripper module; 21. Drive chamber; 22. Motor 3; 23. Bidirectional screw; 24. Drive block; 25. Connecting frame; 26. Limit cylinder; 27. Electric push rod 2; 28. Fixing frame; 29. Slideway 1 ;210, sliding frame one; 211, ball bearing one; 212, slide groove two; 213, rack; 214, sliding frame two; 215, ball bearing two; 216, rotating shaft; 217, driving gear four; 218, bevel gear one; 219, bevel gear two; 220, threaded rod; 221, threaded sleeve; 222, mounting plate; 223, anti-slip pad; 224, pulley; 225, transmission belt; 3, monitoring module; 4, fixed seat; 5, workbench; 6, control module. DETAILED DESCRIPTION

[0050] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0051] Example 1:

[0052] like Figures 1-8As shown, this embodiment proposes an electronic connector assembly industrial robot, including an adjustment module 1 and a workbench 5. The interior of the adjustment module 1 is evenly distributed with gripper modules 2, the outer periphery of the lower end of the adjustment module 1 is evenly distributed with monitoring modules 3, the upper end of the adjustment module 1 is fixedly connected to a control module 6, and the outer periphery of the adjustment module 1 is fixedly mounted with a fixing base 4, the rear end of the fixing base 4 is fixedly connected to the front end of the driving end of the workbench 5;

[0053] The clamping module 2 includes a clamping mechanism, a clamping mechanism and an adjustment mechanism. The clamping mechanism includes a fixed frame 28. There are eight fixed frames 28, and two sliding grooves 29 are provided on the front and rear sides. The internal sliding connection of the fixed frame 28 is connected to a sliding frame 210. The upper front and rear sides of the sliding frame 210 are rotatably connected to two balls 211. The inner front and rear sides of the sliding frame 210 are provided with two sliding grooves 212. The inner front and rear sides of the sliding frame 210 are fixedly connected to a rack 213. The internal sliding frame 210 is connected to a sliding frame 214. The upper front and rear sides of the sliding frame 214 are rotatably connected to two balls 215. The interior of the balls 215 are slidably connected to an anti-slip pad 223.

[0054] In this embodiment, the clamping mechanism includes a drive magazine 21, there are four drive magazines 21, and one side is fixedly installed with a motor three 22, the driving end of the motor three 22 is fixedly connected to a bidirectional screw rod 23, the outer periphery of both ends of the bidirectional screw rod 23 is threadedly connected to a drive block 24, the lower end of the drive block 24 is fixedly connected to a connecting frame 25, the interior of the connecting frame 25 is fixedly connected to a limiting cylinder 26, and the interior of the limiting cylinder 26 is slidably connected to an electric push rod two 27.

[0055] In this embodiment, the adjustment mechanism includes a rotating shaft 216 and a mounting plate 222. There are sixteen rotating shafts 216. The outer peripheries of the front and rear ends of the upper rotating shaft 216 are fixedly connected to the driving gear four 217. The middle part of the rotating shaft 216 is fixedly connected to the bevel gear one 218. The bevel gear one 218 is meshed with the bevel gear two 219. The middle part of the bevel gear two 219 is fixedly connected to the threaded rod 220. The outer periphery of the threaded rod 220 is threadedly connected to the threaded sleeve 221. The threaded sleeve 221 is far One end of the driving gear four 217 is fixedly connected to the side of the mounting plate 222 away from the anti-slip pad 223, and the outer periphery of one end of the rotating shaft 216 is fixedly connected to the pulley 224. The upper and lower pulleys 224 are connected by a transmission belt 225. The lower end of the electric push rod 27 is fixedly connected to the upper end of the sliding frame 214, and the front and rear ends of the rotating shaft 216 are rotatably connected to the upper and lower end openings of the front and rear sides of the sliding frame 214. The driving gear four 217 is meshed with the rack 213.

[0056] In this embodiment, the adjustment module 1 includes an adjustment chamber 11 and a motor 2 18. There are four adjustment chambers 11, and the lower ends are all rotatably connected to the control chamber 12. The middle part of the inner lower end of the adjustment chamber 11 is fixedly connected to the mounting frame 13, and the upper end of the mounting frame 13 is fixedly connected to the motor 14. The driving end of the motor 14 is fixedly connected to the driving gear 15. The outer periphery of the driving gear 15 is evenly distributed with the driving gear 2 16. The lower end of the driving gear 2 16 is fixedly connected to the electric push rod 17. The inner upper part of the control chamber 12 is fixedly connected to the gear ring 110, and the gear ring 110 is meshed with the driving gear 3 19. The middle part of the driving gear 3 19 is fixedly connected to the driving end of the motor 2 18. The lower end of the motor 2 18 is fixedly connected to one side of the inner lower part of the adjustment chamber 11, and the lower end of the electric push rod 17 is fixedly connected to the upper end of the driving chamber 21.

[0057] Specifically, when the circuit board that needs to be assembled with the electronic connector and the placement board with the electronic connector are conveyed to the table of the workbench 5 by the conveyor belt, the workbench 5 is started to drive the adjustment module 1 and the clamping module 2 to move to the upper end of the first group of electronic connectors on the placement board through the fixed seat 4, and the monitoring module 3 is used to scan whether the position of the group of electronic connectors is correct. When it is determined to be correct, the electric push rod 17 is started to move the clamping module 2 to the upper end of the electronic connector. In this process, the size of the electronic connector is identified by the monitoring module 3, and the start and end of the workbench are controlled. The motor 3 22 is driven to move the driving block 24 away through the bidirectional screw 23, and then the clamping mechanism at the lower end is driven to open to a width slightly larger than the width of the electronic connector through the connecting frame 25, and according to the height of the electronic connector, the electric push rod 27 is started, and the ball 215 at the upper end of the sliding frame 214 slides downward in the slide groove 212 inside the sliding frame 1 210, and at the same time, the ball 1 211 at the upper end of the sliding frame 1 210 slides downward in the slide groove 1 29 inside the fixed frame 28, so that the entire clamping mechanism extends downward and becomes thinner at the same time, so that In the later stage, the clamping mechanism can install the shorter electronic connector around the higher electronic connector, thereby realizing the sequential installation of the electronic connector on the circuit board, shortening the stroke of the adjustment module 1 and the clamping module 2, and thus realizing the efficient installation of the electronic connector. When the clamping module 2 extends downward and becomes thinner, the driving gear 4 217 drives the upper rotating shaft 216 to rotate through the rack 213, and then drives the lower rotating shaft 216 to rotate synchronously through the pulley 224 and the ball 215, and then drives the bevel gear 1 218 and the bevel gear 219 to drive the lower rotating shaft 216 to rotate synchronously. The movable threaded rod 220 rotates, and finally drives the anti-slip pad 223 to be retracted to the interior of the sliding frame 214 through the threaded sleeve 221 and the mounting plate 222, so that the clamping module 2 becomes thinner, which is more convenient for the installation of shorter and lighter electronic connectors, and prevents the electronic connectors from being damaged. Conversely, when the clamping module 2 is retracted upward and becomes thicker, the anti-slip pad 223 extends from the interior of the sliding frame 214, so that the clamping module 2 that supports the higher and heavier electronic connector can exert greater force to prevent the electronic connector from falling off from the lower end of the clamping module 2.

[0058] Example 2:

[0059] like Figure 9 As shown, this embodiment proposes an electronic connector assembly industrial robot, including a control module 6, a central controller is provided inside the control module 6, and the central controller is connected to the monitoring module 3 through data transmission technology. The central controller includes:

[0060] A data preprocessing module is used to receive image data from the monitoring module 3 and preprocess the image data;

[0061] The data analysis module is used to analyze the pre-processed data and determine whether the next installed electronic connector is correct;

[0062] An instruction generation module is used to generate installation instructions based on the judgment results;

[0063] The data storage module is used to store image data, data preprocessing results, data analysis results and generated installation instructions.

[0064] In this embodiment, the data preprocessing module preprocesses the image data including the following steps:

[0065] S11. Obtain original color image data from monitoring module 3 and add dimension to the image. The formula is: , where To add dimension to the image pixel value, is the image height, is the image width, is the number of channels, the value is 3;

[0066] S12. Convert the color image to grayscale. The formula is: , where is the pixel value of the grayscale image, and are the indices of the image rows and columns, respectively;

[0067] S13. Use Gaussian filtering to remove noise from the image, and obtain the filtered image through convolution operation. The formula is: , where is the pixel value of the image after filtering, For grayscale images at coordinates The pixel value at is a Gaussian function, is the Gaussian kernel radius;

[0068] S14: Use histogram equalization to enhance the contrast of the image to obtain final preprocessed image data.

[0069] In this embodiment, in step S14, histogram equalization to enhance the image includes the following steps:

[0070] S141. Calculate the histogram of the filtered grayscale image using the formula: , where Grayscale The number of occurrences of

[0071] S142. Calculate the cumulative distribution function using the formula: , where Grayscale and the cumulative distribution function of all previous gray levels;

[0072] S143. Transform each pixel using the following formula: , where The enhanced image is at coordinates The pixel value at position, is the value function, is the sum of the image pixels.

[0073] In this embodiment, the data analysis module analyzes the pre-processed data including the following steps:

[0074] S21. Obtain the features of the electronic connector from the preprocessed image and calculate the gradient value and direction of the image. The formula is: , where For the image at coordinates The gradient value at the position, For the image at coordinates Position along the direction The gradient component of For the image at coordinates Position along the direction The gradient component of For the image at coordinates The gradient direction at the position;

[0075] S22. Obtain the perimeter of the image by traversing the pixel points on the outline of the electronic connector in the image, and calculate the area of the electronic connector in the image. The formula is: , is the pixel coordinate on the contour, is the number of pixels on the contour;

[0076] S23, matching the extracted feature data with the pre-stored features of the correct electronic connector, the formula is: , where The pixel points on the outline of the electronic connector in the image obtain the perimeter of the image, and are the perimeter and area of the correct electronic connector respectively;

[0077] S24, compare the matching result with the set threshold, if , then it is determined that the next installed electronic connector is correct. If , it is judged as an error.

[0078] In this embodiment, the installation instructions generated by the instruction generation module are divided into correct installation instructions and incorrect installation instructions. The correct installation instructions include the motion trajectory of the clamping claw, the gripping force, and the insertion depth. The insertion depth is determined according to the size of the connector and the hole depth of the circuit board. The motion trajectory is calculated by the forward kinematics equation, and the formula is: , where is the homogeneous transformation matrix of the end effector, is the current three-dimensional position of the robot. The grasping force is calculated based on the weight and friction coefficient of the electronic connector using the formula: , where To grasp the strength, is the weight of the electronic connector, The friction coefficient of electronic connectors, is the acceleration due to gravity.

[0079] In this embodiment, the generation of installation instructions for error situations includes the following steps:

[0080] S31. Record the position information of the next installed electronic connector on the placement board. The formula is: , where is the coordinate position of the electronic connector on the placement board, is the coordinate position of the electronic connector in the image, and is the center pixel coordinate of the image, and They are respectively monitoring module 3 Xianghe The focal length of is the distance from the electronic connector to the camera, The offset of the origin of the placement board coordinate system in the monitoring module 3 coordinate system;

[0081] S32. Set a tag array , the array length is equal to the total number of electronic connectors on the placement board , when the When an electronic connector is judged to be wrong, Set to 1 to skip the installation of this electronic connector;

[0082] S33, when the installation position of the electronic connector that was previously marked incorrectly is scanned, one of the gripper modules 2 is controlled to grab the connector from the placement plate and install it to the corresponding position;

[0083] S34 , when an electronic connector at an unmounted position is scanned, one of the gripper modules 2 is controlled to grab the electronic connector from the placement plate and install it at the unmounted position.

[0084] Specifically, through the cooperation between the monitoring module 3 and the central controller in the control module 6, the electronic connector can still be accurately installed when the staff or machine incorrectly arranges the electronic connector on the placement board, and by identifying the vacant installation positions on the circuit board and the electronic connectors with incorrect arrangement, the electronic connector can be installed to the correct position in time, further shortening the installation journey and improving installation efficiency.

[0085] Working principle: First, the circuit board that needs to be assembled with the electronic connector and the placement plate with the electronic connector are conveyed to the table of the workbench 5 through the conveyor belt. The workbench 5 is started and the adjustment module 1 and the clamping module 2 are moved to the upper end of the first group of electronic connectors on the placement plate through the fixed seat 4. The monitoring module 3 is used to scan whether the position of this group of electronic connectors is accurate. When it is judged to be correct, the electric push rod 17 is started to move the clamping module 2 to the upper end of the electronic connector. In this process, the size of the electronic connector is identified by the monitoring module 3, and the starting motor 3 22 is controlled to move the driving block 24 away through the bidirectional screw rod 23, and then the connecting rod 3 is connected to the workbench 5. The connecting frame 25 drives the clamping mechanism at the lower end to open to a width slightly larger than the electronic connector, and according to the height of the electronic connector, the electric push rod 27 is started, and the ball 215 at the upper end of the sliding frame 214 slides downward in the slide groove 212 inside the sliding frame 1 210, and at the same time, the ball 1 211 at the upper end of the sliding frame 1 210 slides downward in the slide groove 1 29 inside the fixed frame 28, so that the entire clamping mechanism extends downward and becomes thinner at the same time, so that the clamping mechanism can later install the shorter electronic connector around the higher electronic connector, thereby realizing the sequential installation of the electronic connector on the circuit board and shortening the adjustment module 1 and the clamping module 2. The travel of the electronic connector is achieved by efficiently installing the electronic connector. When the clamping claw module 2 extends downward and becomes thinner, the driving gear 4 217 drives the upper rotating shaft 216 to rotate through the rack 213, and then drives the lower rotating shaft 216 to rotate synchronously through the pulley 224 and the ball 215, and then drives the threaded rod 220 to rotate through the bevel gear 1 218 and the bevel gear 219, and finally drives the anti-slip pad 223 to be recovered to the interior of the sliding frame 214 through the threaded sleeve 221 and the mounting plate 222, so that the clamping claw module 2 becomes thinner, which is more convenient for the installation of shorter and lighter electronic connectors and prevents the electronic connectors from being damaged by clamping. On the contrary, when When the clamping module 2 is retracted upward and becomes thicker, the anti-slip pad 223 extends from the inside of the sliding frame 214, so that the clamping module 2 that supports the higher and heavier electronic connector can exert greater force to prevent the electronic connector from falling off from the lower end of the clamping module 2. Through the cooperation of the central controller in the monitoring module 3 and the control module 6, the electronic connector can still be accurately installed when the staff or machine incorrectly arranges the electronic connector on the placement board, and by identifying the vacant installation positions on the circuit board and the incorrectly arranged electronic connectors, the electronic connector can be installed to the correct position in time, further shortening the installation stroke and improving the installation efficiency.

[0086] The above embodiments are intended to illustrate the present invention only and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and should be encompassed by the scope of the claims of the present invention.

Claims

1. An industrial robot for assembling electronic connectors, comprising an adjustment module (1) and a workbench (5), characterized in that: The adjusting module (1) has claw modules (2) evenly distributed inside, the lower end periphery of the adjusting module (1) has monitoring modules (3) evenly distributed, the upper end of the adjusting module (1) is fixedly connected to a control module (6), the outer periphery of the adjusting module (1) is fixedly mounted with a fixing seat (4), and the rear end of the fixing seat (4) is fixedly connected to the front end of the driving end of the workbench (5); The clamping module (2) includes a clamping mechanism, a clamping mechanism and an adjustment mechanism, the clamping mechanism includes a fixed frame (28), the fixed frame (28) has eight members, and two slide grooves (29) are provided on the inner front and rear sides, the fixed frame (28) is internally slidably connected to a sliding frame (210), the upper front and rear sides of the sliding frame (210) are rotatably connected to two balls (211), the inner front and rear sides of the sliding frame (210) are both provided with two slide grooves (212), the inner front and rear sides of the sliding frame (210) are both fixedly connected to a rack (213), the inner front and rear sides of the sliding frame (210) are internally slidably connected to a sliding frame (214), the upper front and rear sides of the sliding frame (214) are both rotatably connected to two balls (215), and the interior of the balls (215) are both slidably connected to an anti-slip pad (223); The clamping mechanism includes a driving bin (21), the driving bins (21) have four, and one side of each is fixedly mounted with a motor three (22), the driving ends of the motor three (22) are fixedly connected with a bidirectional screw rod (23), the outer peripheries of both ends of the bidirectional screw rod (23) are threadedly connected with a driving block (24), the lower ends of the driving blocks (24) are fixedly connected with a connecting frame (25), the interior of the connecting frame (25) is fixedly connected with a limiting cylinder (26), and the interior of the limiting cylinder (26) is slidably connected with an electric push rod two (27).

2. The electronic connector assembly industrial robot according to claim 1, characterized in that: The adjustment mechanism includes a rotating shaft (216) and a mounting plate (222), and there are sixteen rotating shafts (216). The outer peripheries of the front and rear ends of the upper rotating shafts (216) are fixedly connected to driving gears 4 (217), the middle of the rotating shafts (216) are fixedly connected to bevel gears 1 (218), the bevel gears 1 (218) are meshedly connected to bevel gears 2 (219), the middle of the bevel gears 2 (219) are fixedly connected to threaded rods (220), the outer peripheries of the threaded rods (220) are threadedly connected to threaded sleeves (221), and the threaded sleeves (221) are fixedly connected to the bevel gears 2 (219). One end away from the driving gear four (217) is fixedly connected to the side of the mounting plate (222) away from the anti-slip pad (223), one end of the rotating shaft (216) is fixedly connected to the outer periphery with a pulley (224), and the upper and lower pulleys (224) are connected by a transmission belt (225), the lower end of the electric push rod two (27) is fixedly connected to the upper end of the sliding frame two (214), the front and rear ends of the rotating shaft (216) are rotatably connected to the upper and lower end openings of the front and rear sides of the sliding frame two (214), and the driving gear four (217) is meshed with the rack (213).

3. The electronic connector assembly industrial robot according to claim 1, characterized in that: The regulating module (1) includes a regulating chamber (11) and a second motor (18). The regulating chamber (11) has four, and the lower ends are all rotatably connected to the control chamber (12). The middle of the inner lower end of the regulating chamber (11) is fixedly connected to a mounting frame (13). The upper end of the mounting frame (13) is fixedly connected to a first motor (14). The driving end of the first motor (14) is fixedly connected to a first driving gear (15). The outer periphery of the first driving gear (15) is evenly distributed with a second driving gear (16). The lower end of gear 2 (16) is fixedly connected to electric push rod 1 (17), the inner upper part of the control chamber (12) is fixedly connected to a gear ring (110), the gear ring (110) is meshedly connected to drive gear 3 (19), the middle part of drive gear 3 (19) is fixedly connected to the drive end of motor 2 (18), the lower end of motor 2 (18) is fixedly connected to one side of the inner lower part of the adjustment chamber (11), and the lower end of electric push rod 1 (17) is fixedly connected to the upper end of the drive chamber (21).

4. The electronic connector assembly industrial robot according to claim 1, characterized in that: A central controller is provided inside the control module (6), and the central controller is connected to the monitoring module (3) via data transmission technology. The central controller includes: A data preprocessing module, used for receiving image data from the monitoring module (3) and preprocessing the image data; The data analysis module is used to analyze the pre-processed data and determine whether the next installed electronic connector is correct; An instruction generation module is used to generate installation instructions based on the judgment results; The data storage module is used to store image data, data preprocessing results, data analysis results and generated installation instructions.

5. The electronic connector assembly industrial robot according to claim 4, characterized in that: The data preprocessing module preprocesses the image data, including the following steps: S11. Obtain the original color image data from the monitoring module (3) and add dimension to the image. The formula is: , where To add dimension to the image pixel value, is the image height, is the image width, is the number of channels, the value is 3; S12. Convert the color image to grayscale. The formula is: , where is the pixel value of the grayscale image, and are the indices of the image rows and columns, respectively; S13. Use Gaussian filtering to remove noise from the image, and obtain the filtered image through convolution operation. The formula is: , where is the pixel value of the image after filtering, For grayscale images at coordinates The pixel value at is a Gaussian function, is the Gaussian kernel radius; S14: Use histogram equalization to enhance the contrast of the image to obtain final preprocessed image data.

6. The electronic connector assembly industrial robot according to claim 5, characterized in that: In step S14, the histogram equalization enhanced image includes the following steps: S141. Calculate the histogram of the filtered grayscale image using the formula: , where Grayscale The number of occurrences of S142. Calculate the cumulative distribution function using the formula: , where Grayscale and the cumulative distribution function of all previous gray levels; S143. Transform each pixel using the following formula: , where The enhanced image is at coordinates The pixel value at position, is the value function, is the sum of the image pixels.

7. The electronic connector assembly industrial robot according to claim 6, characterized in that: The data analysis module analyzes the pre-processed data and includes the following steps: S21. Obtain the features of the electronic connector from the preprocessed image and calculate the gradient value and direction of the image. The formula is: , where For the image at coordinates The gradient value at position, For the image at coordinates Position along the direction The gradient component of For the image at coordinates Position along the direction The gradient component of For the image at coordinates The gradient direction at the position; S22. Obtain the perimeter of the image by traversing the pixel points on the outline of the electronic connector in the image, and calculate the area of the electronic connector in the image. The formula is: , is the pixel coordinate on the contour, is the number of pixels on the contour; S23, matching the extracted feature data with the pre-stored features of the correct electronic connector, the formula is: , where The pixel points on the outline of the electronic connector in the image obtain the perimeter of the image, and are the perimeter and area of the correct electronic connector respectively; S24, compare the matching result with the set threshold, if , then it is determined that the next installed electronic connector is correct. If , it is judged as an error.

8. The electronic connector assembly industrial robot according to claim 7, characterized in that: The installation instructions generated by the instruction generation module are divided into correct installation instructions and incorrect installation instructions. The correct installation instructions include the motion trajectory of the clamping claw, the gripping force, and the insertion depth. The insertion depth is determined according to the size of the connector and the hole depth of the circuit board. The motion trajectory is calculated by the forward kinematics equation, and the formula is: , where is the homogeneous transformation matrix of the end effector, is the current three-dimensional position of the robot. The grasping force is calculated based on the weight and friction coefficient of the electronic connector using the formula: , where To grasp the strength, is the weight of the electronic connector, The friction coefficient of electronic connectors, is the acceleration due to gravity.

9. The electronic connector assembly industrial robot according to claim 8, characterized in that: The generation of installation instructions for the error situation includes the following steps: S31. Record the position information of the next installed electronic connector on the placement board. The formula is: , where is the coordinate position of the electronic connector on the placement board, is the coordinate position of the electronic connector in the image, and is the center pixel coordinate of the image, and They are respectively monitoring module (3) in Xianghe The focal length of is the distance from the electronic connector to the camera, is the offset of the origin of the placement plate coordinate system in the monitoring module (3) coordinate system; S32. Set a tag array , the array length is equal to the total number of electronic connectors on the placement board , when the When an electronic connector is judged to be wrong, Set to 1 to skip the installation of this electronic connector; S33, when the installation position of the electronic connector that was previously marked incorrectly is scanned, one of the gripper modules (2) is controlled to grab the connector from the placement plate and install it at the corresponding position; S34, when an electronic connector at an unmounted position is scanned, one of the gripper modules (2) is controlled to grab the electronic connector from the placement plate and install it at the unmounted position.

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