Microgravity alignment device for Z-type contact and assembly device thereof

Abstract

The application discloses a micro-gravity rectifying device of Z-shaped contact pieces and an assembling device thereof, and belongs to the field of micro-rectangular connectors. The rectifying device comprises a rectifying material swing mechanism, the rectifying material swing mechanism comprises a rectifying material swing seat and a rectifying material clamping assembly, the rectifying material clamping assembly is used for placing and clamping the Z-shaped contact pieces, and the rectifying material swing seat is swung and rotated in a vertical plane by being connected with a rotating mechanism. The rectifying device further comprises a rectifying material positioning mechanism, the rectifying material positioning mechanism comprises a rectifying material clamping jaw and a material blocking block, and the rectifying material clamping jaw is used for clamping a contact piece tail bend of the Z-shaped contact pieces. The rectifying device comprises a linear vibrator and a workbench, the workbench is arranged on the top of the linear vibrator, and the rectifying material swing seat and the rectifying material positioning mechanism are arranged on the workbench. The assembling device comprises a needle taking unit, a needle assembling unit and the micro-gravity rectifying device of the Z-shaped contact pieces. The micro-gravity rectifying device is used for automatically and accurately rectifying the posture of the Z-shaped contact pieces, meets the needs of automatic assembling, and realizes automatic assembling of the Z-shaped contact pieces.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of micro-rectangular connectors, and particularly relates to a micro-gravity rectification device for Z-shaped contact pieces and an assembling device thereof. BACKGROUND

[0002] The straight needle connector is an important branch of the micro-rectangular connector series, and the contact pieces thereof are Z-shaped. The connector is currently assembled manually, and no successful case of automatic equipment exists. The reason is that the Z-shaped contact piece has a more complex structure, a central gravity center and an irregular shape, and a conventional vibration disc cannot adjust the posture of the contact piece in a consistent manner by relying on the gravity center, and cannot arrange the contact pieces in an orderly manner, and discharge the head of the contact piece to the same position, so that the Z-shaped contact piece cannot be automatically assembled. SUMMARY

[0003] The application aims to provide a micro-gravity rectification device for Z-shaped contact pieces and an assembling device thereof, which can accurately correct the posture of the Z-shaped contact piece to meet the need of automatic assembly and realize automatic assembly of the Z-shaped contact piece.

[0004] To achieve the above-mentioned purpose, the first technical solution of the application is a micro-gravity rectification device for Z-shaped contact pieces, which comprises a rectification swing mechanism, the rectification swing mechanism comprises a rectification swing seat and a rectification clamping assembly, the rectification clamping assembly is connected to the rectification swing seat, and the rectification clamping assembly is used for placing and clamping the Z-shaped contact piece; the rectification swing seat is connected to a rotating mechanism, the rotating mechanism drives the rectification swing seat to rotate and swing in a vertical plane, so that the Z-shaped contact piece after rectification is switched from a horizontal state to a vertical state.

[0005] A rectification positioning mechanism is further included, the rectification positioning mechanism comprises a rectification clamping jaw and a blocking block, the rectification clamping jaw is located between the blocking block and the rectification clamping assembly, and is used for clamping a tail bend of the contact piece that protrudes out of the rectification clamping assembly; and the blocking block is used for ensuring that only the tail bend of the contact piece protrudes out of the rectification clamping assembly.

[0006] The rectification swing seat and the rectification positioning mechanism are arranged on the workbench, and the vibration direction of the linear vibrator is from the rectification clamping assembly to the blocking block.

[0007] The beneficial effects are: the device utilizes the characteristics that the tail bend of the Z-shaped contact piece is not on the same axis with the main body of the contact piece and the tail bend is light in weight, combines the vibration of the linear vibrator, and the tail bend of the Z-shaped contact piece is hung down after extending out of the material rectifying and clamping assembly, so that the direction of the tail bend of the Z-shaped contact piece can be identified, and the accurate posture correction of the Z-shaped contact piece can be realized after the tail bend is clamped by the material rectifying and clamping assembly. The device skillfully utilizes the shape characteristics and gravity distribution characteristics of the Z-shaped contact piece, realizes the automatic adjustment of the posture, and provides favorable conditions for the automatic assembly of the subsequent contact piece.

[0008] Further, the material rectifying and clamping assembly comprises a fixed block and a movable block in relative linear motion, the fixed block is fixed on the material rectifying swing base, a sliding rod is slidably arranged in the fixed block, one end of the sliding rod is connected with the movable block, and the other end of the sliding rod is a force applying end, the sliding rod drives the movable block to move linearly under the action of external force; the upper portions of the fixed block and the movable block are provided with inclined surfaces, the two inclined surfaces are oppositely arranged to form a V-shaped groove for placing the Z-shaped contact piece, and the groove bottom of the V-shaped groove is provided with a clamping portion for clamping the Z-shaped contact piece.

[0009] The beneficial effects are: the structure of the material rectifying and clamping assembly is given, the space of the V-shaped groove is large at the top and small at the bottom, the Z-shaped contact piece is placed in the V-shaped groove, and the clamping portion at the groove bottom can better clamp the Z-shaped contact piece, so that the unstable clamping by the inclined surface is avoided.

[0010] Further, the sliding rod is provided with a spring and an adjusting nut capable of adjusting the pre-tightening force of the spring, and the two ends of the spring are respectively abutted against the fixed block and the adjusting nut.

[0011] The beneficial effects are: the cooperation of the spring and the adjusting nut can realize the adjustment of the clamping force, the surface of the Z-shaped contact piece is plated with gold, and the pre-tightening force provided by the spring can avoid the damage of the Z-shaped contact piece caused by the excessive clamping force.

[0012] Further, the sliding rod is a variable cross-section rod body, comprising a large-diameter segment and a small-diameter segment, the large-diameter segment is slidably arranged in the fixed block, the small-diameter segment is provided with the spring and the adjusting nut, and a stop ring is further sleeved on the sliding rod, and the two ends of the spring are respectively abutted against the adjusting nut and the stop ring.

[0013] The beneficial effects are: the arrangement of the stop ring can avoid the spring from entering the sliding hole of the fixed block.

[0014] Further, one side of the material rectifying and clamping assembly is further provided with a linear extension and retraction mechanism, the extension and retraction end of the linear extension and retraction mechanism acts on the force applying end of the sliding rod, pushes the sliding rod to drive the movable block to move away from the fixed block, and the linear extension and retraction mechanism is connected to the material rectifying swing base.

[0015] The beneficial effect is that the linear telescopic mechanism realizes the clamping of the Z-shaped contact piece by acting on the sliding rod, and the indirect control can avoid damage to the Z-shaped contact piece caused by excessive clamping force.

[0016] Further, the linear telescopic mechanism is a finger air cylinder or an electric push rod, and the material rectifying swing seat is provided with a fixing frame, and the linear telescopic mechanism is fixed on the fixing frame.

[0017] The beneficial effect is that the implementable implementation of the linear telescopic mechanism is given.

[0018] Further, at least one side of the clamping part is provided with a positioning groove with an arc-shaped cross section.

[0019] The beneficial effect is that the arc-shaped positioning groove can be attached to the surface of the Z-shaped contact piece, and the Z-shaped contact piece is clamped more stably.

[0020] Further, the material rectifying positioning mechanism further comprises a jaw air cylinder for controlling the opening and closing of the material rectifying jaw, and the blocking block is fixed on the jaw air cylinder.

[0021] The beneficial effect is that the setting of the jaw air cylinder can better control the opening and closing of the material rectifying jaw.

[0022] Further, the bottom of the jaw air cylinder is connected with the workbench through a sliding table air cylinder, the jaw air cylinder is controlled to translate by the sliding table air cylinder, and the distance between the blocking block and the material rectifying clamping assembly is adjusted.

[0023] The beneficial effect is that on the one hand, the length of the contact piece tail bend of different Z-shaped contact pieces can be adapted, so that the contact piece tail bend can completely extend out of the material rectifying clamping assembly; and on the other hand, after the Z-shaped contact piece is rectified, the rotating space for the material rectifying swing mechanism to drive the material rectifying clamping assembly to rotate can be provided.

[0024] Further, a vertical plate is arranged on the workbench, and the rotating mechanism is installed on the vertical plate.

[0025] Further, the rotating mechanism is a material rectifying rotating air cylinder.

[0026] The second technical scheme is provided: a Z-shaped contact piece assembling device, comprising a needle taking unit, a needle assembling unit and the Z-shaped contact piece micro-gravity rectifying device in any one of the above; the needle taking unit is used for providing the Z-shaped contact piece micro-gravity rectifying device with a Z-shaped contact piece to be assembled; the needle assembling unit is used for assembling the Z-shaped contact piece with a corrected posture in the Z-shaped contact piece micro-gravity rectifying device into a suitable connector shell.

[0027] The beneficial effects are that the cooperation of the needle taking unit, the needle mounting unit and the Z-shaped contact piece micro-gravity rectification device can realize the automatic process of the feeding, posture correction and assembly of the Z-shaped contact piece, and greatly improves the assembly efficiency of the connector.

[0028] Further, the needle taking unit comprises a needle taking robot, a CCD camera, a needle taking suction nozzle and a feeder; the rotation range of the needle taking robot covers the Z-shaped contact piece micro-gravity rectification device, the CCD camera and the needle taking suction nozzle are installed on the needle taking robot, and the feeder is arranged below the needle taking suction nozzle at the initial position of the needle taking robot and is used for providing the Z-shaped contact pieces; the CCD camera is used for identifying the head and tail ends of the Z-shaped contact pieces on the feeder, so as to guide the needle taking robot to suck the Z-shaped contact pieces on the feeder by using the needle taking suction nozzle.

[0029] The beneficial effects are that the structure of the needle taking unit is further defined.

[0030] Further, the feeder comprises a vibrating feeding disc and a flexible vibrating disc, and the outlet of the vibrating feeding disc is connected with the flexible vibrating disc.

[0031] The beneficial effects are that the cooperation of the vibrating feeding disc and the flexible vibrating disc can realize the rough positioning of the Z-shaped contact pieces, and the multiple Z-shaped contact pieces are dispersed on the flexible vibrating disc, so that the needle taking robot can suck the contact head of the Z-shaped contact piece by using the needle taking suction nozzle under the visual guidance of the CCD camera.

[0032] Further, the needle mounting unit comprises a needle mounting robot, a needle mounting manipulator and a connector carrier; the rotation range of the needle mounting robot covers the Z-shaped contact piece micro-gravity rectification device, the needle mounting manipulator is installed on the needle mounting robot and is used for clamping the corrected Z-shaped contact piece from the Z-shaped contact piece micro-gravity rectification device; and the connector carrier is arranged below the needle mounting manipulator at the initial position of the needle mounting robot and is used for fixing the connector shell to be assembled.

[0033] The beneficial effects are that the structure of the needle mounting unit is further defined.

[0034] The beneficial effects of the present application are that under the visual guidance, the Z-shaped contact pieces are firstly roughly positioned, the head and tail end directions of the Z-shaped contact pieces are distinguished, then the Z-shaped contact pieces are placed into the rectification clamping assembly of the Z-shaped contact piece micro-gravity rectification device by using the vacuum suction mode, under the linear vibration in a single direction, the contact pieces are accurately corrected in the posture by using the gravity difference of the head and tail ends of the Z-shaped contact pieces, and the needle mounting robot completes the material taking and assembly. The present application can effectively improve the automation level and assembly efficiency of the assembly of the Z-shaped contact pieces on the connector shell and improve the assembly quality. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 Structure diagram of micro-gravity rectifying device for Z-shaped contact in Example 1;

[0036] Figure 2 Structure diagram of rectifying material clamping block and finger cylinder in Example 1;

[0037] Figure 3 Structure diagram of rectifying material clamping jaw and clamping jaw cylinder in Example 1;

[0038] Figure 4 Working principle diagram of micro-gravity rectifying device for Z-shaped contact;

[0039] Figure 5 Structure diagram of assembly device for Z-shaped contact in Example 2;

[0040] Figure 6 Structure diagram of feeder in Example 2;

[0041] Figure 7 Partial diagram of Z-shaped contact in Example 2 in a top view state in a flexible vibrating disc;

[0042] Figure 8 Structure diagram of needle taking mechanism in Example 2;

[0043] Figure 9 Top view diagram of connector carrier in Example 2;

[0044] Figure 10 Structure diagram of needle loading manipulator on needle loading robot in Example 2;

[0045] Markings in the figure: 1-rectifying material swing seat, 2-rectifying material clamping assembly, 201-fixed block, 202-moving block, 203-V-shaped groove, 204-positioning groove, 205-adjusting nut, 206-sliding rod, 207-stop ring, 208-fastening bolt, 3-fixed frame, 4-spring, 5-finger cylinder, 6-rectifying material clamping jaw, 7-clamping jaw cylinder, 8-sliding table cylinder, 9-rectifying material rotating cylinder, 10-rectifying material block, 11-workbench, 1101, vertical plate, 12-linear vibrator, 13-Z-shaped contact, 1301-contact tail bend, 1302-contact head, 14-needle taking robot, 15-CCD camera, 16-needle taking suction nozzle, 17-feeder, 1701-vibrating feeding disc, 1702-flexible vibrating disc, 18-needle loading robot, 19-needle loading manipulator, 20-connector carrier, 21-connector shell; 100-micro-gravity rectifying device, 200-needle taking unit, 300-needle loading unit. DETAILED DESCRIPTION

[0046] The application will be further described in detail below with reference to the accompanying drawings and embodiments, but not as any limitation to the application.

[0047] Embodiment 1

[0048] Referring to the accompanying drawings and embodiments, the microgravity rectification device of the Z-shaped contact piece of the application comprises a linear vibrator 12, a workbench 11, a rectification swing mechanism and a rectification positioning mechanism. Figures 1-3 The workbench 11 is fixed on the top of the linear vibrator 12, and the rectification swing mechanism and the rectification positioning mechanism are arranged on the workbench 11.

[0049] The rectification swing mechanism comprises a rectification swing seat 1, a rectification clamping assembly 2, a fixing frame 3, a spring 4 and a finger air cylinder 5. The rectification swing seat 1 is rotationally supported on the vertical plate 1101 of the workbench 11 and is connected with a rectification rotation air cylinder 9 installed on the vertical plate 1101, and the rectification swing seat 1 is driven to rotate by the rectification rotation air cylinder 9. The rectification swing seat 1 is provided with the rectification clamping assembly 2 and the fixing frame 3. The rectification clamping assembly 2 is used for placing and clamping the Z-shaped contact piece, and the spring 4 is installed on the rectification clamping assembly 2 to provide clamping force for the rectification clamping assembly 2 to clamp the Z-shaped contact piece. The fixing frame 3 is used for installing the finger air cylinder 5, and the finger air cylinder 5 is used to control the opening of the rectification clamping assembly 2 after being extended, and the rectification clamping assembly 2 is reset under the action of the spring 4 after the finger air cylinder 5 is retracted. In other embodiments, other cylinder forms or linear extension mechanisms can be used instead of the finger air cylinder 5, such as an electric push rod.

[0050] The rectification clamping assembly 2 comprises a rectification clamping base 21, a rectification clamping plate 22 and a rectification clamping spring 23. The rectification clamping base 21 is fixedly connected with the rectification swing seat 1, and the rectification clamping plate 22 is arranged on the rectification clamping base 21. The rectification clamping spring 23 is arranged on the rectification clamping base 21 and is used for providing clamping force for the rectification clamping plate 22 to clamp the Z-shaped contact piece.

[0051] The rectification clamping assembly 2 comprises a rectification clamping base 21, a rectification clamping plate 22 and a rectification clamping spring 23. The rectification clamping base 21 is fixedly connected with the rectification swing seat 1, and the rectification clamping plate 22 is arranged on the rectification clamping base 21. The rectification clamping spring 23 is arranged on the rectification clamping base 21 and is used for providing clamping force for the rectification clamping plate 22 to clamp the Z-shaped contact piece. Figure 2As shown, the fixed block 201 and the movable block 202 are relative linear motion, the fixed block 201 is fixed on the material rectifying swing seat 1, the lower part of the fixed block 201 has a protrusion, the lower part of the movable block 202 has a recess matched with the protrusion, the upper part of the fixed block 201 and the upper part of the movable block 202 are provided with inclined surfaces, the two inclined surfaces are oppositely arranged to form a V-shaped groove 203 for placing the Z-shaped contact, the groove bottom of the V-shaped groove 203 is provided with a clamping part for clamping the Z-shaped contact, at least one side of the clamping part is provided with a positioning groove 204 with an arc-shaped cross section, in the embodiment, the positioning groove 204 is arranged on the movable block 202, and a flat surface is arranged at the position opposite to the positioning groove 204 on the fixed block 201. In other embodiments, the positioning groove 204 can also be arranged on the fixed block 201, or the positioning groove 204 is arranged on both the fixed block 201 and the movable block 202. The fixed block 201 is provided with a sliding hole extending along the movement direction of the movable block 202 and penetrating through the fixed block 201. The movable block 202 is provided with a fixed hole coaxially arranged with the sliding hole, and a fastening bolt 208 is arranged in the fixed hole. A sliding rod 206 is slidably arranged in the sliding hole, one end of the sliding rod 206 towards the movable block 202 is provided with an internal threaded hole for threaded connection with the fastening bolt 208, and the other end of the sliding rod 206 away from the movable block 202 is threaded connected with an adjusting nut 205. The spring 4 is sleeved on the sliding rod 206, one end of the spring 4 abuts against the fixed block 201, and the other end of the spring 4 abuts against the adjusting nut 205, and the pre-tightening force of the spring 4 is adjusted by the adjusting nut 205. The installation height of the sliding rod 206 is the same as the height of the finger air cylinder 5, so that the finger air cylinder 5 can act on the end of the sliding rod 206 on which the adjusting nut 205 is installed after the finger air cylinder 5 is extended.

[0052] Further, the sliding rod 206 is a variable cross-section rod body, including a large-diameter segment and a small-diameter segment, the large-diameter segment is slidably arranged in the sliding hole of the fixed block 201, and the small-diameter segment is sleeved with the spring 4 and the adjusting nut 205. Since the diameter of the small-diameter segment is smaller than the hole diameter of the sliding hole, in order to avoid the spring 4 entering the sliding hole, a blocking ring 207 is further sleeved on the sliding rod 206, the outer diameter of the blocking ring 207 is greater than the hole diameter of the sliding hole, and the spring 4 is abutted against the adjusting nut 205 and the blocking ring 207 at both ends respectively.

[0053] The process of clamping the Z-shaped contact by the material rectifying and clamping assembly 2 will be described below: the front end of the finger air cylinder 5 is extended to push the sliding rod 206, the sliding rod 206 compresses the spring 4 and moves to the right (towards the movable block 202) Figure 2(In the direction shown), the movable block 202 is moved to the right by the fastening bolt 208, away from the fixed block 201. At this time, the material clamping assembly 2 is in the open state. After the Z-shaped contact completes the position correction between the fixed block 201 and the movable block 202, the finger cylinder 5 is retracted, the spring 4 is reset, and the sliding rod 206 is pushed to the left, which drives the movable block 202 to move towards the fixed block 201, thereby clamping the Z-shaped contact between the two. The positioning groove 204 can fit and contact the Z-shaped contact to ensure the stability of the clamping and facilitate the subsequent clamping by the needle loading robot.

[0054] For example Figure 1 As shown, the material positioning mechanism includes a material-aligning gripper 6, a gripper cylinder 7, and a stop block 10. The gripper cylinder 7 controls the opening and closing of the material-aligning gripper 6. The material-aligning gripper 6 has two vertical clamping surfaces. The stop block 10 is fixed to the gripper cylinder 7 by a mounting plate. The end of the stop block 10 faces the V-groove 203, and the stop block 10 is located behind the material-aligning gripper 6 to avoid affecting its opening and closing. After the Z-type contact member 13 is vibrated and aligned by the linear vibrator 12, the tail bend 1301 of the contact member extends out of the V-groove 203 (e.g., ...). Figure 4 As shown in the figure, the contact tail bend 1301 may not be in an absolutely vertical downward state at this time, resulting in the Z-type contact 13 having an inaccurate posture. At this time, the contact tail bend 1301 is clamped by the clamping surface of the material guide claw 6, which can achieve accurate posture correction of the Z-type contact 13.

[0055] It should be noted that the linear vibrator 12 needs to vibrate to make the Z-shaped contact 13 in the V-groove 203 move toward the stop block 10. Therefore, the linear vibrator 12 needs to vibrate toward the stop block 10.

[0056] Furthermore, the bottom of the gripper cylinder 7 is connected to the worktable 11 via a slide cylinder 8. The slide cylinder 8 controls the translation of the gripper cylinder 7, adjusting the distance between the stop block 10 and the V-groove 203 to accommodate Z-shaped contact parts 13 of different lengths. Additionally, the slide cylinder 8 moves the gripper cylinder 7 away from the material-clamping assembly 2, providing space for the rotation of the material-clamping swing mechanism.

[0057] The following is combined with Figure 4 The working principle of the microgravity alignment device described in this invention will be explained. For ease of explanation, Figure 4 right Figure 1 The structure has been simplified. From Figure 4It can be seen that the tail of the Z-shaped contact 13 described in this invention is not on the same axis as its main body. Therefore, the tail forms a contact tail bend 1301, and the weight of the contact tail bend 1301 is slightly lighter than the weight of the contact head 1302. When using this device, the Z-shaped contact 13 is placed with the contact tail bend 1301 facing the stop block 10. Figure 4 (As shown in the diagram, facing left) Within the V-groove 203 of the material clamping assembly 2, under the vibration of the linear vibrator 12, the Z-shaped contact 13 will move to the left. When the end of the contact tail bend 1301 reaches the stop block 10, the entire contact tail bend 1301 is located at the gap between the V-groove 203 and the stop block 10 (i.e., the location of the material clamping claw 6). At this time, the contact head 1302 of the Z-shaped contact 13 is supported by the bottom of the V-groove 203, and the contact tail bend 1301 is in a suspended state. Taking advantage of the fact that the weight of the contact tail bend 1301 is slightly lighter than that of the contact head 1302, under the continued vibration of the linear vibrator 12, the contact tail bend 1301 will inevitably droop, thereby accurately identifying the direction of the contact tail bend 1301 of the Z-shaped contact 13. With the clamping action of the material clamping claw 6, the precise posture correction of the Z-shaped contact 13 is further realized.

[0058] Therefore, the working process of the microgravity alignment device for the Z-type contact element described in this invention includes the following steps:

[0059] S1, the front end of the finger cylinder 5 extends out and pushes the sliding rod 206 to compress the spring 4. The sliding rod 206 drives the movable block 202 to move, so that the V-groove 203 of the material clamping assembly 2 opens and the Z-shaped contact 13 is placed in the V-groove 203 with the contact tail bend 1301 facing the material blocking block 10.

[0060] S2, the Z-type contact 13 moves toward the stop block 10 under the vibration of the linear vibrator 12 until the tail bend 1301 of the contact extends out of the V-groove 203 and presses against the stop block 10.

[0061] S3, the gripper cylinder 7 controls the material-correcting gripper 6 to clamp the contact part tail bend 1301, and the Z-type contact part 13 is corrected to the correct position.

[0062] S4, the linear vibrator 12 stops vibrating, the finger cylinder 5 retracts, the spring 4 returns to its original position, and the sliding rod 206 drives the movable block 202 to move toward the fixed block 201, clamping the Z-type contact 13.

[0063] S5, the jaw cylinder 7 controls the material correction jaw 6 to release the contact tail bend 1301, and the slide cylinder 8 drives the jaw cylinder 7 to move a certain distance away from the material correction clamping assembly 2; then the material correction rotating cylinder 9 drives the material correction swing seat 1 and the material correction clamping assembly 2 to rotate 90° as a whole, so that the Z-shaped contact 13 is in a vertical state, and the contact tail bend 1301 is vertically upward, which is convenient for the subsequent mechanical hand to clamp.

[0064] Embodiment 2

[0065] A Z-shaped contact assembling device is used for automatically assembling Z-shaped contacts in the matched connector shell. In the assembling process, the micro-gravity correction device of embodiment 1 is used to correct the posture of each Z-shaped contact to be installed, so as to ensure that the contact tail bends of the installed Z-shaped contacts are in the same direction.

[0066] As shown in Figure 5 , the Z-shaped contact assembling device comprises a needle taking unit 200, a needle assembling unit 300 and the micro-gravity correction device 100 of embodiment 1, and the micro-gravity correction device 100 is arranged between the needle taking unit 200 and the needle assembling unit 300. The needle taking unit 200 is used to distinguish the head and tail end direction of the roughly positioned Z-shaped contact under the guidance of the vision system, and to grasp the Z-shaped contact and place it on the micro-gravity correction device 100 for further posture correction. The needle assembling unit 300 is used to install the Z-shaped contact which has completed accurate posture correction in the matched connector shell.

[0067] Specifically, as shown in Figure 5 , Figure 8 , the needle taking unit 200 comprises a needle taking robot 14, a CCD camera 15, a needle taking suction nozzle 16 and a feeder 17. The CCD camera 15 and the needle taking suction nozzle 16 are arranged on the needle taking robot 14, and the feeder 17 is located below the needle taking suction nozzle 16 at the initial position of the needle taking robot 14.

[0068] As shown in Figure 6 , the feeder 17 comprises a vibrating feeding disc 1701 and a flexible vibrating disc 1702, and the outlet of the vibrating feeding disc 1701 is connected with the flexible vibrating disc 1702. The Z-shaped contact 13 to be installed is vibrated by the vibrating feeding disc 1701, enters the flexible vibrating disc 1702, and is roughly positioned under the action of the small up-down vibration of the flexible vibrating disc 1702, and is dispersed to facilitate the identification of the CCD camera 15, as shown in Figure 7 .

[0069] The CCD camera 15 is used to identify the beginning and end of the Z-shaped contact 13 in the flexible vibrating disk 1702. The needle-picking nozzle 16 is used to pick up the Z-shaped contact 13 under the visual recognition guidance of the CCD camera 15. Then, the needle-picking robot 14 moves the needle-picking nozzle 16 to the microgravity correction device 100 and places it in the V-groove 203, with the tail bend 1301 of the contact facing the stop block 10, so as to perform the next posture correction.

[0070] For example Figure 5 As shown, the pin loading unit 300 includes a pin loading robot 18, a pin loading manipulator 19, and a connector carrier 20. The pin loading manipulator 19 is mounted on the pin loading robot 18 and is used to grip the attitude-corrected Z-shaped contact 13 from the microgravity alignment device 100. The gripping position is at the contact tail bend 1301 of the Z-shaped contact 13. The connector carrier 20 is positioned below the pin loading manipulator 19 at the initial position of the pin loading robot 18. The connector carrier 20 is used to fix the connector housing 21 to be assembled, and the pin loading manipulator 19 inserts the gripped Z-shaped contact 13 into the connector housing 21.

[0071] Since both the needle-picking robot 14 and the needle-loading robot 18 need to move from their respective initial positions to the microgravity alignment device 100, the microgravity alignment device 100 needs to be set on the working path of the needle-picking robot 14 and the needle-loading robot 18 so that the needle-picking robot 14 and the needle-loading robot 18 can rotate from their initial positions to above the microgravity alignment device 100 during the rotation process.

[0072] The needle-retrieving robot 14 is also equipped with a lifting mechanism to control the up-and-down movement of the needle-retrieving nozzle 16, so as to realize the picking up and placement of the Z-shaped contact 13. The needle-loading robot 18 is also equipped with a lifting mechanism to control the up-and-down movement of the needle-loading manipulator 19, so as to realize the gripping and assembly of the Z-shaped contact 13. The lifting mechanism can adopt common lifting structures such as lifting cylinders and electric lifting machines.

[0073] The connector carrier 20 uses a pressure plate or screws to fix the connector housing 21.

[0074] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the specific implementation of the present invention with reference to the above embodiments. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the protection scope of the pending claims.

Claims

1. A microgravity alignment device for a Z-shaped contact element, characterized in that: The device includes a material-aligning swing mechanism, which includes a material-aligning swing seat (1) and a material-aligning clamping assembly (2). The material-aligning clamping assembly (2) is connected to the material-aligning swing seat (1) and is used to place and clamp the Z-shaped contact (13). The material-aligning swing seat (1) is connected to a rotating mechanism, which drives the material-aligning swing seat (1) to rotate and swing in the vertical plane so as to realize that the Z-shaped contact (13) after alignment switches from the horizontal state to the vertical state. The material positioning mechanism includes a material positioning gripper (6) and a stop block (10). The material positioning gripper (6) is located between the stop block (10) and the material positioning clamping assembly (2) and is used to clamp the contact tail bend (1301) of the Z-shaped contact (13) that extends out of the material positioning clamping assembly (2). The stop block (10) is used to ensure that only the contact tail bend (1301) of the Z-shaped contact (13) extends out of the material positioning clamping assembly (2). It also includes a linear vibrator (12) and a worktable (11). The worktable (11) is set on top of the linear vibrator (12). The material-aligning swing seat (1) and the material-aligning positioning mechanism are set on the worktable (11). The vibration direction of the linear vibrator (12) is from the material-aligning clamping assembly (2) toward the material-blocking block (10).

2. The microgravity alignment device according to claim 1, characterized in that: The material clamping assembly (2) includes a fixed block (201) and a movable block (202) that move in a relatively linear manner. The fixed block (201) is fixed on the material oscillating seat (1). A sliding rod (206) is slidably inserted in the fixed block (201). One end of the sliding rod (206) is connected to the movable block (202), and the other end of the sliding rod (206) is the force-applying end. Under the action of external force, the sliding rod (206) drives the movable block (202) to move linearly. The upper part of both the fixed block (201) and the movable block (202) is provided with inclined surfaces. The two inclined surfaces are arranged opposite each other to form a V-groove (203) for placing the Z-type contact (13). The bottom of the V-groove (203) is provided with a clamping part for clamping the Z-type contact (13).

3. The microgravity alignment device according to claim 2, characterized in that: The sliding rod (206) is provided with a spring (4) and an adjusting nut (205) that can adjust the spring preload. The two ends of the spring (4) are respectively pressed against the fixed block (201) and the adjusting nut (205).

4. The microgravity alignment device according to claim 3, characterized in that: The sliding rod (206) is a variable cross-section rod, including a large diameter section and a small diameter section. The large diameter section slides through the fixed block (201), and the small diameter section is fitted with the spring (4) and the adjusting nut (205). A retaining ring (207) is also fitted on the sliding rod (206), and the two ends of the spring (4) abut against the adjusting nut (205) and the retaining ring (207) respectively.

5. The microgravity alignment device according to claim 3, characterized in that: The material clamping assembly is also provided with a linear telescopic mechanism on one side. The telescopic end of the linear telescopic mechanism acts on the force-applying end of the sliding rod (206), pushing the sliding rod (206) to drive the movable block (202) away from the fixed block (201). The linear telescopic mechanism is connected to the material clamping swing seat (1).

6. The microgravity alignment device according to claim 5, characterized in that: The linear telescopic mechanism is a finger cylinder (5) or an electric push rod, and a fixed frame (3) is provided on the material swing seat (1), and the linear telescopic mechanism is fixed on the fixed frame (3).

7. The microgravity alignment device according to claim 2, characterized in that: At least one side of the clamping part is provided with a positioning groove (204) with an arc-shaped cross section.

8. The microgravity alignment device according to claim 1, characterized in that: The material positioning mechanism also includes a gripper cylinder (7) for controlling the opening and closing of the material gripper (6), and the material stop block (10) is fixed on the gripper cylinder (7).

9. The microgravity alignment device according to claim 8, characterized in that: The bottom of the gripper cylinder (7) is connected to the worktable (11) via the slide cylinder (8). The slide cylinder (8) controls the gripper cylinder (7) to move horizontally and adjust the distance between the material stop block (10) and the material clamping assembly (2).

10. The microgravity correction device according to claim 1, characterized in that: The workbench (11) is provided with a vertical plate (1101), and the rotating mechanism is installed on the vertical plate (1101).

11. The microgravity correction device according to claim 10, characterized in that: The rotating mechanism is a material-correcting rotary cylinder (9).

12. An assembly device for a Z-type contact, characterized in that: It includes a needle picking unit (200), a needle loading unit (300), and a microgravity alignment device (100) as described in any one of claims 1-11; the needle picking unit (200) is used to provide the microgravity alignment device (100) with a Z-type contact (13) to be assembled; the needle loading unit (300) is used to load the Z-type contact (13) with the completed attitude correction on the microgravity alignment device (100) into a matching connector housing (21).

13. The assembly apparatus for the Z-type contact element according to claim 12, characterized in that: The needle picking unit (200) includes a needle picking robot (14), a CCD camera (15), a needle picking nozzle (16), and a feeder (17); the rotation range of the needle picking robot (14) covers the microgravity alignment device (100); the CCD camera (15) and the needle picking nozzle (16) are mounted on the needle picking robot (14); the feeder (17) is located below the needle picking nozzle (16) when the needle picking robot (14) is in its initial position, and is used to provide Z-shaped contact parts (13); the CCD camera (15) is used to identify the head and tail ends of the Z-shaped contact parts (13) on the feeder (17) to guide the needle picking robot (14) to pick up the Z-shaped contact parts (13) on the feeder (17) using the needle picking nozzle (16).

14. The assembly apparatus for the Z-type contact element according to claim 13, characterized in that: The feeder (17) includes a vibrating feed plate (1701) and a flexible vibrating plate (1702), and the outlet of the vibrating feed plate (1701) is connected to the flexible vibrating plate (1702).

15. The assembly apparatus for the Z-type contact element according to claim 12, characterized in that: The needle loading unit (300) includes a needle loading robot (18), a needle loading manipulator (19), and a connector carrier (20); the rotation range of the needle loading robot (18) covers the microgravity alignment device (100), the needle loading manipulator (19) is mounted on the needle loading robot (18) and is used to pick up the corrected Z-shaped contact (13) from the microgravity alignment device (100); the connector carrier (20) is located below the needle loading manipulator (19) when the needle loading robot (18) is in the initial position, and the connector carrier (20) is used to fix the connector housing (21) to be assembled.

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