Clamping device and system for assembling connector in vehicle

Abstract

The invention relates to a clamping device and an automatic connector assembling system. The clamping device is configured to assemble the connector to the vehicle. The automatic connector assembling system can shoot a two-dimensional image of an input connector or an output connector of each wiring connector in a plurality of wiring connectors through a visual camera; and detecting the position of the input connector or the output connector and the three-dimensional accurate position and angle of the input connector or the output connector by moving the visual camera, and clamping the input connector or the output connector using a clamping device to insert and fasten the input connector or the output connector into the connection port of the electrical component.

Description

Technical Field

[0001] This disclosure relates to a clamping device for assembling connectors and a vehicle assembly system using the clamping device, and more specifically, to a clamping device and vehicle assembly system capable of accurately connecting wiring connectors arranged in an misaligned state to a target assembly component. Background Technology

[0002] Typically, vehicles are equipped with multiple electronic components, which are interconnected via wiring connectors to supply power, establish communication, and exchange control signals.

[0003] Wiring connectors are manufactured with a structure in which an input connector (called a "head connector") and an output connector are connected by wiring to supply current to electrical components, establish communication between electrical components, and exchange control signals.

[0004] For example, a wiring connector can be manufactured in a shape in which one input connector and one output connector are connected one-to-one by wiring, or a wiring connector can be manufactured in a shape in which one input connector and two or more output connectors are connected by wiring.

[0005] The assembly process of connecting multiple electrical components using wiring connectors, that is, the process of inserting and securing the input and output connectors of the wiring connectors to the corresponding connection ports of the electrical components, is performed manually by the operator.

[0006] However, due to limited layout space for assembling wiring connectors, and the fact that the number of wiring connectors to be assembled to connect electrical components far exceeds the number of electrical components to be installed in the vehicle, there is a significant decrease in operator efficiency when assembling connectors.

[0007] Furthermore, during repeated wiring connector assembly operations performed by operators, the input and output connectors of the wiring connectors are sometimes not securely fastened to the connection ports of the electrical components. This subsequently causes problems such as defects in the supply of current and the exchange of signals to the electrical components.

[0008] Therefore, a solution is needed that can automatically assemble wiring connectors into electrical components.

[0009] The above content disclosed in this background section is only intended to enhance the understanding of the background technology of the present invention, and therefore the above content may contain content that does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0010] This disclosure provides a clamping device for assembling connectors and an automated connector assembly system using the clamping device. The automated connector assembly system is capable of automatically performing the following processes: capturing two-dimensional images of the input or output connector of each of the multiple wiring connectors in a non-aligned state supported on a loading or suspension device by a vision camera mounted on a robot; detecting the position of the input or output connector based on the captured two-dimensional images by means of deep learning calculations by a control unit; detecting the precise three-dimensional position and angle of the input or output connector by moving the vision camera to the detection position of the input or output connector through the operation of the robot; and a connector assembly process, i.e., clamping the input or output connector and then inserting and securing the input or output connector into the connection port of the electrical component by a pair of finger plates mounted at the end of the robot.

[0011] To achieve the above objectives, one embodiment of this disclosure provides a clamping device for assembling connectors in a vehicle, the clamping device comprising: a first plate and a second plate configured to clamp an input connector or an output connector of a wiring connector; and one or more drive devices mounted on a robot and configured to rotate the first plate and the second plate in a vertical direction, rotate the first plate and the second plate in a horizontal direction, and move the first plate and the second plate linearly in a front-back direction.

[0012] Specifically, one or more drive devices may include: a first drive device mounted at the end of the robot for rotating the first plate and the second plate in the vertical direction; a second drive device mounted between the first drive device and the first plate and the second plate for rotating the first plate and the second plate in the horizontal direction; and a third drive device mounted between the first drive device and the first plate and the second plate for moving the first plate and the second plate linearly in the front-back direction.

[0013] According to another aspect, a clamping device for assembling connectors may include: a first finger plate and a second finger plate configured to clamp an input connector or an output connector of a wiring connector; a first drive device mounted at the end of a robot and configured to rotate the first finger plate and the second finger plate in a vertical direction; a second drive device mounted between the first drive device and the first finger plate and the second finger plate and configured to rotate the first finger plate and the second finger plate in a horizontal direction; and a third drive device mounted between the first drive device and the first finger plate and the second finger plate and configured to move the first finger plate and the second finger plate linearly in a front-back direction.

[0014] In embodiments of this disclosure, the first drive device may include: a first motor mounted at the end of the robot; and an up-and-down rotating frame connected to the output of the first motor, configured to rotate up or down and connected to the second drive device.

[0015] In an embodiment of the present invention, the second driving device may include: a substrate; a second motor mounted on a portion of the bottom surface of the substrate; a rotating shaft mounted at the center of the outer surface of the upper and lower rotating frames; and a gear train mounted between the output of the second motor and the rotating shaft and configured by combining a plurality of gears to rotate the substrate to the left or right about the rotating shaft.

[0016] In embodiments of this disclosure, the third drive device may include: a third motor mounted on another portion of the bottom surface of the substrate; a gearbox connected to the output of the third motor and mounted on the upper surface of the substrate; a first track plate and a second track plate mounted on the upper surface of the gearbox; a first rack fastened to the first track plate and configured to move forward or backward, and a first finger plate connected to the outer end of the first rack; a second rack fastened to the second track plate and configured to move forward or backward, and a second finger plate connected to the outer end of the second rack; and a pinion connected to the output of the gearbox and configured to mesh with the first rack and the second rack.

[0017] In addition, the connecting rod can be connected between a gear in the gear train and the base plate.

[0018] In embodiments of this disclosure, a spherical member may be installed in the inner surfaces of the first and second finger plates to enter or exit the inner surfaces of the first and second finger plates, and a spring may be embedded in the first and second finger plates and elastically support the spherical member.

[0019] To achieve the above objectives, another embodiment of this disclosure provides an automated connector assembly system, comprising: a loading device configured to place a plurality of wire connectors in a misaligned state, each wire connector being constructed by connecting an input connector and an output connector by wiring; an assembly table on which an electrical component having a plurality of connection ports is seated and fixed; a suspension device configured to support the wire and output connectors in the misaligned state when an input connector is inserted and secured to a connection port of the electrical component; a multi-jointed robot configured to perform forward and backward movement, left and right movement, and up and down movement to move to the loading device, the assembly table, and the suspension device; a vision camera mounted at the end portion of the robot to capture two-dimensional or three-dimensional images of the input connectors or output connectors; a gripping device mounted at the end portion of the robot and configured to grip the input connectors or output connectors; and a controller configured to control the movement of the robot and the gripping device based on image capture information obtained from the vision camera to grip the input connectors or output connectors and secure the input connectors or output connectors to the connection ports of the electrical component.

[0020] The loading device may include: a conveyor with rollers mounted on its bottom surface; and a support frame mounted on the conveyor to support multiple wiring connectors in an misaligned state.

[0021] Specifically, the support frame may include: multiple vertical frames mounted on the conveyor at different heights; multiple horizontal frames arranged at different heights and connected between the multiple vertical frames, and the multiple horizontal frames configured to fix the input connector of the wiring connector; and mounting space formed between the horizontal frames to allow the wiring and output connectors of the wiring connector to be arranged downwards.

[0022] The suspension device may include: a vertical rod positioned at the front of one end of the assembly table; and a support rod connected to the upper end of the vertical rod, such that when the input connector is inserted and secured to a connection port of the electrical component by the robot and the clamping device, the wiring and output connector, which are in a misaligned state, are supported.

[0023] The connector automated assembly system disclosed herein may further include: a transfer track on which the lower part of the articulated robot is supported, allowing it to slide to the left or right, thereby increasing the distance of the articulated robot's left and right movements.

[0024] The vision camera can be configured to send a two-dimensional image signal obtained by initially capturing an image of the input connector supported on the loading device to the controller, and a three-dimensional image signal obtained by capturing an image of the input connector supported on the loading device again to the controller, and the vision camera can also be configured to send a three-dimensional image signal obtained by capturing an image of the output connector supported on the suspension device to the controller.

[0025] In another embodiment of this disclosure, the clamping device may include: a first finger plate and a second finger plate configured to hold an input connector or an output connector of a wiring connector; a ball-shaped member mounted in the inner surfaces of the first and second finger plates to enter or exit the inner surfaces of the first and second finger plates; a spring embedded in the first and second finger plates and configured to elastically support the ball-shaped member; a first drive device mounted at the end of the robot and configured to rotate the first and second finger plates in a vertical direction; a second drive device mounted between the first drive device and the first and second finger plates and configured to rotate the first and second finger plates in a horizontal direction; and a third drive device mounted between the first drive device and the first and second finger plates and configured to move the first and second finger plates linearly in a front-back direction.

[0026] The first drive unit may include: a first motor mounted at the end of the robot; and a vertical rotating frame connected to the output of the first motor, configured to rotate upwards or downwards, and connected to a second drive unit. The second drive unit may include: a base plate; a second motor mounted on a portion of the bottom surface of the base plate; a rotating shaft mounted at the center of the outer surface of the vertical rotating frame; and a gear train mounted between the output of the second motor and the rotating shaft and constructed by combining multiple gears configured to rotate the base plate left or right about the rotating shaft. The third drive unit may include: a third motor mounted on... On another portion of the bottom surface of the substrate; a gearbox, connected to the output of a third motor and mounted on the upper surface of the substrate; a first track plate and a second track plate, mounted on the upper surface of the gearbox; a first rack, fastened to the first track plate and configured to move forward or backward, and a first finger plate connected to the outer end of the first rack; a second rack, fastened to the second track plate and configured to move forward or backward, and a second finger plate connected to the outer end of the second rack; a pinion, connected to the output of the gearbox and configured to mesh with the first rack and the second rack; and a connecting rod, disposed between one gear of the gear train and the substrate.

[0027] According to another embodiment of this disclosure, when the spherical member is in contact with the input connector or the output connector, and the force of the first finger plate and the second finger plate to hold the input connector or the output connector at a preset level or higher is controlled by the current of the controller, the spherical member can be inserted into the first finger plate and the second finger plate while compressing the spring.

[0028] Conversely, when the force of the first and second finger plates holding the input or output connector is lower than a preset level by the current control of the controller, the spherical part can protrude from the inner surface of the first and second finger plates and contact the input or output connector by the elastic restoring force of the spring.

[0029] The controller can be configured to detect the position of the input connector of the wiring connector supported on the loading device in an unaligned state by performing deep learning based on the two-dimensional image signal of the input connector captured by a vision camera.

[0030] In addition, the controller can be configured to detect the precise three-dimensional position and arrangement angle of the input connector of the wiring connector supported on the loading device in an unaligned state, or the precise three-dimensional position and arrangement angle of the output connector of the wiring connector supported on the suspension device, based on the three-dimensional image signal of the input connector or output connector captured by the vision camera.

[0031] In addition, the controller can be configured to control the movement of the robot and gripping device based on the result of the three-dimensional precise position and arrangement angle of the input or output connector of the detection wiring connector, so as to grip the input or output connector and fasten the input or output connector to the connection port of the electrical component.

[0032] Specifically, the controller can be configured to perform control to rotate the clamping device in a helical direction when the clamping device clamps the input connector or output connector and secures the input connector or output connector to the connection port of the electrical component.

[0033] The above-described solution has the following effects.

[0034] First, when the wiring connector is placed in an misaligned state, the position and arrangement angle of the input or output connector can be accurately detected through deep learning calculations. Then, the robot and clamping device can clamp the input or output connector and automatically insert and fasten it into the connection port of the electrical component based on the detected position and arrangement angle, thereby automating the connector assembly process.

[0035] Secondly, with the automation of the connector assembly process, the efficiency and productivity of connector assembly can be improved, and assembly defects caused by manual repetitive assembly of connectors in related technologies can be prevented.

[0036] Other aspects and preferred embodiments of the invention are discussed below. Attached Figure Description

[0037] The foregoing and other features of this disclosure will now be described in detail with reference to certain exemplary embodiments of this disclosure illustrated in the accompanying drawings, in which the drawings are given by way of illustration only and therefore do not limit the disclosure, and in the drawings:

[0038] Figure 1 This is a perspective view of an automated connector assembly system according to the present disclosure;

[0039] Figure 2 This is a perspective view showing the state of an input connector of a wiring connector supported on a loading device in a misaligned state by a visual camera in an automated connector assembly system according to the present disclosure.

[0040] Figure 3 This is a perspective view showing the state in which the clamping device of the connector automatic assembly system according to the present disclosure clamps the input connector of the wiring connector supported on the loading device in an misaligned state.

[0041] Figure 4 This is a perspective view showing the state in which the clamping device of the connector automatic assembly system according to the present disclosure clamps the input connector and then moves toward the assembly table by a multi-joint robot;

[0042] Figure 5 This is a perspective view showing the state in which the wiring connector and the output connector are automatically supported on the suspension device when the clamping device of the connector automatic assembly system according to this disclosure clamps the input connector and then moves toward the assembly table by the operation of a multi-joint robot.

[0043] Figure 6 This is a perspective view showing the state in which an input connector is inserted and secured to a connection port of an electrical component fixed to an assembly table by a clamping device of the connector automatic assembly system according to the present disclosure;

[0044] Figure 7 This is a perspective view showing the state of the output connector of the connector automatic assembly system according to the present disclosure, in which the clamping device moves to the suspension device and the vision camera scans the state of the wiring connector supported on the suspension device in an misaligned state.

[0045] Figure 8This is a perspective view showing the state in which the clamping device of the connector automatic assembly system according to the present disclosure clamps the output connector;

[0046] Figure 9 This is a perspective view showing the state in which the clamping device of the connector automatic assembly system according to the present disclosure is moved back to the assembly table by the operation of a multi-joint robot, and then the clamping device inserts and secures the output connector to another connection port of an electrical component fixed to the assembly table.

[0047] Figure 10 This is a control configuration diagram of the connector automatic assembly system according to this disclosure;

[0048] Figure 11 and Figure 12 This is a perspective view showing a clamping device for an automated connector assembly system according to the present disclosure;

[0049] Figure 13 This is a main partial cross-sectional view showing the state in which the spherical component and the spring are mounted on the first and second finger plates of the clamping device of the connector automatic assembly system according to the present disclosure;

[0050] Figure 14 This is a perspective view of the main portion of the automatic connector assembly system according to the present disclosure, showing the state in which the clamping device performs a helical transmission motion when assembling an input connector or output connector to the connection port of an electrical component; and

[0051] Figures 15 to 17 The diagram shows the operation in sequence in which the first and second finger plates of the clamping device of the connector automatic assembly system according to the present disclosure clamp the output connector, and then the output connector and the ball joint come into contact with each other, such that the first and second finger plates align the output connector in a fastening direction based on the ball joint.

[0052] It should be understood that the accompanying drawings are not necessarily drawn to scale and present slightly simplified representations of various preferred features illustrating the basic principles of the invention. Specific design features of this disclosure (including, for example, specific dimensions, orientations, positions, and shapes) will be determined in part by the specific intended application and environment of use.

[0053] In the accompanying drawings, throughout several figures, the same reference numerals refer to the same or equivalent parts of this disclosure. Detailed Implementation

[0054] It is to be understood that the term “vehicle” or “of a vehicle” or other similar terms as used herein include motor vehicles (generally such as passenger cars including sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles), boats (including various ships and vessels), aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other vehicles with alternative fuels (e.g., fuels obtained from resources other than petroleum). As mentioned herein, a hybrid vehicle is a vehicle with two or more power sources, such as a gasoline-powered and an electric-powered vehicle.

[0055] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to also include the plural forms. It should also be understood that when the terms “comprising” and / or “including” are used in this specification, they specify the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. Throughout the specification, unless explicitly stated otherwise, the word “comprising” and variations such as “including” or “having” will be understood to imply inclusion of the stated elements, but do not exclude any other elements. Furthermore, the terms “unit,” “component,” “part,” and “module” described in the specification mean a unit for performing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0056] Furthermore, the control logic of this disclosure can be embodied in a non-volatile computer-readable medium containing executable program instructions that can be executed by a processor, controller, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable medium can also be distributed across a network-connected computer system, enabling it to be stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0057] In the following, reference will now be made in detail to various embodiments of this disclosure, examples of which are illustrated in the accompanying drawings and described below. Although the invention will be described in conjunction with exemplary embodiments, it should be understood that this description is not intended to limit the invention to those exemplary embodiments. Rather, the invention is intended to cover not only the exemplary embodiments, but also various alternatives, modifications, equivalents, and other embodiments included within the spirit and scope of the invention as defined by the appended claims.

[0058] The specific structural or functional descriptions of the embodiments described in this specification are merely illustrative for the purpose of explaining embodiments based on the concepts of this disclosure, and embodiments based on the concepts of this disclosure can be implemented in various forms. Furthermore, this disclosure should not be construed as limiting itself to the embodiments disclosed in this specification, and it should be understood that this disclosure includes all modifications, equivalents, and substitutions contained within the spirit and scope of this disclosure.

[0059] The terms “first” and / or “second” used in this specification may be used to describe various component elements, but these component elements should not be limited by these terms. These terms are used only for the purpose of distinguishing one component element from other component elements. For example, without departing from the scope of the concepts of this disclosure, a first component element may be referred to as a second component element, and similarly, a second component element may be referred to as a first component element.

[0060] In this specification, when a component is described as "connected" or "attached" to another component, it should be understood that a component may be directly connected to or attached to another component, and intermediate components may exist between the components. When a component is described as "directly connected to" or "directly attached to" another component, it should be understood that no intermediate components exist between the components. Other expressions used to explain the relationship between components, namely, "between" and "exactly between" or "proximately to" and "directly adjacent to," should be interpreted in a similar manner.

[0061] Throughout this specification, the same reference numerals denote the same constituent elements. The terminology used in this specification is for explaining exemplary embodiments and not for limiting the scope of this disclosure. Unless otherwise specifically stated in this specification, the singular form also includes the plural form. The terms "comprising" and / or "having" as used in this specification are intended to specify the presence of the mentioned constituent elements, steps, operations, and / or elements, but do not exclude the presence or addition of one or more other constituent elements, steps, operations, and / or elements.

[0062] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0063] Figure 1 This is a perspective view showing an automated connector assembly system according to the present disclosure, and Figure 10 This is a control configuration diagram of an automated connector assembly system according to this disclosure.

[0064] refer to Figure 1 and Figure 10 The connector automatic assembly system according to this disclosure includes a loading device 100, a suspension device 200, a multi-joint robot 300 equipped with a vision camera 310, a clamping device 400, an assembly table 500, a controller 600, etc.

[0065] The loading device 100 is configured such that a plurality of wiring connectors 10 are placed in an unaligned state, each wiring connector being formed by connecting an input connector 12 and two or more output connectors 16 by wiring 14.

[0066] like Figure 1 , Figure 2 and Figure 3 As shown, the loading device 100 includes a conveyor 110 and a support frame 120. Rollers 112 are mounted on the bottom surface of the conveyor 110, and the support frame is mounted on the conveyor 110 to support multiple wiring connectors 10 in an misaligned state.

[0067] Specifically, the support frame 120 of the loading device 100 may include: a plurality of vertical frames 122 mounted at different heights on the conveyor 110; and a plurality of horizontal frames 124 connected between the vertical frames 122 and arranged at different heights to fix the input connector 12 of the wiring connector 10. Predetermined installation spaces 126 are formed between the horizontal frames 124.

[0068] Therefore, when the input connector 12 of the wiring connector 10 is suspended and fixed on the horizontal frame 124 arranged at different heights, the output connector 16 and wiring 14 of the wiring connector 10 can be arranged to extend downward through the mounting space 126.

[0069] As described above, the wiring connector 10 is supported on the support frame 120 in an unaligned state, and then the conveyor 110 moves to the connector automatic assembly line by the rolling motion of the rollers 112, so that the loading device 100 can be positioned at a predetermined position on the connector automatic assembly line.

[0070] Meanwhile, the assembly table 500 is set on the connector automatic assembly line, and the electrical components 20 with multiple connector connection ports 22 are seated and fixed to the assembly table 500.

[0071] like Figure 5 and Figure 6As shown, the suspension device 200 is configured to support the wiring 14 and output connector 16 of the wiring connector 10, which are in a misaligned state, when the input connector 12 of the wiring connector 10 is inserted and secured to a connection port 22 of the electrical component 20 by the multi-joint robot 300 and the clamping device 400.

[0072] Therefore, such as Figure 1 , Figure 5 and Figure 6 As shown, the suspension device 200 may include a vertical rod 210 and a support rod 220. The vertical rod is fixed in a vertically arranged state at the front position of one end of the assembly table 500, and the support rod is connected to the upper end of the vertical rod 210 in a horizontally arranged state.

[0073] Therefore, when the input connector 12 of the wiring connector 10 is inserted and secured to a connection port 22 of the electrical component 20 by the multi-joint robot 300 and the clamping device 400, the support rod 220 can support the wiring 14 of the wiring connector 10 in an unaligned state, and at the same time, the output connector 16 can be arranged downward in an unaligned state.

[0074] The articulated robot 300 can be configured to perform forward and backward movements, left and right movements, and up and down movements to move freely to the loading device 100, the assembly table 500, and the suspension device 200. The articulated robot 300 is a known technology and can be manufactured in the form of two to six arms connected together, so that the articulated robot 300 can be appropriately used in vehicle assembly lines.

[0075] Specifically, the multi-joint robot 300 can be a robot with six degrees of freedom (6DoF) and is configured to perform a total of six types of free motion. In addition to three types of motion including up and down motion (pitch), horizontal sway (roll), and left and right rotation (yaw) on the three-dimensional coordinate axes, it also includes three types of motion performed parallel to the coordinate axes: up and down motion, left and right motion, and forward and backward motion.

[0076] In addition, in order to allow the multi-joint robot 300 to assemble the line connector 10, a transfer track 320 can be installed on the connector automatic assembly line to allow the multi-joint robot 300 to slide left and right, thereby ensuring that the multi-joint robot 300 can move freely within the range of the loading device 100, the assembly table 500, the suspension device 200, etc.

[0077] Therefore, the lower part of the articulated robot 300, configured to slide left and right, is mounted on the conveyor track 320 installed on the connector automatic assembly line, which makes it easy to ensure the distance of the articulated robot 300 to move left and right to assemble the connector 10 on the assembly line.

[0078] A vision camera 310 is installed at the end of the multi-joint robot 300. The vision camera is configured to acquire two-dimensional images by capturing images of the input connector 12 or output connector 16 of the wiring connector 10, or to acquire three-dimensional images by scanning the input connector 12 or output connector 16 of the wiring connector 10.

[0079] Therefore, the vision camera 310 transmits a two-dimensional image signal obtained by initially capturing an image of the input connector 12 of the wiring connector 10 supported in a misaligned state on the support frame 120 of the loading device 100 to the controller 600, and transmits a three-dimensional image signal obtained by re-scanning the input connector 12 of the wiring connector 10 to the controller 600. Furthermore, the vision camera 310 transmits a three-dimensional image signal obtained by scanning the output connector 16 of the wiring connector 10 supported in a misaligned state on the support rod 220 of the suspension device 200 to the controller 600.

[0080] Specifically, a gripping device 400 is installed at the end of the multi-joint robot 300, which is configured to grip the input connector 12 or the output connector 16 of the wiring connector 10.

[0081] like Figure 11 and Figure 12 As shown, the clamping device 400 includes: a first finger plate 441 and a second finger plate 442 configured to clamp the input connector 12 or the output connector 16 of the wiring connector 10; a first drive device 410 configured to rotate the first finger plate 441 and the second finger plate 442 in the vertical direction; a second drive device 420 configured to rotate the first finger plate 441 and the second finger plate 442 in the horizontal direction; and a third drive device 430 configured to move the first finger plate 441 and the second finger plate 442 linearly in the front-back direction.

[0082] The first drive unit 410 can be installed at the end of the multi-joint robot 300 and includes: a first motor 411 installed at the end of the multi-joint robot 300; and an up-and-down rotating frame 412 connected to the output of the first motor 411 and configured to rotate up or down.

[0083] In this case, the second drive unit 420, the third drive unit 430, the first finger plate 441, the second finger plate 442, etc. are stacked and assembled on the outer surface of the upper and lower rotating frame 412 in a predetermined arrangement.

[0084] Therefore, when the first motor 411 operates in response to the control signal of the controller 600, the upper and lower rotating frame 412 connected to the output of the first motor 411 rotates up or down, and the second drive device 420, the third drive device 430, the first finger plate 441 and the second finger plate 442, which are stacked and assembled on the upper and lower rotating frame 412 in a predetermined arrangement, also rotate in the same direction.

[0085] The second drive device 420 may include: a base plate 421, mounted between the first drive device 410 and the finger plates 441 and 442; a second motor 422, mounted on one side (a portion) of the bottom surface of the base plate 421; a rotating shaft 423, mounted at the center of the outer surface of the upper and lower rotating frame 412; and a gear train 424, mounted between the output portion of the second motor 422 and the rotating shaft 423, and configured by combining multiple gears to rotate the base plate 421 to the left or right around the rotating shaft 423.

[0086] In this configuration, one of the gears in the gear train 424 is connected to the base plate 421 via a connecting rod 425.

[0087] Therefore, when the second motor 422 operates in response to the control signal of the controller 600, the gear train 424 rotates around the rotation axis 423 in the left or right direction, the base plate 421 connected to one of the gears in the gear train 424 via the connecting rod 425 also rotates in the same direction, and the third drive device 430, the first finger plate 441 and the second finger plate 442 assembled to the base plate 421 also rotate in the same direction.

[0088] The third drive unit 430 may include: a third motor 433, which is mounted on the other side (another part) of the bottom surface of the substrate 421 when the substrate 421 is mounted between the first drive unit 410 and the finger plates 441 and 442; a gearbox 434, which is connected to the output of the third motor 433 and mounted on the upper surface of the substrate 421; a first track plate 435 and a second track plate 436, which are mounted at two opposite positions on the upper surface of the gearbox 434; a first rack 431, which is fastened to the first track plate 435 and configured to move back and forth; a second rack 432, which is fastened to the second track plate 436 and configured to move back and forth; and a pinion 437, which is connected to the output of the gearbox 434 and configured to mesh with the first rack 431 and the second rack 432.

[0089] In this configuration, the first finger plate 441 is connected to the outer end of the first rack 431, which is fastened to the first track plate 435 and configured to move back and forth, and the second finger plate 442 is connected to the outer end of the second rack 432, which is fastened to the second track plate 436 and configured to move back and forth.

[0090] Therefore, when the third motor 433 operates in response to the control signal of the controller 600, the rotational power of the third motor 433 is output through the output part of the gearbox 434, the pinion 437 connected to the output part of the gearbox 434 rotates, and the first rack 431 and the second rack 432 meshing with the pinion 437 move forward or backward.

[0091] Simultaneously, the first finger plate 441 connected to the first rack 431 and the second finger plate 442 connected to the second rack 432 move forward to clamp the input connector 12 or the output connector 16 or move backward to release the input connector 12 or the output connector 16.

[0092] refer to Figure 13 A spherical member 440 is installed on the inner surface of the first finger plate 441 and the inner surface of the second finger plate 442. The spherical member can enter or leave the inner surface of the first finger plate 441 and the inner surface of the second finger plate 442. A spring 443 is embedded in the first finger plate 441 and the second finger plate 442, which elastically supports the spherical member 440.

[0093] When the current at a preset level (e.g., 500mA) is applied to the third motor 433 of the third drive unit 430 by the controller 600 controlling the current in a proportional-integral-derivative (PID) manner, the first finger plate 441 connected to the first rack 431 and the second finger plate 442 connected to the second rack 432 move forward, so that the force used to hold the input connector 12 or the output connector 16 can be at a preset level or higher.

[0094] In this situation, when the first finger plate 441 and the second finger plate 442 move forward, the ball joint 440 is pushed into a state in which the ball joint 440 contacts the input connector 12 or the output connector 16 when the force used to hold the input connector 12 or the output connector 16 is at a preset level or higher, so that the ball joint 440 is inserted into the first finger plate 441 and the second finger plate 442 while compressing the spring 443.

[0095] Conversely, when the controller 600 controls the current in a PID manner to apply a current lower than the preset level (e.g., 50 mA) to the third motor 433 of the third drive unit 430, the first finger plate 441 and the second finger plate 442 move slightly backward from their maximum forward position, so that the force used to hold the input connector 12 or the output connector 16 can be reduced to below the preset level.

[0096] In this situation, when the force of the first finger plate 441 and the second finger plate 442 holding the input connector 12 or the output connector 16 decreases to below a preset level, the ball member 440 protrudes from the inside of the first finger plate 441 and the second finger plate 442 by the elastic restoring force of the spring 443, and the ball member 440 contacts the input connector 12 or the output connector 16.

[0097] Therefore, with the spherical member 440 protruding like a hinge axis and in contact with the input connector 12 or the output connector 16, the first finger plate 441 and the second finger plate 442 rotate relative to each other around the spherical member 440 through the operation of the multi-joint robot 300 and the clamping device 400, so that the orientation of the input connector 12 or the output connector 16 inserted into and secured to the connection port 22 of the electrical component 20 can be changed.

[0098] Meanwhile, the controller 600 is configured to control the movement of the multi-joint robot 300 and the gripping device 400 based on the image capture information of the vision camera 310, so as to grip the input connector 12 or the output connector 16 of the wiring connector 10 and fasten the input connector 12 or the output connector 16 of the wiring connector 10 to the connection port 22 of the electrical component 20.

[0099] To this end, the controller 600 can be configured to perform deep learning computation to accurately detect the installation position of the input connector 12 in the misaligned state by performing deep learning computation based on the two-dimensional image signal of the input connector 12 captured by the vision camera 310 (i.e., the two-dimensional image signal formed by repeatedly capturing images of the input connector 12 of the wiring connector 10 supported on the loading device 100 in a misaligned state by the vision camera 310).

[0100] Furthermore, based on the three-dimensional image signal of the input connector 12 or the output connector 16 scanned and captured by the vision camera 310, the controller 600 can be configured to detect the precise three-dimensional position and arrangement angle of the input connector 12 of the wiring connector 10 supported on the loading device 100 in an unaligned state or the output connector 16 of the wiring connector 10 supported on the suspension device 200 in an unaligned state.

[0101] Furthermore, based on the results of detecting the precise three-dimensional position and arrangement angle of the input connector 12 or output connector 16 of the wiring connector 10, the controller 600 can be configured to control various movements of the joint robot 300 and the gripping device 400 to grip the input connector 12 or output connector 16 and insert and secure the input connector 12 or output connector 16 into the connection port 22 of the electrical component 20.

[0102] In addition, such as Figure 14As shown, the controller 600 can perform control to rotate the multi-joint robot 300 and the gripping device 400 in the helical direction, such that when the gripping device 400 grips the input connector 12 or the output connector 16 and secures the input connector 12 or the output connector 16 to the connection port 22 of the electrical component 20, the input connector 12 or the output connector 16 is accurately inserted into and secured to the corresponding connection port 22 of the electrical component 20.

[0103] More specifically, with the first finger plate 441 and the second finger plate 442 of the clamping device 400 clamping the input connector 12 or the output connector 16, the multi-joint robot 300 and the clamping device 400 rotate helically under the rotary transmission control of the controller 600. At the same time, the radius of rotation is increased to about 4 mm based on the axial direction of the input connector 12 or the output connector 16 being inserted into the connection port 22 of the electrical component 20, so that the input connector 12 or the output connector 16 can be accurately inserted and secured into the connection port 22 of the electrical component 20.

[0104] In this case, the operation flow of the connector automated assembly system configured as described above will be described sequentially.

[0105] First, such as Figure 2 As shown, multiple wiring connectors 10 are supported on the loading device 100 in an unaligned state.

[0106] That is, when the operator suspends and secures the input connector 12 of the wiring connector 10 to each of the horizontal frames 124 arranged at different heights, the output connector 16 and the wiring 14 can be arranged to extend downward through the mounting space 126 between the horizontal frames 124.

[0107] Next, as Figure 2 As shown, through the operation of the multi-joint robot 300, the vision camera 310 mounted on the end portion of the multi-joint robot 300 is positioned near the front side of the input connector 12 supported on the loading device 100, so that the vision camera 310 scans the input connector 12.

[0108] Next, the two-dimensional image signal of the input connector 12 initially captured by the vision camera 310 and the three-dimensional image signal of the input connector 12 captured by the re-scanning camera 310 are sent to the controller 600.

[0109] Therefore, the controller 600 performs deep learning calculations based on the two-dimensional image signal of the input connector 12 captured by the vision camera 310 to accurately detect the installation position of the input connector 12 in the misaligned state, and the controller 600 detects the precise three-dimensional position and arrangement angle of the input connector 12 based on the three-dimensional image signal of the input connector 12.

[0110] Next, based on the precise three-dimensional position and arrangement angle of the input connector 12, the controller 600 provides operation control signals to allow the multi-joint robot 300 to move to the position where the gripper 400 grips the input connector 12.

[0111] Next, through the motion operation of the multi-joint robot 300, the first finger plate 441 and the second finger plate 442 of the clamping device 400 can be positioned so that they are spaced apart from each other at the positions where the first finger plate 441 and the second finger plate 442 can clamp the input connector 12 (i.e., two opposite positions of the input connector 12).

[0112] Subsequently, when the controller 600 applies current to the third motor 433 of the third drive unit 430 in the components of the clamping device 400, the following operations are performed in sequence: while the third motor 433 is running, the rotational power of the third motor 433 is output through the output part of the gearbox 434; the operation of rotating the pinion 437 connected to the output part of the gearbox 434; and the operation of moving the first rack 431 and the second rack 432 meshing with the pinion 437 forward.

[0113] Therefore, as Figure 3 As shown, the first finger plate 441 connected to the first rack 431 and the second finger plate 442 connected to the second rack 432 move forward and clamp the input connector 12.

[0114] For example, when the controller 600 controls the current in a PID manner to apply a preset level of current (e.g., 500 mA) to the third motor 433 of the third drive unit 430, the first finger plate 441 connected to the first rack 431 and the second finger plate 442 connected to the second rack 432 move forward and clamp the input connector 12 with a preset level of force.

[0115] In this case, the spherical member 440, which is installed on the inner surface of the first finger plate 441 and the inner surface of the second finger plate 442 to enter or exit the inner surface of the first finger plate 441 and the inner surface of the second finger plate 442, is inserted into the first finger plate 441 and the second finger plate 442 while compressing the spring 443.

[0116] Next, as Figure 4 and Figure 5 As shown, when the multi-joint robot 300 and the gripping device 400 move toward the electrical component 20 seated on the assembly table 500 in response to the control signal of the controller 600, the input connector 12 held by the first finger plate 441 and the second finger plate 442 of the gripping device 400 is placed at a position where the input connector 12 can be inserted into a connection port 22 of the electrical component 20.

[0117] Next, as Figure 6 As shown, the multi-joint robot 300 and the gripping device 400 move in the direction of inserting the input connector 12 into a connection port 22 of the electrical component 20 in response to the control signal of the controller 600, so as to insert and secure the input connector 12 into a connection port 22 of the electrical component 20.

[0118] In this configuration, when the input connector 12 is moved, inserted, and secured into a connection port 22 of the electrical component 20 by the articulated robot 300 and the clamping device 400, the wiring 14 of the wiring connector 10 is positioned in a misaligned state on the support rod 220 of the suspension device 200, while the output connector 16 is simultaneously suspended in the air in a misaligned downward orientation. Figure 5 and Figure 6 As shown.

[0119] Next, in response to the control signal from the controller 600, the multi-joint robot 300 is driven to move, such that... Figure 7 As shown, the clamping device 400 is positioned at a predetermined distance from the output connector 16 of the wiring connector 10, which is supported on the support rod 220 of the suspension device 200 in an unaligned state.

[0120] Next, as Figure 7 As shown, a vision camera 310 mounted on the end portion of the multi-joint robot 300 is positioned adjacent to the output connector 16 of the wiring connector 10, which is supported on the support rod 220 of the suspension device 200 in an unaligned state. This allows the vision camera 310 to scan and capture an image of the output connector 16 and transmit the captured three-dimensional image signal of the output connector 16 to the controller 600.

[0121] Therefore, the controller 600 detects the precise three-dimensional position and arrangement angle of the output connector 16 based on the three-dimensional image signal of the output connector 16 captured by the vision camera 310.

[0122] Next, based on the precise three-dimensional position and arrangement angle of the output connector 16, the controller 600 provides operation control signals to allow the multi-joint robot 300 to move to a position where the gripper 400 can grip the output connector 16.

[0123] Next, through the motion operation of the multi-joint robot 300, the first finger plate 441 and the second finger plate 442 of the clamping device 400 can be positioned so that they are spaced apart from each other at the positions where the first finger plate 441 and the second finger plate 442 can clamp the output connector 16 (i.e., two opposite positions of the output connector 16).

[0124] Subsequently, when current is applied to the third motor 433 of the third drive unit 430 in the clamping device 400 via the controller 600, the following operations are performed sequentially: while the third motor 433 is running, the rotational power of the third motor 433 is output through the output section of the gearbox 434; the pinion 437 connected to the output section of the gearbox 434 is rotated; and the first rack 431 and the second rack 432 meshing with the pinion 437 are moved forward. Therefore, as Figure 8 As shown, the first finger plate 441 connected to the first rack 431 and the second finger plate 442 connected to the second rack 432 move forward and clamp the output connector 16.

[0125] For example, when the controller 600 controls the current in a PID manner to apply a preset level of current (e.g., 500 mA) to the third motor 433 of the third drive unit 430, the first finger plate 441 connected to the first rack 431 and the second finger plate 442 connected to the second rack 432 move forward and clamp the output connector 16 with a preset level of force.

[0126] In this state, with the ball joint 40 in contact with the output connector 16, the ball joint 40, which is installed on the inner surface of the first finger plate 441 and the inner surface of the second finger plate 442, is pushed so that the ball joint 440 is inserted into the first finger plate 441 and the second finger plate 442 while compressing the spring 443.

[0127] Next, the multi-joint robot 300 and the gripping device 400 move toward the electrical component 20 seated on the assembly table 500 in response to the control signal of the controller 600, and place the output connector 16 held by the first finger plate 441 and the second finger plate 442 of the gripping device 400 at a position where the output connector 16 can be inserted into another connection port 22 of the electrical component 20.

[0128] Next, as Figure 9 As shown, the multi-joint robot 300 and the gripping device 400 move in the direction of inserting the output connector 16 into another connection port 22 of the electrical component 20 in response to the control signal of the controller 600, so as to insert and secure the output connector 16 into the other connection port 22 of the electrical component 20.

[0129] Meanwhile, with the output connector 16 clamped between the first finger plate 441 and the second finger plate 442, the direction in which the output connector 16 is inserted into and secured to the connection port 22 of the electrical component 20 can be changed.

[0130] Therefore, when the controller 600 controls the current in a PID manner to apply a current lower than the preset level (e.g., 50 mA) to the third motor 433 of the third drive unit 430, the first finger plate 441 and the second finger plate 442 move slightly backward from the state in which the first finger plate 441 and the second finger plate 442 move forward to the maximum extent, so that the force used to hold the output connector 16 can be reduced to below the preset level.

[0131] In this situation, when the force of the first finger plate 441 and the second finger plate 442 holding the output connector 16 decreases to below a preset level, the ball part 440 protrudes from the inside of the first finger plate 441 and the second finger plate 442 by the elastic restoring force of the spring 443, and the ball part 440 contacts the output connector 16.

[0132] Therefore, with the spherical member 440 protruding like a hinge axis and in contact with the output connector 16, the first finger plate 441 and the second finger plate 442 rotate relative to the output connector 16 around the spherical member 440 through the motion operation of the multi-joint robot 300 and the clamping device 400. Figures 15 to 17 The order shown in the diagram allows for changing the orientation of the output connector 16 as it is inserted into and secured to the connection port 22 of the electrical component 20.

[0133] Of course, when the direction of the output connector 16 being inserted into and fastened to the connection port 22 of the electrical component 20 is changed, and the controller 600 again applies a preset level of current (e.g., 500mA) to the third motor 433 of the third drive device 430 by controlling the current in a PID manner, the first finger plate 441 and the second finger plate 442 move forward again and hold the output connector 16 with a preset level of force.

[0134] As described above, in the state where the direction of the output connector 16 being inserted into and fastened to the connection port 22 of the electrical component 20 has changed, the multi-joint robot 300 and the gripping device 400 move in response to the control signal of the controller 600 in the direction in which the output connector 16 is inserted into the other connection port 22 of the electrical component 20, so that the output connector 16 can be accurately inserted into and fastened to the other connection port 22 of the electrical component 20.

[0135] Furthermore, while the first finger plate 441 and the second finger plate 442 of the gripping device 400 are holding the output connector 16, the multi-joint robot 300 and the gripping device 400 rotate helically under the control of the rotary transmission of the controller 600, and the rotation radius is increased to approximately 4 mm based on the axial direction of the output connector 16 being inserted into the connection port 22 of the electrical component 20. Figure 14As shown, this allows the output connector 16 to be inserted more accurately and secured to the connection port 22 of the electrical component 20.

[0136] As described above, even if the wiring connector 10 is supported on the loading device 100 or the suspension device 200 in an misaligned state, the position and arrangement angle of the input connector 12 or the output connector 16 of the wiring connector 10 can be accurately detected by deep learning calculations, etc., and the clamping device 400 can clamp the input connector 12 or the output connector 16, and automatically insert and fasten the input connector 12 or the output connector 16 into the corresponding connection port 22 of the electrical component 20 based on the detected position and arrangement angle, thereby automating the connector assembly process.

[0137] Although this disclosure has been described in detail with reference to one embodiment, the scope of protection of this disclosure is not limited to the described embodiment. It should be understood that many variations and modifications made by those skilled in the art using the basic concepts of this disclosure as defined in the appended claims will also fall within the correct scope of this disclosure.

[0138] The invention has been described in detail with reference to its preferred embodiments. However, those skilled in the art will understand that changes can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A clamping device for assembling connectors in a vehicle, the clamping device comprising: The first and second boards are configured to hold the input or output connectors of the wiring connectors; One or more drive devices are mounted on a robot and configured to perform at least one of the following operations: rotating the first plate and the second plate in a vertical direction, rotating the first plate and the second plate in a horizontal direction, and moving the first plate and the second plate in a linear direction.

2. The clamping device according to claim 1, wherein, The one or more driving devices include: a first driving device installed at the end of the robot for rotating the first plate and the second plate in the vertical direction; a second driving device installed between the first driving device and the first plate and the second plate for rotating the first plate and the second plate in the horizontal direction; and a third driving device installed between the first driving device and the first plate and the second plate for moving the first plate and the second plate linearly in the front-back direction.

3. The clamping device according to claim 2, wherein, The first driving device includes: A first motor is mounted on the robot; and The vertically rotating frame is connected to the output of the first motor and to the second drive device, and is configured to rotate upwards or downwards.

4. The clamping device according to claim 3, wherein, The second driving device includes: substrate; The second motor is mounted on a portion of the bottom surface of the substrate; A rotating shaft is installed at the center of the outer surface of the upper and lower rotating frames; and A gear train is installed between the output of the second motor and the rotating shaft and is formed by combining multiple gears, which are configured to cause the base plate to rotate left or right about the rotating shaft.

5. The clamping device according to claim 4, wherein, The third driving device includes: The third motor is mounted on another part of the bottom surface of the substrate; A gearbox is connected to the output of the third motor and mounted on the upper surface of the base plate; The first track plate and the second track plate are installed on the upper surface of the gearbox; A first rack is fastened to the first track plate and configured to move forward or backward, and the first plate is connected to the outer end of the first rack; A second rack, fastened to the second track plate and configured to move forward or backward, and the second plate being connected to the outer end of the second rack; and A pinion is connected to the output of the gearbox and configured to mesh with the first rack and the second rack.

6. The clamping device according to claim 1, wherein, A spherical component is installed in the inner surfaces of the first plate and the second plate to enter or exit the inner surfaces of the first plate and the second plate, and a spring is embedded in the first plate and the second plate and elastically supports the spherical component.

7. An automated connector assembly system for vehicle assembly, comprising: A loading device configured to hold a plurality of wiring connectors in an unaligned state, the plurality of wiring connectors being constructed by wiring input connectors and output connectors; An assembly table, on which electrical components with multiple connection ports are seated and fixed; A suspension device configured to support the wiring and the output connector in a misaligned state when the input connector is inserted and secured to one of the connection ports of the electrical component; A multi-jointed robot configured to perform at least one of forward and backward movement, left and right movement, and up and down movement to move to any one of the loading device, the assembly table, and the suspension device; A vision camera is mounted on the robot to capture two-dimensional or three-dimensional images of the input connector or the output connector; A clamping device, mounted on the robot and configured to clamp the input connector or the output connector; as well as The controller is configured to control the movement of the robot and the gripping device based on image capture information obtained from the vision camera, so as to grip the input connector or the output connector and secure the input connector or the output connector to the connection port of the electrical component.

8. The connector automatic assembly system according to claim 7, wherein, The loading device includes: A conveyor table, on the bottom surface of which rollers are mounted; and A support frame, mounted on the conveyor platform, supports the plurality of wiring connectors in an misaligned state.

9. The connector automatic assembly system according to claim 8, wherein, The supporting framework includes: Multiple vertical frames are installed at different heights on the conveyor platform; Multiple horizontal frames are arranged at different heights and connected between multiple vertical frames, and the multiple horizontal frames are configured to fix the input connector of the wiring connector; and Installation space is formed between the plurality of horizontal frames to allow the wiring of the wiring connector and the output connector to be arranged downwards.

10. The connector automatic assembly system according to claim 7, wherein, The suspension device includes: A vertical rod is positioned at the front of one end of the assembly table; and A support rod, connected to the upper end of the vertical rod, supports the wiring and the output connector in a misaligned state when the input connector is inserted and secured to one of the connection ports of the electrical component by the robot and the clamping device.

11. The connector automatic assembly system according to claim 7, further comprising: A transport track is provided, on which the lower part of the multi-jointed robot is mounted to allow it to slide to the left or right, thereby increasing the distance of the multi-jointed robot's left and right movements.

12. The connector automatic assembly system according to claim 7, wherein, The vision camera is configured to send a two-dimensional image signal obtained by initially capturing an image of the input connector supported on the loading device to the controller, and a three-dimensional image signal obtained by capturing an image of the input connector supported on the loading device again to the controller, and the vision camera is also configured to send a three-dimensional image signal obtained by capturing an image of the output connector supported on the suspension device to the controller.

13. The connector automatic assembly system according to claim 7, wherein, The clamping device includes: The first and second boards are configured to hold the input or output connector of the wiring connector; A spherical component is mounted on the first plate and the second plate to enter or exit the inner surfaces of the first plate and the second plate; A spring is embedded in the first plate and the second plate and is configured to elastically support the spherical member; A first drive unit is mounted on the robot and configured to rotate the first plate and the second plate in the vertical direction; A second drive device is mounted between the first drive device and the first and second plates, and is configured to rotate the first and second plates in a left-right direction; and A third drive unit is installed between the first drive unit and the first and second plates, and is configured to cause the first and second plates to move linearly in the front-back direction.

14. The connector automatic assembly system according to claim 13, wherein, The first driving device includes: A first motor is mounted on the robot; and The vertically rotating frame, connected to the output of the first motor and to the second drive unit, is configured to rotate upwards or downwards. The second driving device includes: substrate; The second motor is mounted on a portion of the bottom surface of the substrate; A rotating shaft is installed at the center of the outer surface of the upper and lower rotating frames; and A gear train, installed between the output of the second motor and the rotating shaft, is constructed by combining multiple gears configured to cause the base plate to rotate left or right about the rotating shaft. The third driving device includes: The third motor is mounted on another part of the bottom surface of the substrate; A gearbox is connected to the output of the third motor and mounted on the upper surface of the base plate; The first track plate and the second track plate are installed on the upper surface of the gearbox; A first rack is fastened to the first track plate and configured to move forward or backward, and the first plate is connected to the outer end of the first rack; The second rack is fastened to the second track plate and configured to move forward or backward, and the second plate is connected to the outer end of the second rack; A pinion, connected to the output of the gearbox and configured to mesh with the first rack and the second rack; and A connecting rod is disposed between one of the gears in the gear train and the base plate.

15. The connector automatic assembly system according to claim 13, wherein, When the spherical component is in contact with the input connector or the output connector, and the force used by the controller to keep the first plate and the second plate holding the input connector or the output connector at a preset level or higher is controlled by the current of the controller, the spherical component is inserted into the first plate and the second plate while compressing the spring.

16. The connector automatic assembly system according to claim 13, wherein, When the force of the first plate and the second plate to keep the input connector or the output connector below a preset level is controlled by the current of the controller, the spherical member protrudes from the inner surface of the first plate and the inner surface of the second plate by the elastic restoring force of the spring and contacts the input connector or the output connector.

17. The connector automatic assembly system according to claim 7, wherein, The controller is configured to detect the position of the input connector of the wiring connector supported on the loading device in a non-aligned state by performing deep learning based on a two-dimensional image signal of the input connector captured by the vision camera.

18. The connector automatic assembly system according to claim 7, wherein, The controller is configured to: detect the precise three-dimensional position and arrangement angle of the input connector of the wiring connector supported on the loading device in a non-aligned state, or detect the precise three-dimensional position and arrangement angle of the output connector of the wiring connector supported on the suspension device, based on the three-dimensional image signal of the input connector or the output connector captured by the vision camera.

19. The connector automatic assembly system according to claim 18, wherein, The controller is configured to control the movement of the robot and the clamping device based on the result of detecting the precise three-dimensional position and arrangement angle of the input connector or the output connector of the wiring connector, so as to clamp the input connector or the output connector and fasten the input connector or the output connector to the connection port of the electrical component.

20. The connector automatic assembly system according to claim 19, wherein, The controller is configured to perform control to rotate the robot and the gripping device in a helical direction when the gripping device clamps the input connector or the output connector and secures the input connector or the output connector to the connection port of the electrical component.

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