Grabbing and buckling system and method

Abstract

The invention provides a grabbing and buckling system and method. The system comprises a control system, a six-axis assembly, a first visual assembly, a second visual assembly and a clamping and positioning assembly, wherein the first visual assembly, the second visual assembly and the clamping and positioning assembly are arranged on the six-axis assembly. Wherein the first visual component is used for acquiring two-dimensional coordinate information of a to-be-buckled female seat; the second visual component is used for acquiring three-dimensional coordinate information of a male socket to be buckled; the control system is used for converting the two-dimensional coordinate information into guide buckling coordinates and converting the three-dimensional coordinate information into grabbing coordinates; and the six-axis assembly controls the clamping and positioning assembly to grab and position the male base to be buckled based on the grabbing coordinates, and drives the male base to be buckled and the female base to be buckled to be buckled under the guidance of the guiding and buckling coordinates. The BTB high-precision grabbing and buckling device can meet BTB high-precision grabbing and buckling in a narrow space.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically, to a gripping and fastening system and method. Background Technology

[0002] BTB (Board-to-Board) connectors, as key components in electronic devices, are widely used in consumer electronics products such as smartwatches / bands, smart glasses, smart headphones, and AR / VR devices. Among these applications, the development of BTB fastening processes, especially precise fastening operations within confined spaces, is a crucial challenge that automated BTB fastening production lines must overcome.

[0003] Currently, with the trend of miniaturization and lightweighting of the aforementioned consumer electronics products year by year, the fastening of BTB is limited by factors such as small fastening space and diverse BTB postures. Most of them are still fastened manually, which is highly repetitive and inefficient for operators. In addition, the fastening pressure is uncontrollable, the consistency of fastening is poor, and the yield is low.

[0004] Therefore, there is an urgent need for a solution that can perform flexible gripping and fastening of BTB in a small space in order to achieve a breakthrough in automation technology in this field. Summary of the Invention

[0005] In view of the above problems, the purpose of this invention is to provide a gripping and fastening system and method to solve the problem that existing BTB assemblies cannot meet the high-quality fastening requirements in confined spaces.

[0006] The gripping and fastening system provided by this invention includes a control system, a six-axis assembly, a first vision assembly, a second vision assembly, and a gripping and positioning assembly disposed on the six-axis assembly; wherein, The first vision component is used to acquire the two-dimensional coordinate information of the female seat to be engaged; The second vision component is used to acquire the three-dimensional coordinate information of the male seat to be fastened; The control system is used to convert the two-dimensional coordinate information into guide engagement coordinates and the three-dimensional coordinate information into grasping coordinates; The six-axis assembly controls the gripping and positioning assembly to grip and position the male seat to be fastened based on the gripping coordinates, and drives the male seat to be fastened to the female seat to be fastened under the guidance of the fastening coordinates.

[0007] In addition, an optional technical solution includes an operating console and a positioning seat disposed on the operating console; wherein, The female seat to be engaged is limited within the positioning seat; The six-axis assembly is used to grip male seats with different incoming directions and angles and place them at the female seats to be fastened, through the clamping and positioning assembly.

[0008] In addition, an optional technical solution is to associate the coordinate system of the six-axis component with the coordinate system of the first vision component to establish a first correspondence. Based on the first correspondence, the two-dimensional coordinate information is converted into guide engagement coordinates for the six-axis component to recognize.

[0009] In addition, an optional technical solution is to associate the coordinate system of the six-axis component with the visual coordinate system of the second vision component to establish a second correspondence. The three-dimensional coordinate information is converted into the grasping coordinates according to the second correspondence.

[0010] In addition, an optional technical solution is that the first visual component is a 2D visual component and the second visual component is a 3D visual component.

[0011] In addition, an optional technical solution is that the gripping and positioning assembly includes two motorized grippers, a side-pushing gripper disposed on one side of the two motorized grippers, and an adsorption assembly located between the two motorized grippers and the side-pushing gripper; wherein, The adsorption component is used to adsorb and position the male seat to be fastened. The two electric grippers are used to clamp the male seat to be fastened after adsorption and positioning. The side-pushing gripper is used to position the male seat to be fastened after it has been clamped on both sides.

[0012] Alternatively, an optional technical solution is that the adsorption assembly includes a suction head and a pressure sensor disposed above the suction head; wherein, When the male seat to be engaged and the female seat to be engaged are pressed down and engaged, the pressure sensor is used to output a pressure curve in real time. The control system controls the downward pressure of the suction head according to the pressure curve.

[0013] On the other hand, the present invention also provides a gripping and fastening method, which uses the above-mentioned gripping and fastening system to fasten the female seat to be fastened and the male seat to be fastened, the method comprising: The two-dimensional coordinate information of the female seat to be engaged is obtained through the first vision component, and the three-dimensional coordinate information of the male seat to be engaged is obtained through the second vision component. The control system converts the two-dimensional coordinate information into guide engagement coordinates and the three-dimensional coordinate information into grasping coordinates. The six-axis assembly controls the gripping and positioning assembly to grip and position the male seat to be fastened according to the gripping coordinates, and under the guidance of the fastening coordinates, drives the male seat to be fastened to the female seat to be fastened.

[0014] Alternatively, an optional technical solution is to obtain the two-dimensional coordinate information of the female seat to be fastened through the first vision component and determine whether it is qualified. If qualified, the two-dimensional coordinate information is sent to the control system to guide the fastening coordinate conversion; otherwise, the female seat to be fastened is discharged.

[0015] In addition, optional technical solutions also include: During the engagement of the male and female seats, the engagement pressure is monitored in real time to see if it exceeds the pressure threshold. If it does, the engagement pressure is reduced or the engagement action is stopped.

[0016] Using the gripping and fastening system and method provided by the present invention, the two-dimensional coordinate information of the female seat can be converted and processed to determine the guiding fastening coordinates, and the three-dimensional coordinate information of the male seat can be converted and processed to determine the gripping coordinates. Then, the gripping and positioning components are controlled to accurately grip and position the male seat according to the gripping coordinates, and under the guidance of the guiding fastening coordinates, the male seat is fastened and assembled with the female seat. This enables high-precision gripping of products with different spatial postures, thereby meeting the requirements for accurate gripping and assembly of BTB products in confined spaces.

[0017] To achieve the foregoing and related objectives, one or more aspects of the invention include the features which will be described in detail below and specifically pointed out in the claims. The following description and accompanying drawings illustrate certain exemplary aspects of the invention. However, these aspects indicate only a few of the various ways in which the principles of the invention can be used. Furthermore, the invention is intended to include all such aspects and their equivalents. Attached Figure Description

[0018] Other objects and results of the invention will become more apparent and readily understood with reference to the following description taken in conjunction with the accompanying drawings and the contents of the claims, and with a more complete understanding of the invention. In the drawings: Figure 1 This is a schematic diagram of the gripping and fastening system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the clamping and positioning component according to an embodiment of the present invention; Figure 3 for Figure 2 A magnified view of part A in the middle; Figure 4 This is a schematic diagram of the structure of the adsorption component according to an embodiment of the present invention; Figure 5This is a flowchart of the gripping and fastening method according to an embodiment of the present invention; Figure 6 This is a detailed flowchart of the gripping and fastening method according to an embodiment of the present invention.

[0019] Reference numerals: 1. Six-axis assembly; 2. First vision assembly; 3. Adsorption assembly; 4. Gripping and positioning assembly; 5. Second vision assembly; 6. Electric slide; 7. Gripper cylinder; 71. Electric gripper; 8. Suction head; 9. Suction nozzle; 10. Side-push gripper; 11. Pressure sensor. Detailed Implementation

[0020] In the following description, numerous specific details are set forth for illustrative purposes and to provide a thorough understanding of one or more embodiments. However, it will be apparent that these embodiments may also be implemented without these specific details. In other instances, well-known structures and devices are shown in block diagram form for ease of description of one or more embodiments.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Furthermore, unless otherwise defined, including technical or scientific terms, all terms used herein have the same meaning as commonly understood by those skilled in the art. Terms as defined in commonly used dictionaries should be interpreted in a meaning consistent with their meaning in the context of the relevant art, and should not be construed as having an ideal or overly formal meaning unless explicitly defined in this invention.

[0023] To address the limitations of existing BTB assembly solutions due to space constraints and difficulty in picking up components, which often require manual fastening leading to high workload, low efficiency, and uncontrollable and inconsistent fastening quality, this invention provides a gripping and fastening system and method. This system can meet the miniaturization and lightweight development needs of products such as smartphones, foldable screen devices, AR / VR, smart glasses, and smart headphones. It is applicable to high-precision gripping and fastening operations for small objects and in confined spaces, especially in the 3C industry's confined space and high-precision fastening assembly scenarios.

[0024] The gripping and fastening system and method provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0025] Figure 1 A schematic structure of a gripping and fastening system according to an embodiment of the present invention is shown; Figures 2 to 4 The schematic structures of the gripping and positioning component and the adsorption component according to embodiments of the present invention are shown from different angles.

[0026] Figures 1 to 4 As shown, the gripping and fastening system provided by the present invention includes a control system, a six-axis assembly 1, a first vision assembly 2, a second vision assembly 5, and a gripping and positioning assembly 4 disposed on the six-axis assembly 1. The first vision assembly 2 acquires the two-dimensional coordinate information of the female seat to be fastened and sends it to the control system for conversion processing. The second vision assembly 5 acquires the three-dimensional coordinate information of the male seat to be fastened and also sends it to the control system for conversion processing. Then, the control system converts the two-dimensional coordinate information into guide fastening coordinates recognizable by the six-axis assembly 1, and converts the three-dimensional coordinate information into gripping coordinates, allowing the six-axis assembly 1 to accurately grip the male seat. Finally, the six-axis assembly 1 controls the gripping and positioning assembly 4 based on the gripping coordinates to grip and position the male seat to be fastened, and under the guidance of the guide fastening coordinates, effectively fastens the male seat to be fastened with the female seat.

[0027] The gripping and fastening system also includes an operating table and a positioning seat set on the operating table. During the fastening operation, the female seat to be fastened can be limited in the positioning seat, and its two-dimensional coordinate information can be obtained only through the first vision component 2. The six-axis component 1 grips the male seat to be fastened with different material directions, different angles or different postures through the gripping and positioning component 4, and transfers it to the female seat to be fastened with under the guidance of the corresponding coordinates for pressing and fastening.

[0028] In the coordinate transformation process, the coordinate system of the six-axis component 1 can be associated with the coordinate system of the first vision component 2 to establish a first correspondence. Then, based on the first correspondence, the two-dimensional coordinate information is converted into guide engagement coordinates for the six-axis component 1 to recognize.

[0029] Specifically, the six-axis component 1 and the first vision component 2 can be correlated using a 9-point calibration method. This method involves selecting nine non-collinear feature points on the surface of the base, capturing images of these feature points using the first vision component 2, obtaining their corresponding points in the captured images, constructing a matrix using these corresponding points, and solving for the determinant of the matrix. Then, based on coordinate transformation requirements, the corresponding rotation matrix and translation vector can be calculated using the determinant, thereby obtaining the object's position information. This method is simple, computationally efficient, and highly accurate, applicable to various scenarios involving the conversion from pixel coordinates to material coordinates. After establishing the first correspondence, the two-dimensional coordinate information is converted into guide engagement coordinates recognizable by the six-axis component 1.

[0030] Correspondingly, during the coordinate transformation process, the coordinate system of the six-axis component 1 can be associated with the visual coordinate system of the second vision component 5 to establish a second correspondence, and then the three-dimensional coordinate information can be converted into grasping coordinates according to the second correspondence.

[0031] Specifically, as an example, the coordinates of the second vision component 5 and the six-axis component 1 can be associated through the principle of planar calibration. Planar calibration uses multiple points on a standard plane to establish a mapping relationship between coordinates. If two standard spheres are used as feature points, the coordinate transformation function of dual-sphere, single-plane positioning can be achieved. That is, by using the centers of the two standard spheres and points on the standard plane, the coordinate system is constrained to rotate or translate, achieving the coordinate transformation effect. In application, dual-sphere, single-plane positioning mainly involves constructing two spheres and one plane for intersection. The six-axis component 1 drives the second vision component 5 to move through 30 points to capture images of the spheres and the plane. Based on the image information of each point, a second correspondence is determined between the six-axis component 1 and the second vision component 5, and the three-dimensional coordinate information of the target is converted into grasping coordinates accordingly.

[0032] It should be noted that, in addition to the above-mentioned 9-point calibration method or the planar calibration principle of two spheres plus one surface, various methods such as the 3-point calibration method, Euler angles or quaternion method can also be used in the process of determining the first correspondence and the second correspondence. Furthermore, the transformation principle of three-dimensional coordinates can also be applied to two-dimensional coordinate transformation scenarios through dimensionality reduction. This invention is not limited to the above-mentioned specific transformation principles, and can be flexibly selected according to the application scenario and accuracy requirements.

[0033] In one specific embodiment of the present invention, the clamping and positioning component 4 further includes two electric grippers 71, a side-pushing gripper 10 disposed on one side of the two electric grippers 71, and an adsorption component 3 located between the two electric grippers 71 and the side-pushing gripper 10; wherein, the adsorption component 3 is used to adsorb and position the male seat to be fastened, the two electric grippers 71 are used to clamp the male seat to be fastened on both sides after adsorption and positioning, and finally the side-pushing gripper 10 is used to position the male seat to be fastened on a third side after clamping on both sides, so that the accurate positioning of the male seat in the six-axis component 1 can be ensured by adsorption and three-side positioning.

[0034] The adsorption assembly 3 includes a suction head 8, an air intake nozzle 9 located at the end of the suction head 8, and a pressure sensor 11 located above the suction head 8. When the male and female seats to be fastened are pressed together, the pressure sensor 11 can detect and output the pressure curve of the suction head 8 in real time, monitor whether the pressure during the assembly process exceeds the set threshold, and ensure reliable assembly and installation. At the same time, it also makes it easy for the control system to control the downward pressure of the suction head 8 according to the pressure curve, so as to meet the adsorption positioning and pressing requirements of various products.

[0035] Specifically, the required clamping force will definitely vary when gripping and fastening different product components. Based on this, the downward clamping force range of the suction head 8 can be set so that it can meet the product's clamping requirements and prevent excessive force from damaging the product. The above-mentioned threshold can be set within the safe clamping force range of the corresponding product according to the product's differences. In this way, when the pressure is too high, the downward action of the suction head 8 can be directly stopped by the control system.

[0036] In the application process, the suction head 8 first opens the negative pressure, and the target male seat is adsorbed through the suction nozzle 9. Then, the gripper cylinder 7 drives two electric grippers 71 to clamp the male seat on both sides after adsorption and positioning. The electric slide table 6 drives the side-pushing gripper 10 to position the male seat to be fastened on the third side after clamping on both sides. Finally, the six-axis assembly 1 drives the positioned male seat to press and fasten with the female seat. (See attached diagram) Figure 3 As shown, two electric grippers 71 are located on the left and right sides of the suction head 8, used to clamp the left and right sides of the male seat, while the side-pushing gripper 10 is located behind the suction head 8, which can be used to push and squeeze the rear side of the male seat, thereby locking the position of the male seat on three different sides.

[0037] In one specific embodiment of the present invention, the electric gripper can be a parallel gripper, a finger gripper, or a wedge gripper. As a preferred option, the electric gripper can be a wedge gripper with an inverted angle of 1.3 to 1.8 degrees. The minimum gripping thickness between the two electric grippers is 0.1 mm. The double inverted wedge grippers can accurately grip the target object with a minimum thickness of 0.1 mm. Since the wedge gripper has a certain tilt angle, after the target object (male seat) is gripped by the inverted wedge grippers on both sides, the tilted part will form an upward pushing force on the male seat and form a downward pushing and upward pressing force lock state with the plane of the suction head 8, ensuring that it does not fall or move during the movement and assembly process. In addition, the thickness of the two electric grippers 71 and the side pushing gripper 10 can be controlled within 0.2 mm, which can meet the operation requirements of completing BTB assembly in a narrow space.

[0038] It should be noted that the six-axis component 1 in this embodiment of the invention can be a six-axis robot or other devices capable of six-axis motion, while the first vision component 2 is mainly for acquiring the two-dimensional position information of the female seat, so a 2D vision camera, such as a CCD (Charge-Coupled Device Camera), can be used. The second vision is used to acquire the three-dimensional spatial position information of the male seat, so a 3D vision camera, such as a binocular camera, a laser 3D camera, or a TOF camera, can be used.

[0039] Corresponding to the aforementioned gripping and fastening system, the present invention also provides a gripping and fastening method. Specifically, Figure 5 A schematic structure of the gripping and fastening method according to an embodiment of the present invention is shown.

[0040] like Figure 5 As shown, the gripping and fastening method of this invention, utilizing the above-mentioned gripping and fastening system, fastens the female connector to be fastened and the male connector to be fastened, including: S100: Obtain the two-dimensional coordinate information of the female seat to be engaged through the first vision component, and obtain the three-dimensional coordinate information of the male seat to be engaged through the second vision component; S200: The control system converts two-dimensional coordinate information into guide engagement coordinates and three-dimensional coordinate information into grasping coordinates. S300: The six-axis assembly controls the gripping and positioning assembly to grip and position the male seat to be fastened according to the gripping coordinates, and under the guidance of the fastening coordinates, it drives the male seat to be fastened and the female seat to be fastened to be fastened.

[0041] Specifically, Figure 6 A detailed schematic flowchart of the gripping and fastening method according to an embodiment of the present invention is shown.

[0042] like Figure 6In the illustrated embodiment, the gripping and fastening method of the present invention mainly includes the following steps: 1. Position the tooling product on the operating table and position the female seat in the corresponding positioning seat; 2. The first vision component captures the position information of the female seat and determines whether it is qualified. If it is qualified, the position information is sent to the control system for conversion processing to obtain the corresponding guide fastening coordinates; if it is not qualified, the tooling is removed and the fastening operation is stopped. 3. Shape the FPC wires on the female connector to facilitate subsequent splicing operations; 4. Capture the location information of the public seats using the second vision component and send it to the control system for processing to obtain the capture coordinates; 5. The six-axis assembly grips the male seat according to the gripping coordinates and performs precise positioning on three sides; 6. The six-axis assembly drives the male seat to complete the engagement with the female seat according to the guide engagement coordinates. During the engagement process, the pressure is monitored in real time to determine whether the engagement pressure exceeds the pressure threshold, i.e., the set threshold. If it does, the engagement is stopped or the engagement pressure is reduced; otherwise, the engagement operation is completed.

[0043] As can be seen from the above specific embodiments, the gripping and fastening system and method provided by the present invention can adapt to small space scenarios. The gripper of the positioning component has a single-sided thickness of only 0.2mm, which can penetrate into narrow spaces to complete the gripping of the BTB male base, solving the problem of insufficient assembly space for BTB in miniaturized consumer electronics products. Through dual positioning of 2D positioning by the first vision component and spatial pose recognition by the second vision component, the accuracy of gripping the BTB male base and fastening the female base is ensured, achieving high-precision positioning and fastening, and improving the consistency of assembly quality. In addition, it can also ensure assembly safety. The pressure sensor 11 of the adsorption component 3 monitors the fastening pressure in real time, and automatically stops when the threshold is exceeded, avoiding BTB damage caused by uncontrollable manual fastening pressure. At the same time, the force locking structure of the gripper and the suction head and the three-sided positioning mechanism can prevent the male base from shifting during transportation, further ensuring assembly reliability and improving BTB assembly efficiency and quality.

[0044] As per the above reference Figure 1 To be continued Figure 6 The gripping and fastening system and method according to the present invention are described by way of example. However, those skilled in the art will understand that various modifications can be made to the gripping and fastening system and method proposed in the present invention without departing from the scope of the invention. Therefore, the scope of protection of the present invention should be determined by the content of the appended claims.

[0045] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

Claims

1. A gripping and fastening system, characterized in that, It includes a control system, a six-axis assembly, a first vision assembly, a second vision assembly, and a gripping and positioning assembly mounted on the six-axis assembly; wherein, The first vision component is used to acquire the two-dimensional coordinate information of the female seat to be engaged; The second vision component is used to acquire the three-dimensional coordinate information of the male seat to be fastened; The control system is used to convert the two-dimensional coordinate information into guide engagement coordinates and the three-dimensional coordinate information into grasping coordinates; The six-axis assembly controls the gripping and positioning assembly to grip and position the male seat to be fastened based on the gripping coordinates, and drives the male seat to be fastened to the female seat to be fastened under the guidance of the fastening coordinates.

2. The gripping and fastening system as described in claim 1, characterized in that, It also includes an operating console and a positioning seat disposed on the operating console; wherein, The female seat to be engaged is limited within the positioning seat; The six-axis assembly is used to grip male seats with different incoming directions and angles and place them at the female seats to be fastened, through the clamping and positioning assembly.

3. The gripping and fastening system as described in claim 1, characterized in that, The coordinate system of the six-axis component is associated with the coordinate system of the first vision component to establish a first correspondence. Based on the first correspondence, the two-dimensional coordinate information is converted into guide engagement coordinates for the six-axis component to recognize.

4. The gripping and fastening system as described in claim 1, characterized in that, The coordinate system of the six-axis component is associated with the visual coordinate system of the second vision component to establish a second correspondence. The three-dimensional coordinate information is converted into the grasping coordinates according to the second correspondence.

5. The gripping and fastening system as described in claim 1, characterized in that, The first visual component is a 2D visual component, and the second visual component is a 3D visual component.

6. The gripping and fastening system as described in claim 1, characterized in that, The gripping and positioning assembly includes two motorized grippers, a side-push gripper disposed on one side of the two motorized grippers, and an adsorption assembly located between the two motorized grippers and the side-push gripper; wherein... The adsorption component is used to adsorb and position the male seat to be fastened. The two electric grippers are used to clamp the male seat to be fastened after adsorption and positioning. The side-pushing gripper is used to position the male seat to be fastened after it has been clamped on both sides.

7. The gripping and fastening system as described in claim 6, characterized in that, The adsorption assembly includes a suction head and a pressure sensor disposed above the suction head; wherein... When the male seat to be engaged and the female seat to be engaged are pressed down and engaged, the pressure sensor is used to output a pressure curve in real time. The control system controls the downward pressure of the suction head according to the pressure curve.

8. A gripping and fastening method, characterized in that, The method of using the gripping and fastening system as described in any one of claims 1 to 7 to fasten the female and male seats to be fastened includes: The two-dimensional coordinate information of the female seat to be engaged is obtained through the first vision component, and the three-dimensional coordinate information of the male seat to be engaged is obtained through the second vision component. The control system converts the two-dimensional coordinate information into guide engagement coordinates and the three-dimensional coordinate information into grasping coordinates. The six-axis assembly controls the gripping and positioning assembly to grip and position the male seat to be fastened according to the gripping coordinates, and under the guidance of the fastening coordinates, drives the male seat to be fastened to the female seat to be fastened.

9. The gripping and fastening method as described in claim 8, characterized in that, Also includes: The first vision component acquires the two-dimensional coordinate information of the female seat to be fastened and determines whether it is qualified. If it is qualified, the two-dimensional coordinate information is sent to the control system to guide the fastening coordinate conversion. Otherwise, the female seat to be fastened will be removed.

10. The gripping and fastening method as described in claim 8, characterized in that, Also includes: During the engagement of the male and female seats, the engagement pressure is monitored in real time to see if it exceeds the pressure threshold. If it does, the engagement pressure is reduced or the engagement action is stopped.

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