Connection terminal accurate positioning device and positioning method

Abstract

The application discloses a connecting terminal precise positioning device and a positioning method, which comprises a product conveying line and a mechanical hand. The mechanical hand first drives a connecting terminal adsorption mechanism to adsorb the connecting terminal, and then places the connecting terminal adsorption mechanism with the adsorbed connecting terminal on a connecting terminal secondary positioning mechanism. After the connecting terminal is precisely positioned by the connecting terminal secondary positioning mechanism, the connecting terminal adsorption mechanism positions and transfers the connecting terminal again. Finally, the mechanical hand drives the connecting terminal adsorption mechanism to separate from the connecting terminal secondary positioning mechanism. The application has the beneficial effects that the pre-positioning of the connecting band of the connecting terminal is realized by a swing positioning mechanism, the precise positioning of the connecting band is realized by the positioning column going up and being inserted into the corresponding positioning hole, the transfer of the connecting band positioning is realized by the positioning needle being inserted into the corresponding positioning hole and the positioning column being separated from the corresponding positioning hole, and the plastic sealing of the subsequent work station is facilitated.

Description

Technical Field

[0001] This invention relates to the positioning of connecting terminals, and in particular to a device and method for precise positioning of connecting terminals. Background Technology

[0002] During the process of transferring the product from the welding station to the molding module, it is difficult to guarantee the position of the product entering the molding module after transportation via the conveyor line. In particular, it is difficult to guarantee the position of the molding component in the molding module, which in turn causes the welding point position on the molding component to shift and undergo tensile deformation, thereby increasing the molding difficulty of the molding component. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a precise positioning device and method for connecting terminals.

[0004] The objective of this invention is achieved through the following technical solution: The precise positioning device for connecting terminals includes a product conveyor line and a robotic arm. The robotic arm is located on one side of the product conveyor line, and the connecting terminals are conveyed through the product conveyor line. The actuator end of the robotic arm is connected to a connecting terminal adsorption mechanism. A platform is also provided on the other side of the product conveyor line, and a secondary positioning mechanism for connecting terminals is installed on the platform. The robotic arm first drives the connecting terminal adsorption mechanism to adsorb the connecting terminals, and then places the connecting terminal adsorption mechanism with the adsorbed connecting terminals on the secondary positioning mechanism. After the connecting terminals are precisely positioned by the secondary positioning mechanism, the connecting terminal adsorption mechanism then positions and transfers the connecting terminals. Finally, the robotic arm drives the connecting terminal adsorption mechanism to detach from the secondary positioning mechanism.

[0005] Optionally, the connection terminal adsorption mechanism includes a lower plate, a middle plate, and an upper plate arranged from bottom to top. The middle plate is installed above the lower plate by screws. The middle plate and the upper plate are connected by several linear guide components. Several suction cup components are installed side by side on the lower plate. Several positioning pin telescopic components are also installed side by side on the lower plate. The positioning pin telescopic component includes a positioning pin and a third cylinder. The top of the lower plate is provided with an upwardly protruding mounting sleeve. The bottom of the mounting sleeve has a guide hole. The positioning pin is installed in the guide hole. The top of the mounting sleeve is equipped with a third cylinder. The telescopic rod of the third cylinder is connected to the positioning pin, and the air inlet of the third cylinder passes through the middle plate and the upper plate in sequence.

[0006] Optionally, the secondary positioning mechanism for the connecting terminal includes a base plate, a lifting plate, a top lifting plate, and a top plate arranged from top to bottom. The top plate has a receiving groove for placing the connecting terminal clamp fixture. A first cylinder is installed at the bottom of the base plate, and the extension rod of the first cylinder passes through the base plate and connects to the lifting plate. The lifting plate and the top lifting plate are connected by connecting columns. The top plate and the base plate are connected by multiple first guide shafts. Several swing positioning mechanisms are installed in pairs on the top plate, with two corresponding swing positioning mechanisms arranged opposite each other. The area enclosed by the several swing positioning mechanisms is the clamping and positioning area. The connecting strip is placed in the clamping and positioning area. Several positioning pins are installed on the lifting plate. The top plate has guide holes corresponding to the positioning pins. The top of the positioning pin is fitted into the guide holes. The guide holes are coaxial with the positioning holes on the corresponding connecting strips. The diameter of the positioning pin is the same as the diameter of the corresponding positioning hole. The top plate also has a relief hole corresponding to the positioning pin. The relief hole is coaxial with the positioning pin. The diameter of the relief hole is larger than the diameter of the positioning pin. The relief hole is also coaxial with the positioning holes on the corresponding connecting strips. The diameter of the positioning pin is the same as the diameter of the corresponding positioning hole.

[0007] Optionally, the top of the top plate is also provided with two guide posts, which are located on the left and right sides of the clamping and positioning area respectively. The guide posts are provided with shims. The left and right ends of the lower plate are also provided with a reference plate, and a second linear bearing is installed on the reference plate. When the connecting terminal adsorption mechanism is installed on the connecting terminal secondary positioning mechanism, the reference plate and the shim are in contact, the guide posts are installed in the second linear bearing, and there is a gap between the connecting terminal adsorbed by the connecting terminal adsorption mechanism and the receiving groove.

[0008] Optionally, the suction cup assembly includes a first suction cup, a receiving cavity is provided at the bottom of the lower plate, the first suction cup is located in the receiving cavity, and the top of the first suction cup has a threaded connector. The top of the lower plate is provided with an upwardly protruding sealing sleeve, and the bottom of the sealing sleeve is provided with a threaded connection hole. The threaded connector of the first suction cup is installed in the threaded connection hole, and an air suction pipe is threadedly installed in the top inner cavity of the sealing sleeve. The air suction pipe passes through the intermediate plate and the upper plate in sequence.

[0009] Optionally, there are four linear guide assemblies, distributed on the four corners of the upper plate. Each linear guide assembly includes a third linear bearing and a third guide shaft. The third linear bearing is mounted on the upper plate, and the third guide shaft is fitted inside the third linear bearing. The bottom of the third guide shaft is connected to the middle plate, and a buffer spring is fitted on the third guide shaft located between the middle plate and the upper plate.

[0010] Optionally, a first clamping block can be detachably installed on the lower plate. Positioning protrusions are provided on the four corners of the bottom of the first clamping block. Wedge-shaped surfaces are provided on the opposite surfaces of two adjacent positioning protrusions. A through hole is also provided on the first clamping block to facilitate the passage of the first suction cup.

[0011] Optionally, multiple swing positioning mechanisms are provided on the front and rear sides of the clamping and positioning area, and at least one swing positioning mechanism is provided on the left and right sides of the clamping and positioning area. The swing positioning mechanism includes a swing component and a pin. A swing cavity is provided on the top plate, and the swing component is rotatably installed in the swing cavity. The top of the swing component protrudes from the top surface of the top plate. The pin is slidably installed on the lifting plate, and the top of the pin passes through the lifting plate and is located below the swing component. A clearance hole corresponding to the pin is provided on the lifting plate, and the bottom of the pin is located in the clearance hole. A radially protruding limiting ring is provided on the pin. A first spring is fitted on the pin and presses against the limiting ring and the lifting plate. A compression spring corresponding to the swing component is also installed on the top plate, and the lower end of the compression spring abuts against the swing component.

[0012] Optionally, the swing member has an L-shaped structure and has a vertically arranged clamping arm and a horizontally arranged pressure arm. The swing cavity is also an L-shaped cavity, with the clamping arm located in the vertical cavity of the swing cavity and the pressure arm located in the horizontal cavity of the L-shaped cavity. The top end of the compression spring abuts against the cavity of the horizontal cavity, and the bottom end of the compression spring abuts against the pressure arm.

[0013] Optionally, the method for precisely positioning the connection terminal, including the aforementioned precise positioning device for the connection terminal, further includes the following steps: Assembly of the terminal adsorption mechanism and the terminal secondary positioning mechanism: The robot arm drives the terminal adsorption mechanism to move, and the first suction cup adsorbs the wire clamp fixture. Then the robot arm drives the entire terminal adsorption mechanism to move above the terminal secondary positioning mechanism. Then the robot arm carries the terminal adsorption mechanism down to install the terminal adsorption mechanism on the terminal secondary positioning mechanism. Pre-positioning of the connecting terminal: The first cylinder works, driving the lifting plate to move upward. When the thrust applied by the first spring to the swing member is greater than the thrust applied by the compression spring to the swing member, the swing member moves closer to the connecting belt and rotates, thereby causing the clamping arm to clamp the connecting belt, thus achieving the pre-positioning of the connecting belt. Precise positioning of the connecting terminal: During the upward movement of the lifting plate, the positioning pin moves upward with the lifting plate. After the connecting belt is clamped by the swinging component, the positioning pin enters the positioning hole of the connecting belt as the lifting plate rises, thereby achieving precise positioning of the connecting belt. Connection terminal positioning transfer: After the connecting strip is accurately positioned by the positioning post, the third cylinder works, which causes the positioning pin to move downward and enter the corresponding positioning hole. Then, the first cylinder resets, and the positioning post exits the positioning hole. Thus, the accurate positioning of the plastic seal is transferred from the positioning of the positioning post and the positioning hole to the positioning of the positioning pin and the positioning hole. Disengagement of the terminal adsorption mechanism from the terminal secondary positioning mechanism: After the terminal positioning and transfer are completed, the robot arm drives the terminal adsorption mechanism upward, thereby completing the disengagement of the terminal adsorption mechanism from the terminal secondary positioning mechanism.

[0014] The present invention has the following advantages: 1. The connecting terminal positioning and transfer device of the present invention achieves the pre-positioning of the connecting strip of the connecting terminal through the swing positioning mechanism, and achieves the precise positioning of the connecting strip by the upward movement of the positioning post and its insertion into the corresponding positioning hole. 2. By inserting the positioning pin into the corresponding positioning hole and causing the positioning post to disengage from the corresponding positioning hole, the positioning of the connecting strip is transferred. This allows the connecting strip of the connecting terminal to be precisely positioned after the connecting terminal adsorption mechanism adsorbs the wire clamp fixture again, thus facilitating the subsequent sealing process. Attached Figure Description

[0015] Figure 1 A schematic diagram of the structure of the precise positioning device for connecting terminals; Figure 2 A cross-sectional view of the connector adsorption mechanism mounted on the connector secondary positioning mechanism. Figure 3 Schematic diagram of the connection terminal adsorption mechanism Figure 1 ; Figure 4 Schematic diagram of the connection terminal adsorption mechanism Figure 2 ; Figure 5 Schematic diagram of the connection terminal adsorption mechanism Figure 3 ; Figure 6 for Figure 5 Cross-sectional view of the middle EE; Figure 7 for Figure 5 Cross-sectional view of FF; Figure 8 Schematic diagram of the secondary positioning mechanism for connecting terminals Figure 1 ; Figure 9 Schematic diagram of the secondary positioning mechanism for connecting terminals Figure 2 ; Figure 10 for Figure 9 Schematic diagram of the cross section of AA; Figure 11 for Figure 9 Cross-sectional view of BB; Figure 12 for Figure 9 Cross-sectional view of CC; Figure 13 This is a schematic diagram of the swing positioning mechanism; Figure 14 A schematic diagram of the secondary positioning mechanism for the connecting terminals after removing the top plate; Figure 15 This is a schematic diagram of the structure of the first clamping block.

[0016] In the diagram, 1-first cylinder, 2-base plate, 3-lifting plate, 4-lifting plate, 5-top plate, 6-first guide shaft, 7-first linear bearing, 8-shield, 9-guide post, 10-swing positioning mechanism, 11-first spring, 12-sleeve, 13-ejector pin, 14-swing cavity, 15-compression spring, 16-swing component, 17-pin, 18-clearance hole, 19-limiting ring, 20-connecting post, 21-positioning post, 22-accommodating groove, 23-relief hole, 24-guide through hole, 26-first clamping block, 27-positioning 28-Protruding post, 29-Wedge-shaped surface, 30-Perforation, 31-Notch, 41-Clamping and positioning area, 42-Lower plate, 43-Middle plate, 44-Upper plate, 45-Linear guide assembly, 46-Positioning pin telescopic assembly, 47-Suction pipe, 48-Base plate, 49-Second linear bearing, 50-Connector, 51-First suction cup, 52-Positioning pin, 54-Mounting sleeve, 100-Connecting terminal adsorption mechanism, 200-Connecting terminal secondary positioning mechanism, 300-Product conveyor line, 400-Robot arm. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[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, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this invention and 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 connection 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.

[0023] like Figure 1 As shown, the precise positioning device for the connecting terminal includes a product conveyor line 300 and a robot arm 400. The robot arm 400 is located on one side of the product conveyor line 300. The connecting terminal is conveyed through the product conveyor line 300. The execution end of the robot arm 400 is connected to a connecting terminal adsorption mechanism 100. A platform is also provided on the other side of the product conveyor line 300. A secondary positioning mechanism 200 for the connecting terminal is installed on the platform. The robot arm 400 first drives the connecting terminal adsorption mechanism 100 to adsorb the connecting terminal. Then, the connecting terminal adsorption mechanism 100 with the adsorbed connecting terminal is placed on the secondary positioning mechanism 200. After the connecting terminal is precisely positioned by the secondary positioning mechanism 200, the connecting terminal adsorption mechanism 100 performs positioning transfer on the connecting terminal. Finally, the robot arm 400 drives the connecting terminal adsorption mechanism 100 to disengage from the secondary positioning mechanism 200. In this embodiment, the connecting terminal is held by a wire clamp fixture. The end of the connecting terminal away from the wire clamp fixture is a plastic seal. The plastic seal has a connecting strip with positioning holes.

[0024] In this embodiment, as Figure 3 , Figure 4 and Figure 5As shown, the connecting terminal adsorption mechanism 100 includes a lower plate 41, a middle plate 42, and an upper plate 43 arranged from bottom to top. The middle plate 42 is mounted on top of the lower plate 41 by screws, meaning that the middle plate 42 moves synchronously with the lower plate 41. The middle plate 42 and the upper plate 43 are connected by several linear guide components 44. Preferably, there are four linear guide components 44, distributed at the four corners of the upper plate 43. Each linear guide component 44 includes a third linear bearing and a third guide shaft. The third linear bearing is mounted on the upper plate. On plate 43, a third guide shaft is installed inside the third linear bearing. The bottom of the third guide shaft is connected to the middle plate 42. A buffer spring is installed on the third guide shaft located between the middle plate 42 and the upper plate 43. Through the cooperation of the third linear bearing and the third guide shaft, the straightness of the movement of the upper plate 43 can be guaranteed. A connector 49 is also installed on the top of the upper plate 43. The connector 49 is connected to the robot 400. Preferably, the robot 400 is a six-axis robot. Since the robot is a commercially available product, its structure and working principle will not be described in detail.

[0025] In this embodiment, as Figure 7 As shown, several suction cup assemblies are mounted side by side on the lower plate 41. Further, each suction cup assembly includes a first suction cup 50. A receiving cavity is formed at the bottom of the lower plate 41, and the first suction cup 50 is located within the receiving cavity. The top of the first suction cup 50 has a threaded connector. A sealing sleeve protruding upwards is provided at the top of the lower plate 41. A threaded connection hole is formed at the bottom of the sealing sleeve, and the threaded connector of the first suction cup 50 is installed in the threaded connection hole. A suction pipe 46 is threadedly installed in the inner cavity of the top of the sealing sleeve, and the suction pipe 46 passes sequentially through the intermediate plate 4. 2 and the upper plate 43, while the suction pipe 46 is connected to the external vacuum equipment. Of course, in order to ensure the sealing performance, the threaded connector and the threaded connection hole are sealed, and the suction pipe 46 and the sealing sleeve are also sealed to avoid air leakage and ensure the reliability of the first suction cup 50 adsorbing the wire clamp fixture. When in use, when the first suction cup 50 contacts the top of the wire clamp fixture of the connecting terminal, the suction pipe 46 sucks air, so that the first suction cup 50 adsorbs the wire clamp fixture, and thus the connecting terminal can move with the lower plate 41.

[0026] In this embodiment, as Figure 6As shown, several positioning pin telescopic assemblies 45 are also installed side by side on the lower plate 41. Preferably, the positioning pin telescopic assemblies 45 are located on the rear side of the lower plate 41, while the suction cup assembly is located on the front side of the lower plate 41. Further, the positioning pin telescopic assembly 45 includes a positioning pin 51 and a third cylinder 54. The top of the lower plate 41 is provided with an upwardly protruding mounting sleeve 52. The bottom of the mounting sleeve 52 is provided with a guide hole, in which the positioning pin 51 is fitted. The top of the mounting sleeve 52 is equipped with a third cylinder 54. The telescopic rod of the third cylinder 54 is connected to the positioning pin 51. The positioning pin 51 is connected, and the air inlet end of the third cylinder 54 passes through the middle plate 42 and the upper plate 43 in sequence. In use, the third cylinder 54 controls the extension rod to extend, so that the positioning pin 51 is in the lower stroke. At this time, the positioning pin 51 is inserted into the corresponding positioning hole, and the bottom of the positioning pin 51 is located in the relief hole 23. When the third cylinder 54 controls the extension rod to retract and reset, the positioning pin 51 is withdrawn from the corresponding positioning hole. In this embodiment, in order to better insert the positioning pin 51 into the positioning hole, the bottom of the positioning pin 51 is a conical head.

[0027] In this embodiment, as Figure 7 As shown, a first clamping block 26 is detachably mounted on the lower plate 41, preferably, as... Figure 15 As shown, the first clamping block 26 is detachably connected to the lower plate 41 by screws. Positioning protrusions 27 are provided on the four corners of the bottom of the first clamping block 26. Wedge-shaped surfaces 28 are provided on the opposing surfaces of two adjacent positioning protrusions 27. The first clamping block 26 also has through holes 29 to facilitate the passage of the first suction cup 50. Furthermore, the left and right ends of the first clamping block 26 have notches 30, which are mainly to avoid the locking head on the wire clamping fixture, allowing the first suction cup 50 to directly adhere to the top of the wire clamping fixture. When adsorbing the connecting terminal, the terminal adsorption mechanism aligns the first clamping block 26 with... The wire clamp fixture is then connected to the terminal adsorption mechanism and moves downwards. The wire clamp fixture is confined within the space enclosed by four positioning protrusions 27. Moreover, wedge-shaped surfaces 28 are provided on the opposing surfaces of two adjacent positioning protrusions 27. Therefore, under the guidance of the wedge-shaped surfaces 28, the wire clamp fixture can better enter the space enclosed by the positioning protrusions 27. At this time, the position of the wire clamp fixture is fixed. When the first suction cup 50 works, the first suction cup 50 adsorbs the wire clamp fixture. Preferably, the first suction cup 50 is a rubber suction cup. Therefore, after the wire clamp fixture is adsorbed, the wire clamp fixture can float in the vertical direction.

[0028] In this embodiment, as Figure 8 and Figure 9As shown, the secondary positioning mechanism for the connecting terminal includes a base plate 2, a lifting plate 3, a lifting plate 4, and a top plate 5 arranged from top to bottom. Furthermore, the top plate 5 has fixing plates on its left and right sides, which are detachably mounted on the worktable by screws. The worktable has a cavity for accommodating the secondary positioning mechanism for the connecting terminal. The top plate 5 has a receiving groove 22 for placing the connecting terminal clamp fixture. The connecting terminal adsorption mechanism places the connecting terminal in the receiving groove 22, and then the secondary positioning mechanism for the connecting terminal performs secondary positioning on the plastic seal of the connecting terminal.

[0029] In this embodiment, as Figure 8 and Figure 9 As shown, a first cylinder 1 is installed at the bottom of the base plate 2. The telescopic rod of the first cylinder 1 passes through the base plate 2 and is connected to the lifting plate 3. The lifting plate 3 and the top plate 4 are connected by a connecting column 20. Therefore, when the telescopic rod of the first cylinder 1 extends upward, the lifting plate 3 and the top plate 4 move upward. The top plate 5 and the base plate 2 are connected by multiple first guide shafts 6, and the top plate 4 is slidably mounted on the first guide shafts 6. Furthermore, a first linear bearing 7 is fitted on the first guide shaft 6, and the top of the first linear bearing 7 is connected to the bottom of the top plate 4. Through the cooperation of the first guide shaft 6 and the first linear bearing 7, the straightness of the movement of the top plate 4 can be guaranteed. In this embodiment, a plurality of swing positioning mechanisms 10 are installed in pairs on the top plate 5, and two corresponding swing positioning mechanisms 10 are arranged opposite each other. The area enclosed by the plurality of swing positioning mechanisms 10 is the clamping positioning area 31. The connecting strip of the connecting terminal is placed in the clamping positioning area 31. In this embodiment, as shown Figure 8 , Figure 9 and Figure 14 As shown, multiple swing positioning mechanisms 10 are provided on the front and rear sides of the clamping and positioning area 31, and at least one swing positioning mechanism 10 is provided on the left and right sides of the clamping and positioning area 31. When the connecting belt is placed in the clamping and positioning area 31, the swing positioning mechanism 10 in the front and rear direction pre-positions the front and rear position of the connecting belt, while the swing positioning mechanism 10 in the left and right direction pre-positions the left and right position of the connecting belt, thereby realizing the pre-positioning of the connecting belt.

[0030] In this embodiment, as Figure 13 As shown, the swing positioning mechanism 10 includes a swing member 16 and a pin 13. A swing cavity 14 is provided on the top plate 5, and the swing member 16 is rotatably mounted inside the swing cavity 14. The top of the swing member 16 protrudes from the top surface of the top plate 5. Preferably, a pin 17 is installed inside the swing cavity 14, and the swing member 16 is rotatably mounted on the pin 17. The pin 13 is slidably mounted on the lifting plate 4, and the top of the pin 13 passes through the lifting plate 4 and is located below the swing member 16. Figure 10 and Figure 12As shown, the lifting plate 3 has a clearance hole 18 corresponding to the ejector pin 13. The bottom of the ejector pin 13 is located inside the clearance hole 18. The ejector pin 13 is provided with a radially protruding limiting ring 19. A first spring 11 is fitted on the ejector pin 13. The first spring 11 presses against the limiting ring 19 and the lifting plate 3. The top plate 5 is also equipped with a compression spring 15 corresponding to the swing member 16. The lower end of the compression spring 15 abuts against the swing member 16. At this time, the swing member 16 deflects away from the clamping positioning area 31 under the action of the compression spring 15, thereby making the area of ​​the clamping positioning area 31 larger than the area of ​​the connecting belt, thus facilitating the insertion of the connecting belt. When the first cylinder 1 works, making the lifting plate 4 in the upper stroke, the ejector pin 13 moves upward first during the upward movement of the lifting plate 3. After the ejector pin 13 contacts the bottom of the swing member 16, the lifting plate 3 moves upward as the top plate 3 moves upward. As the device continues to rise, the swinging member 16 will obstruct the upward movement of the ejector pin 13. Therefore, the first spring 11 will contract, and the ejector pin 13 will move downward relative to the lifting plate 4. As a result, the bottom of the ejector pin 13 will move downward within the clearance hole 18. At this time, the ejector pin 13 will exert a thrust on the swinging member 16 under the action of the elastic restoring force of the first spring 11. As the first spring 11 is continuously compressed, when the thrust exerted by the first spring 11 on the swinging member 16 is greater than the thrust exerted by the compression spring 15 on the swinging member 16, the swinging member 16 will rotate closer to the area where the connecting belt is located. The connecting belt is pre-positioned by the swinging member 16 in the front-back direction and the left-right direction. Moreover, the first spring 11 and the compression spring 15 can buffer the deflection of the swinging member 16, preventing the swinging member 16 from hitting the connecting belt instantly, thereby ensuring the reliability of the pre-positioning of the connecting belt.

[0031] In this embodiment, as Figure 10 and Figure 12 As shown, a bushing 12 that mates with the ejector pin 13 is installed on the lifting plate 4. The ejector pin 13 is fitted inside the bushing 12. Through the cooperation between the bushing 12 and the ejector pin 13, the straightness of the movement of the ejector pin 13 can be ensured, thereby ensuring better pressure on the swinging component 16. Furthermore, as shown... Figure 13As shown, the swing member 16 has an L-shaped structure, with a vertically arranged clamping arm and a horizontally arranged pressure arm. The pin 17 is located at the corner of the swing member 16. The swing cavity 14 is also an L-shaped cavity, with the clamping arm located in the vertical cavity of the swing cavity 14 and the pressure arm located in the horizontal cavity of the L-shaped cavity. The top end of the compression spring 15 abuts against the cavity of the horizontal cavity, and the bottom end of the compression spring 15 abuts against the pressure arm. In this embodiment, the size of the vertical cavity is larger than the size of the clamping arm in the direction of rotation of the swing member 16, thus providing space for the swing of the swing member 16. Furthermore, the side wall of the vertical cavity fits against the side wall of the clamping arm, thereby preventing the swing member 16 from moving along the extension direction of the corresponding pin 17. In the initial position, the pressure arm is pressed, at which time the swing member 16 rotates away from the clamping positioning area 31, and the clamping arm... The oscillating member 16 abuts against the side wall of the vertical cavity away from the clamping and positioning area 31, thereby ensuring that the area enclosed by the oscillating member 16 is constant in the initial position. This facilitates the connection terminal adsorption mechanism to place the connecting strip in the clamping and positioning area 31. When the upper part of the ejector pin 13 contacts the pressure arm, the first spring 11 is compressed. The first spring 11 then applies an upward pushing force to the pressure arm through the ejector pin 13. The pressure arm is also subjected to an outward and downward pushing force by the compression spring 15. When the force applied by the first spring 11 to the pressure arm is greater than the force applied by the compression spring 15, the oscillating member 16 deflects, thereby clamping the connecting strip located in the clamping and positioning area 31. When the connecting strip is clamped in both the front-back direction and the left-right direction, the connecting strip is pre-positioned. At this time, the offset between the positioning hole on the connecting strip and the positioning post 21 will not exceed 0.1mm.

[0032] In this embodiment, as Figure 11As shown, a plurality of positioning posts 21 are installed on the lifting plate 4, and a guide hole 24 corresponding to the positioning post 21 is opened on the top plate 5. The top of the positioning post 21 is fitted into the guide hole 24. The guide hole 24 is coaxially arranged with the positioning hole on the corresponding connecting strip, and the diameter of the positioning post 21 is the same as the diameter of the corresponding positioning hole. During the upward movement of the lifting plate 4, the positioning post 21 moves upward with the lifting plate 4. When the connecting strip is clamped by the swing member 16, the swing member 16 cannot deflect, while the lifting plate 4 continues to move upward. At this time, the first spring 11 is further compressed, and the ejector pin 13 moves further downward relative to the lifting plate 4. Then, as the lifting plate 4 rises, the positioning post 21 enters the positioning hole of the connecting strip, thereby achieving precise positioning of the connecting strip. Furthermore, the top of the positioning post 21 is a conical head, which facilitates the insertion of the positioning post 21 into the positioning hole. In this embodiment, during the process of achieving precise positioning of the connecting strip, the connecting terminal adsorption assembly continuously adsorbs the connecting terminal. After the connecting belt is accurately positioned, the third cylinder 54 operates, causing the positioning pin 51 to descend and enter the corresponding positioning hole. In this embodiment, to prevent the positioning pin 51 from colliding with the top plate 5, the top plate 5 is also provided with a relief hole 23 corresponding to the positioning pin 51. The relief hole 23 is coaxially arranged with the positioning pin 51, and the diameter of the relief hole 23 is larger than the diameter of the positioning pin 51. The relief hole 23 is also coaxially arranged with the positioning hole of the corresponding connecting belt. The diameter of the positioning pin 51 is the same as the diameter of the corresponding positioning hole. When the positioning pin 51 is inserted into the positioning hole, the first cylinder 1 retracts, and the lifting plate 3, the top plate 4, the top pin 13, and the swing member 16 are reset. At this time, the swing member 16 releases the connecting belt. Since the connecting belt is still positioned by the positioning pin 51, the position of the plastic seal of the connecting terminal remains unchanged during the subsequent movement of the connecting terminal adsorption assembly. This allows the connecting terminal adsorption assembly to accurately place the connecting terminal on the next work station.

[0033] In this embodiment, as Figure 1 and Figure 2As shown, the top of the top plate 5 is also provided with two guide posts 9, which are located on the left and right sides of the clamping and positioning area 31 respectively. The guide posts 9 are provided with gaskets 8. The left and right ends of the lower plate 41 are also provided with a reference plate 47, and the reference plate 47 is provided with a second linear bearing 48. When the connecting terminal adsorption mechanism is installed on the connecting terminal secondary positioning mechanism, the reference plate 47 and the gasket 8 are in contact, and the guide posts 9 are installed in the second linear bearing 48. Through the cooperation of the guide posts 9 and the second linear bearing 48, the installation accuracy of the connecting terminal adsorption mechanism and the connecting terminal secondary positioning mechanism can be guaranteed, thereby ensuring that the connecting strip can enter the clamping and positioning area 31. Through the gasket 8, the relative position of the connecting terminal adsorption mechanism and the connecting terminal secondary positioning mechanism in the vertical direction can be controlled. In this embodiment, there is a gap between the connecting terminal adsorbed by the connecting terminal adsorption mechanism and the receiving groove 22. That is to say, although the plastic seal of the connecting terminal is located in the receiving groove 22, there is a gap between the plastic seal and the receiving groove 22, which facilitates the movement of the plastic seal during the pre-positioning and precise positioning process.

[0034] The working process of this invention is as follows: The connection terminal positioning and transfer device mainly includes the following steps: assembly of the connection terminal adsorption mechanism 100 and the connection terminal secondary positioning mechanism 200, pre-positioning of the connection terminal, precise positioning of the connection terminal, transfer of the connection terminal positioning, and disengagement of the connection terminal adsorption mechanism 100 and the connection terminal secondary positioning mechanism 200. The above actions are described in detail below: Assembly of the terminal adsorption mechanism 100 and the terminal secondary positioning mechanism 200: The robot arm 400 moves the terminal adsorption mechanism 100, causing the first clamping block 26 to be positioned above the wire clamp fixture of the terminal. Then, the robot arm 400 moves downward, allowing the terminal to enter the first clamping block 26. At this time, the terminal is positioned by the four positioning protrusions 27 on the first clamping block 26. Then, the first suction cup 50 adsorbs the wire clamp fixture. Then, the robot arm 400 moves the entire terminal adsorption mechanism 100 to the position above the terminal secondary positioning mechanism 200. Then, the connecting terminal adsorption mechanism 100 of the robotic arm 400 moves downward, so that the guide post 9 is installed in the second linear bearing 48. Through the cooperation between the guide post 9 and the second linear bearing 48, the installation accuracy of the connecting terminal adsorption mechanism 100 and the connecting terminal secondary positioning mechanism 200 can be guaranteed. When the reference plate 47 contacts the gasket 8, the connecting terminal adsorption mechanism 100 stops moving downward. At this time, the connecting belt enters the clamping and positioning area 31. At this time, although the plastic seal of the connecting terminal is located in the receiving groove 22, there is a gap between the plastic seal and the receiving groove 22. Pre-positioning of the connecting terminal: The first cylinder 1 works, driving the lifting plate 3 to move upward. During the upward movement of the lifting plate 3, the ejector pin 13 moves upward first. When the ejector pin 13 contacts the bottom of the pressure arm, as the lifting plate 3 continues to rise, the swing member 16 will hinder the upward movement of the ejector pin 13. Therefore, the first spring 11 will contract, and the ejector pin 13 will move downward relative to the lifting plate 4. Therefore, the bottom of the ejector pin 13 will move downward in the clearance hole 18. At this time, the ejector pin 13 will apply a pushing force to the swing member 16 under the action of the elastic restoring force of the first spring 11. As the first spring 11 is continuously compressed, when the pushing force applied by the first spring 11 to the pressure arm is greater than the pushing force applied by the compression spring 15 to the pressure arm, the swing member 16 will move closer to the connecting belt and rotate, thereby causing the clamping arm to clamp the connecting belt. The connecting belt is clamped by the clamping arm in both the front-back direction and the left-right direction, thus achieving the pre-positioning of the connecting belt. Precise positioning of the connecting terminal: During the upward movement of the lifting plate 4, the positioning pin 21 moves upward with the lifting plate 4. When the connecting belt is clamped by the swing member 16, the swing member 16 cannot deflect, while the lifting plate 4 continues to move upward. At this time, the first spring 11 is further compressed, and the ejector pin 13 moves further downward relative to the lifting plate 4. Then, as the lifting plate 4 rises, the positioning pin 21 enters the positioning hole of the connecting belt, thereby achieving precise positioning of the connecting belt. Connection terminal positioning transfer: After the connecting strip is accurately positioned by the positioning post 21, the third cylinder 54 works, which causes the positioning pin 51 to move downward, and then the positioning pin 51 enters the corresponding positioning hole, and the bottom of the positioning pin 51 enters the relief hole 23. Then, the first cylinder 1 resets, which causes the lifting plate 3, the top plate 4, and the positioning post 21 to reset. The positioning post 21 then exits the positioning hole, and the accurate positioning of the plastic seal is transferred from the positioning of the positioning post 21 and the positioning hole to the positioning of the positioning pin 51 and the positioning hole. Disengagement of the terminal adsorption mechanism 100 from the terminal secondary positioning mechanism 200: After the terminal positioning transfer is completed, the robot arm 400 drives the terminal adsorption mechanism 100 upward, thereby causing the guide post 9 to disengage from the second linear bearing 48, thus completing the disengagement of the terminal adsorption mechanism 100 from the terminal secondary positioning mechanism 200.

[0035] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A precise positioning device for connecting terminals, comprising a product conveyor line and a robotic arm, wherein the robotic arm is located on one side of the product conveyor line, and the connecting terminals are conveyed via the product conveyor line, characterized in that: The robotic arm's actuator is connected to a terminal adsorption mechanism. On the other side of the product conveyor line, a platform is also provided, on which a secondary positioning mechanism for the terminal adsorption mechanism is installed. The robotic arm first drives the terminal adsorption mechanism to adsorb the terminal, then places the terminal adsorption mechanism with the adsorbed terminal onto the secondary positioning mechanism. After the terminal is precisely positioned by the secondary positioning mechanism, the terminal adsorption mechanism further positions and transfers the terminal. Finally, the robotic arm drives the terminal adsorption mechanism to detach from the secondary positioning mechanism. The terminal adsorption mechanism includes a lower plate, a middle plate, and an upper plate arranged from bottom to top. The middle plate is mounted on the lower plate with screws. The middle plate and the upper plate are connected by several linear guide components. Several suction cup components are installed side by side on the lower plate, and several positioning pin telescopic components are also installed side by side on the lower plate. Each positioning pin telescopic component includes a positioning pin and a third cylinder. The top of the lower plate is provided with an upwardly protruding mounting sleeve. The bottom of the mounting sleeve has a guide hole, in which a positioning pin is fitted. The top of the mounting sleeve is equipped with the third cylinder. The telescopic rod of the third cylinder is connected to the positioning pin, and the air inlet of the third cylinder passes through the middle plate and the upper plate in sequence. The secondary positioning mechanism of the connecting terminal includes a base plate, a lifting plate, a top lifting plate, and a top plate arranged from top to bottom. The top plate has a mounting bracket for placing the connecting terminal. The terminal clamp fixture has a receiving groove. A first cylinder is installed at the bottom of the base plate. The telescopic rod of the first cylinder passes through the base plate and connects to the lifting plate. The lifting plate and the top plate are connected by connecting posts. The top plate and the base plate are connected by multiple first guide shafts. Several swing positioning mechanisms are installed in pairs on the top plate, with two corresponding swing positioning mechanisms facing each other. The area enclosed by the swing positioning mechanisms is a clamping and positioning area. The connecting strip of the terminal is placed within this clamping and positioning area. Several positioning posts are installed on the top plate. Guide holes corresponding to the positioning posts are opened on the top plate. The top of each positioning post is fitted into the guide hole. The guide hole corresponds to the connecting strip on the top plate. The positioning holes are coaxially arranged, and the diameter of the positioning pin is the same as the diameter of the corresponding positioning hole. The top plate also has a relief hole corresponding to the positioning pin, which is coaxial with the positioning pin and has a larger diameter than the positioning pin. The relief hole is also coaxial with the positioning hole of the corresponding connecting band, and the diameter of the positioning pin is the same as the diameter of the corresponding positioning hole. Multiple swing positioning mechanisms are provided on the front and rear sides of the clamping positioning area, and at least one swing positioning mechanism is provided on the left and right sides of the clamping positioning area. Each swing positioning mechanism includes a swing element and a pin. The top plate has a swing cavity, in which the swing element is rotatably mounted, and the top of the swing element protrudes from the top surface of the top plate.The ejector pin is slidably mounted on the lifting plate, with its top passing through the lifting plate and located below the swing member. The lifting plate has a clearance hole corresponding to the ejector pin, and the bottom of the ejector pin is located within the clearance hole. A radially protruding limiting ring is provided on the ejector pin, and a first spring is fitted onto the ejector pin, pressing against the limiting ring and the lifting plate. A compression spring corresponding to the swing member is also installed on the top plate, with its lower end abutting against the swing member.

2. The precise positioning device for connection terminals according to claim 1, characterized in that: The top of the top plate is also provided with two guide posts, which are located on the left and right sides of the clamping and positioning area, respectively. The guide posts are provided with gaskets. The left and right ends of the lower plate are also provided with a reference plate. The reference plate is provided with a second linear bearing. When the connecting terminal adsorption mechanism is installed on the connecting terminal secondary positioning mechanism, the reference plate and the gasket are in contact, the guide posts are installed in the second linear bearing, and there is a gap between the connecting terminal adsorbed by the connecting terminal adsorption mechanism and the receiving groove.

3. The precise positioning device for connection terminals according to claim 2, characterized in that: The suction cup assembly includes a first suction cup. The bottom of the lower plate has a receiving cavity, the first suction cup is located in the receiving cavity, and the top of the first suction cup has a threaded connector. The top of the lower plate has an upwardly protruding sealing sleeve, the bottom of the sealing sleeve has a threaded connection hole, the threaded connector of the first suction cup is installed in the threaded connection hole, and the top inner cavity of the sealing sleeve is threaded with an air suction pipe, which passes through the middle plate and the upper plate in sequence.

4. The precise positioning device for connection terminals according to claim 3, characterized in that: There are four linear guide components, which are distributed on the four corners of the upper plate. Each linear guide component includes a third linear bearing and a third guide shaft. The third linear bearing is installed on the upper plate, and the third guide shaft is installed inside the third linear bearing. The bottom of the third guide shaft is connected to the middle plate, and a buffer spring is fitted on the third guide shaft located between the middle plate and the upper plate.

5. The precise positioning device for connection terminals according to claim 4, characterized in that: A first clamping block is detachably installed on the lower plate. Positioning protrusions are provided on the four corners of the bottom of the first clamping block. Wedge-shaped surfaces are provided on the opposite surfaces of two adjacent positioning protrusions. A through hole is also provided on the first clamping block to facilitate the passage of the first suction cup.

6. The precise positioning device for connection terminals according to claim 5, characterized in that: The swing member has an L-shaped structure and has a vertically arranged clamping arm and a horizontally arranged pressure arm. The swing cavity is also an L-shaped cavity, with the clamping arm located in the vertical cavity of the swing cavity and the pressure arm located in the horizontal cavity of the L-shaped cavity. The top end of the compression spring abuts against the cavity of the horizontal cavity, and the bottom end of the compression spring abuts against the pressure arm.

7. A method for precise positioning of connecting terminals, characterized in that: The device for precisely positioning the connecting terminal as described in claim 6 further includes the following steps: Assembly of the terminal adsorption mechanism and the terminal secondary positioning mechanism: The robot arm drives the terminal adsorption mechanism to move, and the first suction cup adsorbs the wire clamp fixture. Then the robot arm drives the entire terminal adsorption mechanism to move above the terminal secondary positioning mechanism. Then the robot arm carries the terminal adsorption mechanism down to install the terminal adsorption mechanism on the terminal secondary positioning mechanism. Pre-positioning of the connecting terminal: The first cylinder works, driving the lifting plate to move upward. When the thrust applied by the first spring to the swing member is greater than the thrust applied by the compression spring to the swing member, the swing member moves closer to the connecting belt and rotates, thereby causing the clamping arm to clamp the connecting belt, thus achieving the pre-positioning of the connecting belt. Precise positioning of the connecting terminal: During the upward movement of the lifting plate, the positioning pin moves upward with the lifting plate. After the connecting belt is clamped by the swinging component, the positioning pin enters the positioning hole of the connecting belt as the lifting plate rises, thereby achieving precise positioning of the connecting belt. Connection terminal positioning transfer: After the connecting strip is accurately positioned by the positioning post, the third cylinder works, which causes the positioning pin to move downward and enter the corresponding positioning hole. Then, the first cylinder resets, and the positioning post exits the positioning hole. Thus, the accurate positioning of the plastic seal is transferred from the positioning of the positioning post and the positioning hole to the positioning of the positioning pin and the positioning hole. Disengagement of the terminal adsorption mechanism from the terminal secondary positioning mechanism: After the terminal positioning and transfer are completed, the robot arm drives the terminal adsorption mechanism upward, thereby completing the disengagement of the terminal adsorption mechanism from the terminal secondary positioning mechanism.

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