An automated assembly system and method for a feeder terminal panel

Abstract

The present application relates to the technical field of high-voltage electrical equipment, in particular to a feeder terminal panel automatic assembly system and method, which realizes angle correction of the terminal panel at the correction station through mutual cooperation of the conveying unit, the image acquisition unit, the angle adjustment unit, the assembly unit and the upper computer, so that the actual coordinates of each jack on the terminal panel are consistent with the target coordinates, and then after grabbing the jack from any position, the horizontal moving distance of the jack to the corresponding jack is accurately calculated, so that the jack can be reliably inserted into the corresponding jack during installation, the installation precision is ensured, automatic assembly is realized, the assembly efficiency is improved, and the actual operation requirements are met.

Description

Technical Field

[0001] This invention relates to the field of high-voltage electrical equipment technology, and specifically to an automated assembly system and method for feeder terminal panels. Background Technology

[0002] Feeder terminals (FTUs) are mainly installed on 10kV feeder lines to monitor and handle faults in their respective sections.

[0003] The control panel of the feeder terminal unit (FTU) uses standardized aviation connectors, including: power / voltage interface, current interface, backup power interface, control signal interface and Ethernet communication interface. The existing aviation connector installation process generally involves manually inserting each aviation connector into the corresponding hole on the FTU panel one by one, and then fixing it to complete the panel assembly. This production method is inefficient, time-consuming and labor-intensive, and carries the risk of assembly errors. Summary of the Invention

[0004] The purpose of this invention is to provide an automated assembly system and method for feeder terminal panels, thereby solving the technical problem of low assembly efficiency in current feeder terminals.

[0005] The solution of the present invention to the above-mentioned technical problems is as follows: An automated assembly system for feeder terminal panels includes: The conveying unit is used to drive the terminal panel to be assembled from the self-correcting station through the assembly station and then output it. The image acquisition unit is used to acquire images of the terminal panel at the correction station and to acquire images of the terminal panel and the connector at the assembly station. The host computer is used to calculate the rotation angle of the correction station terminal panel based on the image of the correction station terminal panel, and to calculate the horizontal movement distance of the aviation socket and the corresponding socket based on the images of the assembly station terminal panel and the aviation socket. An angle adjustment unit, located at the correction station, is used to adjust the angle of the correction station terminal panel according to the rotation angle of the correction station terminal panel. The assembly unit is used to grasp the aviation socket and align it with the corresponding socket according to the horizontal movement distance between the aviation socket and the corresponding socket before inserting it.

[0006] Further defined, the conveying unit includes a conveying bracket and a panel tray, the panel tray is movably connected to the top of the conveying bracket, the image acquisition unit is located above the panel tray, the angle adjustment unit is located below the conveying bracket, and an aviation socket bracket is provided on the outer side of the conveying bracket, the aviation socket bracket is located at the assembly station; the panel tray is provided with a wire insertion clearance hole, the inner diameter of the wire insertion clearance hole is smaller than the inner diameter of the terminal panel.

[0007] Further defined, the image acquisition unit includes a first industrial camera and a second industrial camera. The first industrial camera is located directly above the correction station, and the second industrial camera is located directly above the assembly station. The terminal panel has an operation panel square hole and multiple aviation socket holes, with the multiple aviation socket holes arranged around the operation panel square hole. The host computer is used to calculate the rotation angle of the terminal panel based on the center coordinates of the square hole in the operation board in the image of the terminal panel of the correction station and the center coordinates of the square hole in the operation board on the terminal panel.

[0008] Further specifying, the angle adjustment unit includes a lifting and rotating mechanism and two positioning mechanisms; The two positioning mechanisms are arranged on opposite sides of the correction station. The positioning drive end of the positioning mechanism is opposite to the side wall of the terminal panel of the correction station, and is used to adjust the target position of the corresponding terminal panel on the correction station. The lifting and rotating mechanism is located directly below the correction station and is aligned with the wire insertion clearance hole on the correction station. The top rotating end of the lifting mechanism is used to rotate the corresponding terminal panel according to the rotation angle of the terminal panel of the correction station and place it on the correction station.

[0009] Further specifying, the positioning mechanism includes a positioning motor, a telescopic rod, and two positioning rings. Both positioning rings are connected to the output end of the positioning motor via the telescopic rod. The positioning motor is connected to the conveying unit. The central angle of the positioning ring is less than °, and the inner diameter of the positioning ring matches the outer diameter of the terminal panel.

[0010] Further specifying, the lifting and rotating mechanism includes a lifting and rotating motor, a lifting rod, and a rotating ring. The fixed end of the lifting and rotating motor is connected to the conveying unit, and the output end of the lifting and rotating motor is connected to the rotating ring through the lifting rod.

[0011] Further specifying, the assembly unit includes a robotic arm for socket assembly; The end effector of the robotic arm of the aircraft socket is connected to the mechanical gripper through a gripper fixing plate. The mechanical gripper is equipped with a touch sensor, and the gripper fixing plate is equipped with a first positioning red dot. The host computer is used to control the robotic arm of the aviation socket to pick up the aviation socket from the aviation socket bracket and move it horizontally to the top of the assembly station; to determine the socket that matches the current aviation socket according to the first positioning red dot; to determine the horizontal movement distance according to the center coordinates of the current aviation socket and the center coordinates of the corresponding socket; and to move the current aviation socket to the top of the corresponding socket according to the horizontal movement distance and then move it downward to insert it into the corresponding socket.

[0012] Furthermore, the assembly unit also includes a screw robotic arm, which is connected to a screwdriver head via a screw delivery tube; The aviation socket is equipped with a second positioning red dot; The host computer is used to calculate the alignment angle of the avionics socket based on the coordinates of the second positioning red dot on the terminal panel and the target coordinates of the second positioning red dot on the terminal panel in the image of the avionics socket at the assembly station. It is used to control the avionics socket robotic arm to rotate the current avionics socket by a corresponding angle through a mechanical gripper based on the alignment angle of the avionics socket. After the avionics socket is aligned, it is used to control the screw robotic arm to complete the assembly of the current avionics socket and the terminal panel by a screwdriver.

[0013] Furthermore, the assembly unit also includes two wire-binding mechanisms symmetrically arranged at the assembly station, each wire-binding mechanism comprising a lateral movement drive, a horizontal movement mechanism, and a semi-circular conical tube. The lateral movement drive is connected to the outer wall of the semicircular vertebral tube via a horizontal movement mechanism, with the narrow end of the semicircular vertebral tube facing downwards; The host computer is used to control the lateral movement drive to move the semi-circular conical tube to the corresponding position through the horizontal movement mechanism according to the center coordinates of the corresponding socket of the socket.

[0014] An automated assembly method for feeder terminal panels, based on the aforementioned automated assembly system for feeder terminal panels, includes the following steps: Place the terminal panel at the calibration station; Image of the acquisition terminal panel at the correction station; Calculate the rotation angle of the correction station terminal panel based on the image of the correction station terminal panel; Adjust the angle of the correction station terminal panel according to the rotation angle of the correction station terminal panel; The terminal panel is transported to the assembly station; Capture images of the terminal panel and the aviation socket at the assembly station; Calculate the horizontal movement distance of the aviation socket relative to the corresponding socket based on the images of the assembly station terminal panel and aviation socket; Align the connector with the corresponding socket based on the horizontal movement distance of the connector and the corresponding socket, and then insert it.

[0015] The beneficial effects of this invention are as follows: 1. This invention utilizes a conveying unit, an image acquisition unit, an angle adjustment unit, an assembly unit, and a host computer to coordinate with each other to achieve angle correction of the terminal panel at the correction station. This ensures that the actual coordinates of each socket on the terminal panel are consistent with the target coordinates. Consequently, after the avionics socket is picked up from any position, the horizontal movement distance from the avionics socket to the corresponding socket can be accurately calculated. This allows the avionics socket to be reliably inserted into the corresponding socket during installation, ensuring installation accuracy, achieving automatic assembly, improving assembly efficiency, and meeting actual operational needs.

[0016] 2. This invention utilizes two positioning mechanisms to adjust the horizontal position of the terminal panel on the correction station, ensuring that the terminal panel is directly aligned with the correction station to facilitate the determination of the center coordinates of the terminal panel. A lifting and rotating mechanism is used to adjust the angle of the terminal panel, ensuring that the center coordinates of each socket are consistent with the target coordinates, thereby improving assembly efficiency and accuracy. Simultaneously, two wire harnessing mechanisms are used to gather the wire harnesses during the insertion of the connector into the sockets, ensuring that they pass through the corresponding sockets, guaranteeing assembly quality, and improving assembly reliability.

[0017] 3. The robotic arm of the present invention also aligns the screw holes on the aviation socket with the screw holes on the terminal panel according to the rotation angle of the aviation socket, and at the same time uses the screw robotic arm to connect the aviation socket and the terminal panel, further improving the assembly efficiency of the terminal panel. Attached Figure Description

[0018] Figure 1 This is a first-view structural diagram of the automated assembly system for the feeder terminal panel of the present invention; Figure 2 This is a first-view structural diagram of the automated assembly system for the feeder terminal panel of the present invention; Figure 3 This is a front view of the correction station of the present invention; Figure 4 This is an isometric drawing of the correction station of the present invention; Figure 5 This is a circumferential measurement diagram of the assembly station of the present invention; In the diagram, 1-Terminal panel; 1.1-Aviation socket hole; 1.2-Operating panel square hole; 2-Panel tray; 3-Transfer bracket; 4-Positioning motor; 5-Positioning ring; 6-First industrial camera; 7-Host computer; 8-Lifting rotary motor; 8.1-Lifting rod; 8.2-Rotating ring; 9-Aviation socket; 10-Aviation socket bracket; 11-Robotic arm; 11.1-Robotic gripper; 11.2-Touch sensor; 11.3-Robotic gripper fixing plate; 12-Second industrial camera; 13-Wire harness tapered tube; 13.1-Lateral movement drive; 13.2-Horizontal movement mechanism; 13.3-Semi-conical tube; 14-Screw robotic arm; 14.1-Screwdriver head; 14.2-Screw transport tube. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" 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 the invention is in use, they are only for the convenience of describing the present 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 the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Example 1 refer to Figures 1-5 The present invention provides an automated assembly system for feeder terminal panels, including a conveying unit for driving the terminal panel 1 to be assembled through the self-correcting station to the assembly station and then outputting it. The image acquisition unit is used to acquire images of the terminal panel 1 at the correction station and to acquire images of the terminal panel 1 and the connector 9 at the assembly station. The host computer 7 is used to calculate the rotation angle of the correction station terminal panel 1 based on the image of the correction station terminal panel 1, and to calculate the horizontal movement distance of the navigation socket 9 and the corresponding socket based on the images of the assembly station terminal panel 1 and the navigation socket 9. An angle adjustment unit, located at the correction station, is used to adjust the angle of the correction station terminal panel 1 according to the rotation angle of the correction station terminal panel 1. The assembly unit is used to grasp the aviation socket 9 and, based on the horizontal movement distance between the aviation socket 9 and the corresponding socket, align the aviation socket 9 with the corresponding socket and insert it.

[0024] Specifically, the conveying unit includes a conveying bracket 3 and a panel tray 2. The conveying bracket 3 is horizontally positioned, and the panel tray 2 is movably connected to the top of the conveying bracket 3, allowing the panel tray 2 to move along the conveying bracket 3 from the straightening station to the assembly station for the assembly of the aviation socket 9. After the aviation socket 9 is assembled, it moves to the rear end for the next step of processing. Optionally, the bottom of the panel tray 2 is provided with drive wheels, and the top of the conveying bracket 3 is a moving track that cooperates with the drive wheels to improve assembly efficiency.

[0025] The angle adjustment unit is located below the conveying bracket 3 and is used to drive the terminal panel 1 to rotate from the bottom. The image acquisition unit is located above the panel tray 2, which facilitates image acquisition of the upper surface of the terminal panel 1 on the panel tray 2 and the top of the docking socket 9 to be assembled, reducing occlusion and image edge distortion, reducing image processing difficulty, and improving efficiency.

[0026] To facilitate angle adjustment of the terminal panel 1 and avoid obstruction of the bottom wiring harness of the navigation socket 9, it is preferable that the panel tray 2 has a wire insertion clearance hole. The wire insertion clearance hole can be circular to facilitate insertion of the navigation socket 9 into the terminal panel 1. At the same time, it facilitates the angle adjustment unit to rise, pass through the wire insertion clearance hole, and contact the back of the terminal panel 1 for angle adjustment. The inner diameter of the wire insertion clearance hole is smaller than the inner diameter of the terminal panel 1, while ensuring that the terminal panel 1 can be placed stably and reliably on the panel tray 2.

[0027] An aviation socket bracket 10 is provided on the outside of the conveying bracket 3. The aviation socket 9 required by the terminal panel 1 is provided on the aviation socket bracket 10. The aviation socket bracket 10 is located at the assembly station, which makes it easy for the assembly unit to grab the aviation socket from the aviation socket bracket 10, shortening the grabbing distance of the aviation socket 9 and improving efficiency.

[0028] To further explain, the image acquisition unit includes a first industrial camera 6 and a second industrial camera 12. The first industrial camera 6 is set directly above the correction station via a first support frame and is used to capture images of the terminal panel 1 at the correction station. The second industrial camera 12 is set directly above the assembly station via a second support frame and is used to capture images of the terminal panel 1 and the navigation socket 9 at the assembly station.

[0029] The terminal panel 1 is illustrated using a circular shape as an example. Preferably, the terminal panel 1 and the panel tray 2 are coaxially arranged. When the first industrial camera 6 and the panel tray 2 are fixed in the position of the correction station, the center of the terminal panel 1 can be fixed in the position of the correction station. The terminal panel 1 has an operation plate square hole 1.2 and multiple aviation socket holes 1.1. The multiple aviation socket holes 1.1 are arranged around the operation plate square hole 1.2, and the operation plate square hole 1.2 is symmetrically arranged about any meridian of the terminal panel 1. The center coordinates of the terminal panel 1, i.e., the coordinates of the center of the terminal panel 1 on the panel tray 2, are illustrated using MX0, Y0 as an example. Then, the center coordinates of the operation plate square hole 1.2 are CX0, Y1. The number of aviation socket holes 1.1 is, for example, five, including various models, and the port diameter, number of interface pins, and layout of each aviation socket hole 1.1 are different. The center of each aviation socket hole 1.1 is Ha~He, illustrated using HaXa, Ya as an example.

[0030] Since the shape and number of the square holes 1.2 on the control panel are uniform, it is preferable that the host computer 7 obtains the actual coordinates C'X0', Y1' of the square holes 1.2 on the control panel through the image of the terminal panel 1 at the correction station, and then calculates the rotation angle of the terminal panel 1 using the theoretical center coordinates CX0, Y1 of the square holes 1.2 on the control panel. :

[0031] The angle adjustment unit can adjust according to the rotation angle. After rotating the terminal panel 1, the center of the remaining aviation socket holes 1.1 is aligned with the theoretical center coordinates, which facilitates the assembly of the aviation socket 9.

[0032] To further explain, the angle adjustment unit includes a lifting and rotating mechanism and two positioning mechanisms; Two positioning mechanisms are set on opposite sides of the correction station. The positioning drive end of the positioning mechanism is opposite to the side wall of the terminal panel 1 of the correction station. The positioning drive ends on both sides simultaneously approach and push the terminal panel 1 on the panel tray 2 to move to the target position, so that the center of the terminal panel 1 coincides with the center of the panel tray 2, realizing automatic alignment of the center of the terminal panel 1 with the center of the panel tray 2, further reducing the proportion of manual operation and improving assembly automation.

[0033] The lifting and rotating mechanism is located directly below the correction station. The lifting and rotating mechanism is aligned with the wire insertion clearance hole on the correction station. The top rotating end of the lifting mechanism is used to rotate the corresponding terminal panel 1 according to the rotation angle of the terminal panel 1 of the correction station and place it on the correction station.

[0034] Specifically, the positioning mechanism includes a positioning motor 4, a telescopic rod, and two positioning rings 5. The positioning motor 4 is connected to the conveying bracket 3. Both positioning rings 5 ​​are connected to the output end of the positioning motor 4 through the telescopic rod. The positioning motor 4 drives the two positioning rings 5 ​​to move synchronously a set distance through the telescopic rod. Both positioning rings 5 ​​are arc-shaped and match the side wall of the terminal panel 1. After the positioning ring 5 moves to the target position, its center coincides with the center of the panel tray 2. Thus, when pushing the terminal panel 1 to move, it limits the terminal panel 1 in the circumferential direction so that it can move accurately to the target position. The central angle of a single positioning ring 5 is less than 90°, and the four positioning rings 5 ​​can form a circle.

[0035] Specifically, the lifting and rotating mechanism includes a lifting and rotating motor 8, a lifting rod 8.1, and a rotating ring 8.2. The fixed end of the lifting and rotating motor 8 is connected to the conveying bracket 3, and the output end of the lifting and rotating motor 8 is connected to the rotating ring 8.2 through the lifting rod 8.1. The lifting and rotating motor 8, the lifting rod 8.1, and the rotating ring 8.2 are all coaxially arranged with the panel tray 2 of the correction station, so that after the positioning mechanism aligns the terminal panel 1 with the panel tray 2, the center of the circle after rotating the terminal panel 1 is still aligned with the center of the panel tray 2.

[0036] When adjusting the angle of terminal panel 1, the lifting rotary motor 8 drives the rotating ring to rise via the lifting rod 8.1, and after contacting the bottom of terminal panel 1, it raises terminal panel 1 above panel tray 2. Then, the lifting rotary motor 8 drives terminal panel 1 to rotate by an angle. Then it descends, allowing the terminal panel 1 to be placed back on the panel tray 2.

[0037] To further explain, the assembly unit includes a flight socket robotic arm 11, which is located between the conveying bracket 3 and the flight socket bracket 10, so as to grasp the flight socket 9 and insert it into the socket on the terminal panel 1 of the assembly station.

[0038] The end effector of the robotic arm 11 for the avionics socket is connected to the mechanical gripper 11.1 via a gripper fixing plate 11.3. The mechanical gripper 11.1 is equipped with a touch sensor 11.2. After the terminal panel 1, which has been calibrated, is transported to the assembly station by the panel tray 2, the robotic arm 11 controls the mechanical gripper 11.1 to grasp the avionics socket 9 and move it directly above the assembly station. In order to reduce the difficulty of control, it is preferable that the mechanical gripper 11.1 maintains horizontal movement during the grasping process, and the vertical distance between the mechanical gripper 11.1 and the socket is maintained at z, which facilitates moving the avionics socket 9 downward by a distance z for installation.

[0039] The touch sensor 11.2 is used to confirm whether the mechanical gripper 11.1 has gripped the navigation socket 9 before assembly and whether it has detached from the navigation socket 9 after assembly; the gripper fixing plate 11.3 is provided with a first positioning red dot to facilitate the confirmation of the position of the mechanical gripper 11.1 and to lock the navigation socket 9 on the mechanical gripper 11.1.

[0040] The host computer 7 controls the robotic arm 11 to grasp the aviation socket 9 from the aviation socket bracket 10 via the mechanical gripper 11.1 and move it horizontally to directly above the assembly station. It also acquires images of the terminal panel 1 and aviation socket 9 captured by the second industrial camera 12 and extracts color information. The robotic gripper 11.1 and aviation socket 9 are positioned using a first positioning red dot. A morphological algorithm is used to extract the shape contour of the aviation socket 9 and its internal core layout, obtaining the center coordinates Ha'Xa', Ya' of the aviation socket 9 in the image. These coordinates are then compared with the aviation socket database to find its accurate aviation socket hole 1.1, whose center coordinates are HaXa, Ya. The horizontal movement distance P of the current aviation socket 9 is then calculated as P = Xa' - Xa, Ya' - Ya. Based on the horizontal movement distance P, the robotic gripper 11.1 is controlled to move the current aviation socket 9 directly above the corresponding aviation socket hole 1.1 and then move it downwards a distance z to insert the aviation socket 9 into the corresponding aviation socket hole 1.1.

[0041] To further explain, since the wiring at the bottom of the aviation socket 9 is of varying lengths and the uneven ends of the wire harness can prevent it from being inserted into the aviation socket hole 1.1, the preferred assembly unit also includes two wire harnessing mechanisms 13 symmetrically arranged at the assembly station. The wire harnessing mechanism 13 includes a lateral movement drive 13.1, a horizontal movement mechanism 13.2, and a semi-circular conical tube 13.3.

[0042] The lateral movement drive 13.1 is connected to the outer wall of the semicircular conical tube 13.3 via the horizontal movement mechanism 13.2, with the narrow end of the semicircular conical tube 13.3 facing downwards. The host computer 7 controls the lateral movement drive 13.1 to move the semicircular conical tube 13.3 to HaXa, Ya via the horizontal movement mechanism 13.2 according to the center coordinates HaXa, Ya of the corresponding aviation socket hole 1.1 of the aviation socket 9. The two opposing semicircular conical tubes 13.3 then merge to form a funnel-shaped structure with the flared end facing upwards. The narrow end of this funnel-shaped structure is directly opposite the corresponding aviation socket hole 1.1, allowing the wiring at the bottom of the aviation socket 9 to pass through the aviation socket hole 1.1 after being constrained along the inner wall of the semicircular conical tube 13.3, ensuring the stable and reliable installation of the aviation socket 9.

[0043] To further explain, in order to improve the degree of automation of the terminal panel 1, reduce subsequent manual operations, and improve work efficiency, the preferred assembly unit also includes a screw robot arm 14. The screw robot arm 14 is connected to a screwdriver head 14.1 through a screw delivery pipe 14.2. The screwdriver head 14.1 can fasten the screws provided by the screw delivery pipe 14.2 to the socket 9 and the terminal panel 1.

[0044] Specifically, a second positioning red dot is set on the navigation socket 9.

[0045] At this point, after the installation of the navigator socket 9 is completed, the host computer 7 extracts color information from the image of the navigator socket 9 at the assembly station captured again by the second industrial camera 12, and calculates the alignment angle of the navigator socket 9 by using the actual coordinates DXah' and Yah' of the second positioning red point on the terminal panel 1 and the target coordinates DXa and Yah of the second positioning red point on the terminal panel 1. :

[0046] Used for alignment angle according to the socket 9 The control arm 11 for the aviation socket rotates the current aviation socket 9 by a mechanical gripper 11.1, so that the screw holes on the aviation socket 9 are all aligned with the screw holes around the corresponding aviation socket holes 1.1 on the terminal panel 1. After the aviation socket 9 is aligned, the control arm 14 for the screw tightens the screw by inserting the screw into the set screw hole coordinates with the screwdriver head 14.1, thus completing the assembly of the current aviation socket 9 and the terminal panel 1. The screwdriver head 14.1 has a pressure sensor, which detects that it is in the tightening state when it detects greater resistance.

[0047] At the assembly station, complete the assembly of all sockets in the manner described above.

[0048] Example 2 Based on Embodiment 1, this embodiment provides an automated assembly method for a feeder terminal panel, including the following steps: Place terminal panel 1 at the calibration station; The image of the acquisition terminal panel 1 at the correction station is captured. Calculate the rotation angle of the correction station terminal panel 1 based on the image of the correction station terminal panel 1; Adjust the angle of the correction station terminal panel 1 according to the rotation angle of the correction station terminal panel 1; Transport terminal panel 1 to the assembly station; Images of terminal panel 1 and connector 9 at the assembly station are captured; Calculate the horizontal movement distance of the aviation socket 9 relative to the corresponding socket based on the images of the assembly station terminal panel 1 and the aviation socket 9. Align the connector 9 with the corresponding socket according to the horizontal movement distance of the connector 9 and the corresponding socket, and then insert it.

[0049] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0050] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated assembly system for feeder terminal panels, characterized in that, include: The conveying unit is used to drive the terminal panel to be assembled (1) through the self-correcting station to the assembly station and output it; Image acquisition unit, used to acquire images of terminal panel (1) at the correction station, and to acquire images of terminal panel (1) and socket (9) at the assembly station; The host computer (7) is used to calculate the rotation angle of the correction station terminal panel (1) based on the image of the correction station terminal panel (1), and to calculate the horizontal movement distance of the aviation socket (9) and the corresponding socket based on the images of the assembly station terminal panel (1) and the aviation socket (9). An angle adjustment unit is located at the correction station and is used to adjust the angle of the correction station terminal panel (1) according to the rotation angle of the correction station terminal panel (1). The assembly unit is used to grasp the aviation socket (9) and align the aviation socket (9) with the corresponding socket according to the horizontal movement distance between the aviation socket (9) and the corresponding socket before inserting it.

2. The automated assembly system for feeder terminal panels according to claim 1, characterized in that, The conveying unit includes a conveying bracket (3) and a panel tray (2). The panel tray (2) is movably connected to the top of the conveying bracket (3). The image acquisition unit is located above the panel tray (2), and the angle adjustment unit is located below the conveying bracket (3). A flight socket bracket (10) is provided on the outside of the conveying bracket (3). The flight socket bracket (10) is located at the assembly station. A wire insertion clearance hole is provided on the panel tray (2). The inner diameter of the wire insertion clearance hole is smaller than the inner diameter of the terminal panel (1).

3. The automated assembly system for feeder terminal panels according to claim 2, characterized in that, The image acquisition unit includes a first industrial camera (6) and a second industrial camera (12). The first industrial camera (6) is located directly above the correction station, and the second industrial camera (12) is located directly above the assembly station. The terminal panel (1) is provided with an operation panel square hole (1.2) and multiple aviation socket holes (1.1). The multiple aviation socket holes (1.1) are arranged around the operation panel square hole (1.2). The host computer (7) is used to calculate the rotation angle of the terminal panel (1) based on the center coordinates of the operation board square hole (1.2) in the image of the correction station terminal panel (1) and the center coordinates of the operation board square hole (1.2) on the terminal panel (1).

4. The automated assembly system for feeder terminal panels according to claim 1, characterized in that, The angle adjustment unit includes a lifting and rotating mechanism and two positioning mechanisms; The two positioning mechanisms are set on opposite sides of the correction station. The positioning drive end of the positioning mechanism is opposite to the side wall of the terminal panel (1) of the correction station, and is used to adjust the target position of the corresponding terminal panel (1) on the correction station. The lifting and rotating mechanism is located directly below the correction station. The lifting and rotating mechanism is directly opposite the wire insertion clearance hole on the correction station. The top rotating end of the lifting mechanism is used to drive the corresponding terminal panel (1) to rotate according to the rotation angle of the terminal panel (1) of the correction station and then place it in the correction station.

5. The automated assembly system for feeder terminal panels according to claim 4, characterized in that, The positioning mechanism includes a positioning motor (4), a telescopic rod and two positioning rings (5). Both positioning rings (5) are connected to the output end of the positioning motor (4) through the telescopic rod. The positioning motor (4) is connected to the conveying unit. The central angle of the positioning ring (5) is less than 90°. The inner diameter of the positioning ring (5) matches the outer diameter of the terminal panel (1).

6. The automated assembly system for feeder terminal panels according to claim 4, characterized in that, The lifting and rotating mechanism includes a lifting and rotating motor (8), a lifting rod (8.1), and a rotating ring (8.2). The fixed end of the lifting and rotating motor (8) is connected to the conveying unit, and the output end of the lifting and rotating motor (8) is connected to the rotating ring (8.2) through the lifting rod (8.1).

7. The automated assembly system for feeder terminal panels according to claim 1, characterized in that, The assembly unit includes a socket robotic arm (11). The end of the robotic arm (11) of the aircraft socket is connected to the mechanical gripper (11.1) through the gripper fixing plate (11.3). The mechanical gripper (11.1) is equipped with a touch sensor (11.2), and the gripper fixing plate (11.3) is equipped with a first positioning red dot. The host computer (7) is used to control the robotic arm (11) of the aviation socket to grab the aviation socket (9) from the aviation socket bracket (10) through the mechanical gripper (11.1) and move it horizontally to the top of the assembly station; it is used to determine the socket that matches the current aviation socket (9) according to the first positioning red dot; it is used to determine the horizontal movement distance according to the center coordinates of the current aviation socket (9) and the center coordinates of the corresponding socket; it is used to move the current aviation socket (9) to the top of the corresponding socket according to the horizontal movement distance and then move it downward to insert it into the corresponding socket.

8. The automated assembly system for feeder terminal panels according to claim 7, characterized in that, The assembly unit also includes a screw robotic arm (14), which is connected to a screwdriver head (14.1) via a screw delivery tube (14.2); The navigation socket (9) is provided with a second positioning red dot; The host computer (7) is used to calculate the alignment angle of the navigation socket (9) based on the coordinates of the second positioning red point on the terminal panel (1) and the target coordinates of the second positioning red point on the terminal panel (1) in the image of the navigation socket (9) at the assembly station. It is used to control the navigation socket robot arm (11) to drive the current navigation socket (9) to rotate by the corresponding angle through the mechanical gripper (11.1) according to the alignment angle of the navigation socket (9). It is used to control the screw robot arm (14) to complete the assembly of the current navigation socket (9) and the terminal panel (1) through the screwdriver head (14.1) after the navigation socket (9) is aligned.

9. The automated assembly system for feeder terminal panels according to claim 7, characterized in that, The assembly unit also includes two wire-binding mechanisms (13) symmetrically arranged at the assembly station. The wire-binding mechanism (13) includes a transverse movement drive (13.1), a horizontal movement mechanism (13.2), and a semi-circular conical tube (13.3). The lateral movement drive (13.1) is connected to the outer wall of the semicircular conical tube (13.3) via the horizontal movement mechanism (13.2), with the narrow end of the semicircular conical tube (13.3) facing downwards; The host computer (7) is used to control the lateral movement drive according to the center coordinates of the corresponding socket of the socket (9). 13.1) The semicircular vertebral tube (13.3) is moved to the corresponding position by the horizontal moving mechanism (13.2).

10. An automated assembly method for a feeder terminal panel, characterized in that, The automated assembly system for feeder terminal panels according to any one of claims 1 to 9 includes the following steps: Place the terminal panel (1) in the correction station; Image of the acquisition terminal panel (1) at the correction station; Calculate the rotation angle of the correction station terminal panel (1) based on the image of the correction station terminal panel (1); Adjust the angle of the correction station terminal panel (1) according to the rotation angle of the correction station terminal panel (1); The terminal panel (1) is transported to the assembly station; Images of the terminal panel (1) and the aviation socket (9) at the assembly station are collected; Calculate the horizontal movement distance of the aviation socket (9) and the corresponding socket based on the images of the assembly station terminal panel (1) and the aviation socket (9); Align the connector (9) with the corresponding socket according to the horizontal movement distance of the connector (9) and the corresponding socket, and then insert it.

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