Plug conversion fixture, automatic plug system and automatic plug method

Abstract

The application relates to the technical field of plug jigs, in particular to a plug conversion jig, an automatic plugging system and an automatic plugging method. The plug conversion jig comprises a jig body, a first clamping piece, a second clamping piece and a connecting piece, the three pieces jointly enclose a fixing cavity, and the jig body is provided with a positioning part; the conversion plug has a plug part and a socket part, the socket part is used for being connected with an external power line plug, the plug part is used for being plugged with a power supply socket of an external device, and the conversion plug is connected with the jig body; the jig body is further provided with a limiting assembly, the limiting assembly comprises a connector clamping piece, the connector clamping piece is arranged in the fixing cavity and has a wire passing groove, and the limiting assembly is used for limiting the external power line plug in the fixing cavity, so that the jig body, the conversion plug and the external power line plug form an operation unit which can be integrally clamped by an external mechanical hand. The problems of positioning deviation and clamping failure of irregular plugs caused by the lack of positioning surfaces and clamping surfaces are solved.

Description

Technical Field

[0001] This application relates to the field of plug fixture technology, and in particular to a plug conversion fixture, an automatic plug-in / plug-out system, and an automatic plug-in / plug-out method. Background Technology

[0002] With the increasing automation of production lines for electronic products such as LCD TVs, the demand for automatic plug insertion and removal in safety, aging, and electrical performance testing processes is growing. Currently, there are several methods to achieve automatic plug insertion and removal: Method 1: The robotic arm directly grips the plug for insertion and removal. For example, a vision sensor acquires image data of the plug and socket, determines their poses, and sends this data to the robot. The robot then grasps the plug and moves it to the socket to insert or remove it. Some solutions use flexible grippers or adaptive robotic arms to accommodate different plug sizes.

[0003] Method 2: Using a fixture to support the plug for insertion and removal. For example, CN219695185U discloses an automatic insertion and removal fixture for multiple sets of aviation plugs. This fixture uses multiple detachable connector housings mounted on a connector mounting plate and a corresponding connector pusher plate to achieve the insertion and removal of aviation plugs. In this solution, the fixture acts as a platform supporting the plug, and the plug itself is a regular aviation plug; the fixture only serves to fix and push it.

[0004] The above-mentioned existing technical solutions have the following shortcomings: First, the method of directly gripping the plug with a robotic arm presents difficulties in positioning and grasping. The power cord plugs used in products such as LCD TVs have irregular curved surfaces, lacking reasonable positioning space. This makes it difficult for the robotic arm's grippers to grasp the plug securely, resulting in large deviations and a high failure rate for automatic plugging and unplugging. While existing technologies address this issue by improving gripping accuracy or adding auxiliary support mechanisms, the shapes of plugs vary greatly, and no matter how adaptively the grippers adapt, it is difficult to guarantee a consistent posture every time.

[0005] Second, the fixture-supported plug method is only suitable for regular plugs. In solutions such as CN219695185U, the plug supported by the fixture is already a regular aviation plug, so there are no problems with positioning and clamping. For irregular power cord plugs, this solution cannot solve the positioning deviation caused by the irregularity of the plug itself.

[0006] Third, manual insertion and removal is inefficient and results in inconsistent quality. In existing production lines, insertion and removal operations still rely heavily on manual labor. Manual insertion and removal suffers from low automation, employee fatigue, and uneven insertion force. Summary of the Invention

[0007] The purpose of this invention is to at least overcome the aforementioned technical problem of difficulty in clamping plugs in existing systems. A plug conversion fixture, an automatic plug-in / plug-out system, and an automatic plug-in / plug-out method are provided.

[0008] This application provides a plug conversion fixture, an automatic plugging and unplugging system, and an automatic plugging and unplugging method, including: The fixture body includes a first clamping member, a second clamping member, and a connecting member connecting the first clamping member and the second clamping member. The first clamping member, the connecting member, and the second clamping member together form a fixed cavity. The fixed cavity has a first end and a second end facing each other and is used to accommodate an external power cord plug. The fixture body also has a positioning part, which is disposed on the first clamping member and / or the second clamping member, for positioning and gripping by an external robotic arm. The adapter plug has a plug portion and a socket portion, the socket portion being used to connect to the external power cord plug, the plug portion being used to connect to the power socket of an external device, and the adapter plug being connected to the fixture body; A limiting component is disposed on the fixture body and includes a connector clip. The connector clip is disposed at the second end of the fixing cavity and is respectively connected to the first clamping member and the second clamping member. The connector clip has a wire passage groove for avoiding the wire harness of the external power cord plug. The limiting component is used to limit the external power cord plug within the fixed cavity, so that the fixture body, the adapter plug and the external power cord plug form an operating unit that can be gripped as a whole by an external robotic arm.

[0009] In some embodiments, the connector extends toward the side where the first end is located to form an assembly platform that connects to the adapter plug.

[0010] In some embodiments, the first clamping member and the second clamping member are provided with clearance platforms facing each other near the first end, and a socket portion for accommodating and limiting the adapter plug is formed between the two clearance platforms.

[0011] In some embodiments, the limiting component further includes at least one gasket located at the first end of the fixing cavity and connected to the first clamping member and / or the second clamping member for abutting against the outer surface of the adapter plug.

[0012] In some embodiments, a first locking member is provided between the connector clip and the first clamping member and the second clamping member; And / or, A second locking element is provided between the gasket and the first clamping member and / or the second clamping member.

[0013] In some embodiments, the positioning part includes a first positioning hole provided on the first clamping member and a second positioning hole provided on the second clamping member.

[0014] An automatic plug-in / plug-out system includes a fixture base, a robotic arm, at least one external power cord plug, and at least one plug conversion fixture. The fixture base has a first connecting portion, and the first clamping member and / or the second clamping member have second connecting portions corresponding to the first connecting portion. The robotic arm controls the assembly or disassembly of the fixture body from the fixture base by clamping the positioning portion. After disassembly, the robotic arm moves the fixture body to connect the plug portion to the power socket of an external device.

[0015] In some embodiments, the first connecting portion is provided with a first magnetic suction member, the second connecting portion is provided with a second magnetic suction member, the first magnetic suction member and the second magnetic suction member are magnetically connected, and the magnetic attraction force between the first magnetic suction member and the second magnetic suction member is less than the maximum gripping force of the robotic arm.

[0016] In some embodiments, the robotic arm includes a first gripping arm and a second gripping arm capable of moving toward each other. The first gripping arm is provided with a first pin and a second pin, and the second gripping arm is provided with a third pin and a fourth pin. The first pin and the third pin are respectively inserted from both sides of a first positioning hole on the first gripping member, and the second pin and the fourth pin are respectively inserted from both sides of a second positioning hole on the second gripping member.

[0017] In some embodiments, a visual recognition mechanism is also included, which is used to identify and locate the positioning part of the fixture body to facilitate gripping by a robotic arm.

[0018] An automatic plug-in / plug-out method for a plug adapter fixture, employing an automatic plug-in / plug-out system, includes the following steps: S1. Obtain the position information of the fixture body; S2. Based on the position information, control the robotic arm to grip the fixture body and drive the fixture body to separate from the fixture base; S3. Control the robotic arm to move the fixture body to the power socket of the external device, and insert the plug of the adapter into the power socket of the external device; S5. Control the robotic arm to pull the plug out of the power socket of the external device; S6. Control the robotic arm to place the fixture body back into the fixture base and release the fixture body.

[0019] In some implementations, step S3 further includes: S31. The robotic arm moves the fixture body to a pre-insertion position in front of the power socket of the external device; S32. The robotic arm switches to torque control mode and drives the fixture body to move along the insertion direction with a predetermined torque, inserting the plug into the power socket of the external device.

[0020] In some implementations, the step between S3 and S5 may include: S4. Control the robotic arm to release the fixture body and retract.

[0021] In some implementations, step S5 further includes: after the test is completed, controlling the robotic arm to re-grip the fixture body.

[0022] In some implementations, step S1 further includes: The positioning part of the fixture body is photographed and identified by a visual recognition mechanism to obtain the position coordinates and orientation angle of the fixture body.

[0023] This invention provides a plug conversion fixture, an automatic plug-in / plug-out system, and an automatic plug-in / plug-out method. By integrating the fixture body, the conversion plug, and the external power cord plug into one unit, it changes the operation logic of plug insertion and removal in automated production lines. It transforms the high-difficulty, high-failure-rate operation of the robotic arm directly gripping irregular power cord plugs into a simple, high-success-rate standardized operation of gripping regular standard fixtures. This fundamentally solves the positioning deviation and gripping failure problems caused by irregular plugs lacking positioning and gripping surfaces. At the same time, through the separable connection structure between the fixture body and the fixture base, the robotic arm can easily remove the fixture to complete the insertion and removal operation. After testing, it can be accurately placed back into the base for rapid reset, forming a complete closed-loop operation of picking, inserting, removing, unplugging, and placing. Combined with visual recognition and automatic control of the robotic arm, it achieves full-process automation, significantly improving the success rate, consistency, and production efficiency of plug insertion and removal on the production line, and avoiding socket wear and product scratches caused by compression and alignment in floating connector methods. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional perspective view of a plug conversion fixture provided in one embodiment of this application; Figure 2This is a schematic diagram of the plug conversion fixture in a disassembled state in one embodiment of this application; Figure 3 This is a schematic diagram of the plug conversion fixture in a disassembled state from another perspective in one embodiment of this application; Figure 4 This is a three-dimensional structural schematic diagram of another plug conversion fixture provided in one embodiment of this application; Figure 5 This is a schematic diagram of the plug conversion fixture located at the fixture base structure in one embodiment of this application; Figure 6 This is a schematic diagram of an automatic plugging and unplugging system structure provided in one embodiment of this application; Figure 7 This is a schematic diagram of a robotic arm structure provided in one embodiment of this application; Figure 8 This is a schematic diagram of a partial disassembly structure of a robotic arm provided in one embodiment of this application.

[0026] Explanation of reference numerals in the attached drawings: 1. Fixture body; 11. First clamping member; 111. First positioning hole; 12. Second clamping member; 121. Second positioning hole; 13. Connecting member; 14. Assembly platform; 15. Fixing cavity; 151. First end; 152. Second end; 16. Clearance platform; 17. Second connecting part; 171. Second magnetic suction member; 172. Alignment hole; 2. Adapter plug; 21. Plug part; 22. Socket part; 3. Limiting component; 31. Connector clip; 311. Wire groove; 32. Gasket; 33. First locking element; 34. Second locking element; 4. External power cord plug; 5. Fixture base; 51. First connecting part; 511. First magnetic suction element; 512. Alignment element; 6. Robotic arm; 61. First gripping arm; 611. First pin; 612. Second pin; 62. Second gripping arm; 621. Third pin; 622. Fourth pin; 63. Drive device; 631. Drive component; 64. Drive base; 65. Robot flange; 7. Vision recognition mechanism. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] It should be noted that the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to direct setup or connection, or indirect setup or connection through centered components or centered structures.

[0029] Furthermore, in embodiments of this invention, terms such as "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are used to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, or in a conventional placement or usage state. These terms are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the structures, features, devices, or elements referred to must have a specific orientation or positional relationship, nor that they must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] The various specific technical features and embodiments described in the detailed embodiments can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different specific technical features / embodiments. In order to avoid unnecessary repetition, the various possible combinations of the various specific technical features / embodiments in this invention will not be described separately.

[0031] This embodiment discloses a plug conversion fixture, such as Figures 1 to 4 As shown, the device includes a fixture body 1, a converter plug 2, and a limiting component 3. The fixture body 1 has a positioning part for positioning and gripping by an external robotic arm 6. A fixing cavity 15 is provided on the fixture body 1 to accommodate an external power cord plug 4. The converter plug 2 has a plug part 21 and a socket part 22. The socket part 22 is used to connect to the external power cord plug 4 (specifically, it can be plugged in), and the plug part 21 is used to plug into the power socket of an external device. The converter plug 2 is connected to the fixture body 1. The fixture body 1 also has a limiting component 3, which limits the external power cord plug 4 within the fixing cavity 15, forming an operational structure that can be gripped as a whole by the external robotic arm 6, consisting of the fixture body 1, the converter plug 2, and the external power cord plug 4. Through this structure, the external power cord plug 4, which originally had an irregular shape and lacked stable gripping and positioning surfaces, can be transformed into a fixture structure with a regular shape and clear positional relationships through the converter plug 2 and the fixture body 1. Then, the robotic arm 6 positions and grips the fixture body 1. This design reduces problems such as insecure clamping, large deviations, and insertion / removal failures when directly clamping irregular plugs. It also avoids damage to the socket, product scratches, or internal structure caused by squeezing and straightening when using a floating connector, thereby improving the stability of automatic insertion / removal and product quality.

[0032] Specifically, the external power cord plug 4 can be a TV power cord plug, or it can be any plug structure that requires automatic insertion and removal in other testing stations, such as an HDMI plug, a USB plug, or other interface plugs. The adapter plug 2 is used to establish a connection between the original external power cord plug 4 and the port of the device under test, so that when the robotic arm 6 performs the insertion and removal action, it does not directly grip the external power cord plug 4, but instead grips the fixture body 1. This configuration transforms the complex plug shape into a regular structure that facilitates standardized handling and positioning, making it more conducive to automated testing on the production line. It should be noted that the adapter plug 2 can be configured as an 8-shaped power adapter plug, a triangular power adapter plug, or other matching conversion parts depending on the form of the external power cord plug 4, to adapt to different product models and different testing interface requirements.

[0033] Furthermore, the fixture body 1 includes a first clamping member 11, a second clamping member 12, and a connecting member 13. The connecting member 13 is connected between the first clamping member 11 and the second clamping member 12, and the fixed cavity 15 is enclosed by the first clamping member 11, the connecting member 13, and the second clamping member 12. With this arrangement, the first clamping member 11 and the second clamping member 12 can be located on both sides of the fixed cavity 15, and the connecting member 13 can be located on one side or the bottom side of the fixed cavity 15, making the fixed cavity 15 a stable space for accommodating the external power cord plug 4. Through this fixed cavity 15 formed by the three components, the external power cord plug 4 can be confined within a predetermined area, reducing the shaking and displacement of the plug during the handling and insertion / removal process of the robot arm 6, thereby improving the docking accuracy between the plug portion 21 and the socket of the device under test. It should be noted that the first clamping member 11, the second clamping member 12, and the connecting member 13 can be an integrally machined structure or a separate connected structure. Specifically, it can be formed by integral processing of aluminum alloy, or by assembly of plates, processing of profiles or casting, as long as a fixed cavity 15 can be formed to accommodate the external power cord plug 4.

[0034] Furthermore, the fixing cavity 15 has a first end 151 and a second end 152 opposite to the first end 151. The connector 13 extends towards the side where the first end 151 is located to form an assembly platform 14 connected to the adapter plug 2. With this configuration, the assembly platform 14 can serve as a mounting base for the adapter plug 2, allowing the adapter plug 2 to be connected to the front of the fixture body 1 in a defined posture. With this structure, the relative position between the adapter plug 2 and the fixture body 1 can remain stable, which helps ensure that the plug portion 21 maintains a consistent posture relative to the fixture body 1, thus facilitating the robot arm 6 to repeatedly perform the same insertion and removal actions. Furthermore, the extension of the connector 13 towards the first end 151 allows the adapter plug 2 to be positioned in front of the fixing cavity 15 (…). Figure 2(on the right side of the middle), thereby separating the insertion area of ​​the external power cord plug 4 and the adapter plug 2, the gripping area of ​​the robotic arm 6, and the action area of ​​the plug part 21 being inserted into the equipment socket, reducing structural interference.

[0035] Specifically, the adapter plug 2 can be connected to the assembly platform 14 via pin positioning, screw locking, or a combination of pins and screws. This arrangement ensures a relatively stable assembly relationship between the adapter plug 2 and the assembly platform 14. The pins primarily ensure the positioning accuracy of the adapter plug 2, while the screws provide axial locking force, thus reducing the possibility of loosening or displacement of the adapter plug 2 during long-term use. Preferably, the adapter plug 2 can have pre-drilled pin holes and screw holes, forming a transition fit with the corresponding holes on the assembly platform 14 to ensure accurate assembly positioning between the fixture body 1 and the adapter plug 2. It should be noted that, without affecting the positioning and fixing effect, the connection method between the adapter plug 2 and the assembly platform 14 can also be replaced with snap-fit ​​connection, pressure plate locking connection, riveting connection, or insert connection, etc.

[0036] Furthermore, the adapter plug 2 has a plug portion 21 and a socket portion 22. The plug portion 21 is used to connect to the power socket of an external device, and the socket portion 22 is used to connect to the external power cord plug 4. With this configuration, the external power cord plug 4 can first connect to the socket portion 22 of the adapter plug 2, and then the robot arm 6 drives the fixture body 1 to insert the plug portion 21 of the adapter plug 2 into the power socket of the device under test. Using this adapter method, the device under test contacts the standardized plug portion 21, while the robot arm 6 grips the standardized fixture body 1, thus significantly reducing the posture error caused by directly gripping an irregular plug. Furthermore, the plug portion 21 and the socket portion 22 of the adapter plug 2 preferably have different orientations and can be configured as mutually perpendicular L-shaped structures. Preferably, the plug portion faces the side of the connector 13 facing the fixing cavity 15, so that the assembly platform 14 can provide a stable contact force when the plug portion 21 is inserted. This arrangement facilitates the placement of the external power cord plug 4 and the adapter plug 2 within the fixed cavity 15, and also allows the plug portion 21 to extend towards the socket of the device under test, thereby improving the overall compactness of the spatial arrangement. It should be noted that the plug portion 21 and the socket portion 22 can also be set to other angular relationships, such as acute angle, obtuse angle, or parallel misalignment, as long as the fixture structure arrangement and insertion / removal requirements can be met.

[0037] Furthermore, the first clamping member 11 and the second clamping member 12 are provided with clearance platforms 16 facing each other near the first end 151, and a socket portion 22 for accommodating and limiting the adapter plug 2 is formed between the two clearance platforms 16. With this arrangement, when the adapter plug 2 is installed on the assembly platform 14, the socket portion 22 can be partially or completely located between the two clearance platforms 16, thereby restricting the socket portion 22 in the left-right or front-back directions and reducing displacement after the external power cord plug 4 is plugged in. Especially during the handling, insertion, and removal of the plug adapter fixture, the clearance platforms 16 can provide clearance and limit the outward convex contour at the connection between the socket portion 22 and the plug portion 21, thereby further maintaining the stability of the adapter plug 2's posture. Preferably, the clearance platform 16 can specifically be a groove structure formed by the first clamping member 11 and the second clamping member 12, used to match the outward convex contour at the connection between the adapter plug 2 and the socket portion 22 to achieve a limiting effect. It should be noted that the adapter plug 2 does not necessarily have to directly contact the clearance platform 16, but the presence of the clearance platform 16 can constrain the displacement of the socket part 22 toward the insertion direction, thus helping to improve the accuracy of repeated insertion and removal.

[0038] Furthermore, the limiting component 3 includes a connector clip 31, which has a wire passage groove 311 for avoiding the wire harness of the external power cord plug 4. The connector clip 31 is located at the second end 152 of the fixing cavity 15 and is connected to the first clamping member 11 and the second clamping member 12. With this configuration, the connector clip 31 can be located on the rear side of the fixing cavity 15. Figure 2 The external power cord plug 4 is positioned on the left side of the mounting cavity 15, forming a stop at the rear and providing space for the wire harness to pass through via the wire passage groove 311. With this structure, after the external power cord plug 4 is inserted into the mounting cavity 15, its main body is confined within the cavity, while the wire harness is led out through the wire passage groove 311. This prevents the wire harness from being damaged and reduces changes in the plug's posture caused by compression. Furthermore, the connector clamp 31 can also restrict the external power cord plug 4 from exiting towards the second end 152 during the gripping and movement of the robotic arm 6, thereby improving the stability of the connection between the external power cord plug 4 and the adapter plug 2. It should be noted that the wire passage groove 311 can be a U-shaped groove, V-shaped groove, arc-shaped groove, or open hole groove, as long as it can avoid the wire harness and stop the plug body. The connector clamp 31 and the adapter plug 2 can fix the two ends of the external power cord plug 4 relatively to both sides of the mounting cavity 15, improving the stability of the external power cord plug 4 within the mounting cavity 15.

[0039] Furthermore, the limiting component 3 also includes at least one gasket 32, which is located at the first end 151 of the fixing cavity 15 and connected to the first clamping member 11 and / or the second clamping member 12, for abutting against the outer surface of the adapter plug 2. With this configuration, the gasket 32 ​​can form an axial abutment against the side of the adapter plug 2 near the first end 151, thereby cooperating with the rear connector clip 31 and the adapter plug 2 to form a multi-directional clamping restriction on the external power cord plug 4 within the fixing cavity 15. This structure further reduces the slight swaying of the adapter plug 2 at the assembly platform 14 and also reduces the overall movement of the external power cord plug 4 after it is plugged into the socket portion 22, which helps maintain the precise position of the plug portion 21 relative to the fixture body 1. Preferably, the gasket 32 ​​can be made of POM (thermoplastic engineering plastic) material to provide auxiliary limiting and protection for the adapter plug 2, reducing the risk of surface damage caused by direct pressure from hard parts. It should be noted that the gasket 32 ​​can be one, two or more, and can be respectively set at the corresponding positions of the first clamping member 11 and the second clamping member 12; in addition to POM, the material of the gasket 32 ​​can also be nylon, polytetrafluoroethylene, polyurethane gasket or other wear-resistant engineering plastic parts.

[0040] Furthermore, a first locking element 33 is provided between the connector clip 31 and the first clamping element 11 and the second clamping element 12; and / or, a second locking element 34 is provided between the gasket 32 ​​and the first clamping element 11 and / or the second clamping element 12. With this configuration, the first locking element 33 can reliably fix the connector clip 31 to the second end 152 of the fixing cavity 15, and the second locking element 34 can reliably fix the gasket 32 ​​to the first end 151 of the fixing cavity 15, thereby facilitating the installation and replacement of the limiting assembly 3 according to different plug sizes or different clamping requirements. Furthermore, the use of the first locking element 33 and the second locking element 34 also facilitates the disassembly of corresponding parts during maintenance and repair. It should be noted that the first locking element 33 and the second locking element 34 can preferably be shoulder screws, screws, bolts, or countersunk screws, or can be replaced with pin-fitting plates, snap-fit ​​parts, elastic locking plates, or quick-release locking structures, as long as reliable fixation can be achieved.

[0041] Specifically, the positioning part of the fixture body 1 includes a first positioning hole 111 on the first clamping member 11 and a second positioning hole 121 on the second clamping member 12. With this configuration, the robot arm 6 can directly position and grip the fixture body 1 using the first positioning hole 111 and the second positioning hole 121, without needing to identify and grip the irregularly shaped external power cord plug 4. By using regular hole positions as positioning references, the consistency between visual recognition and mechanical gripping can be significantly improved, gripping deviation can be reduced, and thus the success rate of automatic insertion and removal can be increased. Furthermore, the first positioning hole 111 and the second positioning hole 121 can be located in the exposed areas of the first clamping member 11 and the second clamping member 12, so that they remain recognizable and grippable when the fixture body 1 is assembled on the fixture base 5. Preferably, the fixture body 1 can be made of 6061 aluminum alloy, with a relatively sharp edge profile, and can undergo hard anodizing treatment to serve as a visual identification mark. This design facilitates the visual recognition mechanism 7 in accurately identifying the posture of the fixture body 1, and also improves the wear resistance and long-term stability of the fixture body 1. It should be noted that, in addition to using a positioning hole, the positioning part can also be replaced with a positioning groove, a positioning post hole mating structure, a V-shaped positioning opening, or other regular geometric features, as long as it facilitates visual recognition and gripping by the robotic arm 6.

[0042] Specifically, such as Figures 5 to 8 As shown, this embodiment also discloses an automatic plug-in / plug-out system, including a fixture base 5, a robotic arm 6, at least one external power cord plug 4, and at least one plug conversion fixture. The fixture base 5 is provided with a first connecting portion 51, and a second connecting portion 17 is provided on a first clamping member 11 and / or a second clamping member 12 corresponding to the first connecting portion 51. The robotic arm 6 controls the assembly or disassembly of the fixture body 1 from the fixture base 5 through a clamping and positioning part. After disassembly, the robotic arm 6 moves the fixture body 1 to connect the plug portion 21 to the power socket of the external device. With this configuration, the fixture body 1 can be stably placed on the fixture base 5 when not in operation, facilitating production line transport, storage, and positioning. When testing is required, the robotic arm 6 can remove the fixture body 1 from the fixture base 5 through the positioning part, and then send the plug portion 21 to the socket position of the device under test to complete the plug-in / plug-out action. With this structure, an automated process of picking, moving, inserting, retracting, pulling out, and placing can be formed, which is beneficial to replace manual insertion and removal, improve the automation level of the production line, and reduce the problems of manual fatigue and uneven insertion force.

[0043] Furthermore, the first connecting part 51 is provided with a first magnetic suction member 511, and the second connecting part 17 is provided with a second magnetic suction member 171. The first magnetic suction member 511 and the second magnetic suction member 171 are magnetically connected, and the magnetic attraction between the first magnetic suction member 511 and the second magnetic suction member 171 is less than the maximum gripping force of the robot arm 6. With this configuration, when the fixture body 1 is placed on the fixture base 5, it can be quickly positioned and fixed by the magnetic attraction between the first magnetic suction member 511 and the second magnetic suction member 171, thus facilitating the stability of the fixture body 1 during production line transportation and preventing it from easily falling off the fixture base 5. When the robot arm 6 grips it, since the gripping force of the robot arm 6 is greater than the magnetic connection force, the robot arm 6 can smoothly remove the fixture body 1 from the fixture base 5. This structure takes into account both the stability of the fixture in the placed state and the convenience of automatic pick-and-place. Preferably, the magnetic suction component can be an N35 magnet. The specific size can be selected according to the weight of the jig and the load of the robot arm 6 to ensure that the magnetic suction force is sufficient for placement and fixation without being too large to affect material retrieval. It should be noted that, without changing the basic functions of quick assembly and detachable fixation, the connection method between the first connecting part 51 and the second connecting part 17 can be replaced with a flexible snap-fit ​​connection, a conical positioning fit connection, a positioning pin fit with light pressure locking connection, or a vacuum adsorption assisted positioning connection, in addition to the magnetic suction connection.

[0044] Furthermore, the second magnetic suction member 171 has two alignment holes 172 on both sides, and similarly, the first magnetic suction member 511 has alignment members 512 on both sides, which are inserted into the alignment holes 172. With this configuration, when the fixture body 1 is placed back into the fixture base 5, the alignment members 512 can first be inserted into the alignment holes 172 to correct the relative position between the fixture body 1 and the fixture base 5, and then the first magnetic suction member 511 and the second magnetic suction member 171 are attracted and fixed. This structure improves the repeatability accuracy of the fixture body 1 when it is placed back into the base and reduces the risk of misalignment caused by relying solely on the self-alignment of the magnetic suction members. Furthermore, the alignment members 512 and the alignment holes 172 also help limit the horizontal movement of the fixture body 1, thereby improving the stability of the base assembly. It should be noted that the alignment component 512 can be a pin, a positioning post, a cylindrical pin, or a tapered pin, and the alignment hole 172 can be a round hole, an oblong hole, or a positioning hole with a guide bevel, as long as it can achieve the purpose of guiding alignment and position restriction.

[0045] It should be noted that the fixture base 5 can hold various plug conversion fixtures for the robotic arm to choose from. In this embodiment, see [reference needed]. Figure 5 As shown, the fixture base 5 holds two types of plug conversion fixtures.

[0046] Furthermore, the robotic arm 6 includes a first gripping arm 61 and a second gripping arm 62 capable of moving towards each other. The first gripping arm 61 is provided with a first pin 611 and a second pin 612, and the second gripping arm 62 is provided with a third pin 621 and a fourth pin 622. The first pin 611 and the third pin 621 are respectively inserted into the first positioning hole 111 on the first gripping member 11, and the second pin 612 and the fourth pin 622 are respectively inserted into the second positioning hole 121 on the second gripping member 12. With this configuration, when the first gripping arm 61 and the second gripping arm 62 move towards each other, the four pins can be inserted from the two positioning holes on both sides, thereby forming a relatively stable gripping relationship on the fixture body 1. Compared with direct friction gripping from the outer wall of the fixture body 1, this method of using pins in conjunction with positioning holes provides higher positioning accuracy, stronger anti-slip capability, and is more suitable for performing repetitive insertion and removal actions. Specifically, the first clamping arm 61 and the second clamping arm 62 can be fixed to the two driving components 631 of the driving device 63, respectively. The driving device 63 can be a bidirectional cylinder, an electric slide, or other actuator capable of driving the clamping components on both sides to move in opposite directions. The driving device 63 is fixed to the driving base 64, which is connected to the robot via a robot flange 65. The robot can be a three-axis mechanical device, a six-axis robot, or a ground-rail robot. It should be noted that the first pin 611, the second pin 612, the third pin 621, and the fourth pin 622 can be pins, tapered pins, cylindrical positioning rods, or positioning rods with elastic coatings, as long as they can be inserted into the positioning holes and form a reliable clamping.

[0047] Furthermore, in this embodiment, the fixture base 5 can be fixed to the production line pallet. The television product and the fixture base 5 can be placed together on the pallet and flow into the testing station from the upstream process. With this arrangement, the fixture body 1 has a relatively fixed initial placement area each time it enters the station, which facilitates the visual recognition mechanism 7 to take pictures and the robotic arm 6 to grasp it. This arrangement is suitable for automatic plug-in / plug-out applications in safety, aging, and electrical performance testing stations. It also facilitates the arrangement of different types of plug conversion fixtures in different areas on the same pallet to meet the automatic plug-in / plug-out needs of different cables such as power cords, USB cables, and HDMI cables.

[0048] Furthermore, the automatic insertion and removal system also includes a vision recognition mechanism 7, which is used to identify and locate the positioning part of the fixture body 1, facilitating gripping by the robot arm 6. With this configuration, the vision recognition mechanism 7 can acquire positional information of the first positioning hole 111, the second positioning hole 121, or the contour edge of the fixture body 1 by taking pictures, thereby calculating the position coordinates and attitude angle of the fixture body 1 and sending the results to the robot arm 6. Using this structure, accurate gripping can still be achieved even when there is a slight positional deviation in the fixture body 1, thereby improving the system's adaptability to fluctuations in incoming materials on the production line. It should be noted that the vision recognition mechanism 7 can be a 2D industrial camera, a 3D camera, a line scan camera, or a vision device with an image processing module, as long as it can identify the pose information of the positioning part of the fixture body 1.

[0049] Specifically, this embodiment also discloses an automatic plug-in / plug-out method for a plug conversion fixture. Using the aforementioned automatic plug-in / plug-out system, in one of the most basic steps, the following steps are included: S1, obtaining the position information of the fixture body 1; S2, according to the position information, controlling the robotic arm 6 to grip the fixture body 1 and causing the fixture body 1 to separate from the fixture base 5; S3, controlling the robotic arm 6 to move the fixture body 1 to the power socket of an external device and inserting the plug portion 21 of the conversion plug 2 into the power socket of the external device; S5, after the test is completed, controlling the robotic arm 6 to pull the plug portion 21 out of the power socket of the external device; S6, controlling the robotic arm 6 to place the fixture body 1 back into the fixture base 5 and release the fixture body 1.

[0050] Furthermore, in a conventional procedure, step S4 is added, which specifically includes: S1, obtaining the position information of the fixture body 1; S2, based on the position information, controlling the robot arm 6 to grip the fixture body 1 and separate the fixture body 1 from the fixture base 5; S3, controlling the robot arm 6 to move the fixture body 1 to the power socket of the external device and inserting the plug 21 of the adapter plug 2 into the power socket of the external device; S4, controlling the robot arm 6 to release the fixture body 1 and retract; S5, after the test is completed, controlling the robot arm 6 to grip the fixture body 1 again and pull the plug 21 out of the power socket of the external device; S6, controlling the robot arm 6 to put the fixture body 1 back into the fixture base 5 and release the fixture body 1. Through the above steps, the robot arm 6 completes a complete automatic pick-up, placement, and insertion / removal action around the fixture body 1, transforming the insertion / removal process that originally relied on manual operation into a standardized automatic action, thereby improving the stability of the work cycle and reducing quality fluctuations caused by human fatigue.

[0051] Furthermore, step S1 also includes: taking a picture of the positioning part of the fixture body 1 using the visual recognition mechanism 7 to obtain the position coordinates and attitude angle of the fixture body 1. This setup allows the robotic arm 6 to obtain precise position and orientation information of the fixture body 1 before gripping, and then adjust its own attitude based on this information to ensure that the first pin 611, the second pin 612, the third pin 621, and the fourth pin 622 are accurately aligned with the first positioning hole 111 and the second positioning hole 121. Using this method reduces blind gripping by the robotic arm 6 or gripping failures caused by material deviation, improving system stability.

[0052] Furthermore, step S3 also includes: S31, the robot arm 6 moves the fixture body 1 to a pre-insertion position in front of the power socket of the external device; S32, the robot arm 6 switches to torque control mode, driving the fixture body 1 to move along the insertion direction with a predetermined torque, inserting the plug part 21 into the power socket of the external device. With this setup, the pre-insertion position can serve as a calibration position before the insertion action, allowing the robot arm 6 to complete position and posture adjustments before the actual insertion; switching to torque control mode keeps the force during insertion within a predetermined range, reducing the risk of socket damage, socket scratches, or insertion misalignment and jamming caused by rigid pushing, thereby further improving insertion and removal quality and equipment compatibility. Preferably, the robot arm 6 can first move to the pre-insertion position and then perform a controlled pushing action along the insertion direction to meet automation cycle time and accuracy requirements. It should be noted that the torque control mode can be implemented not only by the robot body but also through an end-effector floating compensation mechanism, force sensor feedback control, or servo actuator thrust control, as long as the force can be controlled during insertion.

[0053] Furthermore, step S4 also includes: S41, the robotic arm 6 releases the fixture body 1; S42, the robotic arm 6 moves away from the external equipment, completely separating the robotic arm 6 from the fixture body 1. With this configuration, the fixture body 1 can remain inserted during the test, while the robotic arm 6 moves away from the area surrounding the device under test, leaving space for subsequent test actions and avoiding the robotic arm 6 continuously holding the fixture body 1 and consuming execution resources. Using this method, the robotic arm 6 can continue to perform other standby actions or move to other workstations within a test cycle, improving equipment utilization.

[0054] Furthermore, step S5 also includes: S51, the robot arm 6 re-grips the fixture body 1, moves it in the pulling direction, and unplugs the plug 21 from the power socket of the external device; S52, the robot arm 6 moves the fixture body 1 above the fixture base 5, aligning the fixture body 1 with the fixture base 5; S53, the robot arm 6 lowers the fixture body 1, assembling and fixing the fixture body 1 with the fixture base 5; S54, the robot arm 6 releases the fixture body 1 and retracts. With this setup, after the test is completed, the robot arm 6 can complete the retrieval and return actions in the reverse order of material handling, returning the fixture body 1 to the fixture base 5, preparing for the next cycle of operation. In particular, the alignment member 512 and the alignment hole 172, along with the magnetic attraction of the first magnetic member 511 and the second magnetic member 171 in S52 and S53, improve the accuracy and convenience of the return action and reduce the positioning deviation of the fixture body 1.

[0055] Specifically, in one workflow, television products on the production line are fixed together with fixture body 1 on a pallet and flow into the testing station. The vision recognition mechanism 7 first identifies the position of fixture base 5 and television socket position. Then, guided by positioning information, the robotic arm 6 aligns with the first positioning hole 111 and the second positioning hole 121 to complete the gripping and remove fixture body 1 from fixture base 5. The robotic arm 6 then transports fixture body 1 to the television socket position and inserts the plug 21 into the corresponding power socket of the television. After testing, the robotic arm 6 removes fixture body 1 from the television socket position and places it back into fixture base 5. Through this process, fixture body 1 can achieve automatic material handling, automatic insertion, automatic retraction, automatic recycling, and automatic reset during production line testing. Compared to manual insertion and removal, this process ensures more consistent insertion posture and force each time, thereby reducing quality fluctuations caused by human fatigue. Compared to floating connectors, this process does not rely on the plug's own squeezing force for correction, thus reducing the risk of wear and scratches on the socket of the tested equipment.

[0056] Furthermore, the fixture body 1 in this embodiment can be configured in different specifications according to different plug types. Specifically, a fixture structure suitable for figure-eight power plugs or a fixture structure suitable for triangular power plugs can be provided. Both can share the same or similar shape of the fixture body 1, positioning part, and connection relationship with the fixture base 5, with only adaptive adjustments made to the size of the fixing cavity 15, the specification of the adapter plug 2, and the local structure of the limiting component 3. This configuration allows for compatibility with different power plug types while maintaining consistent clamping logic of automated equipment, facilitating quick fixture replacement when switching product models on the production line. Furthermore, the same approach can be extended to HDMI cables, USB cables, or other cable interfaces that require automatic plugging and unplugging.

[0057] It should be noted that the fixture body 1 is preferably made of 6061 aluminum alloy to balance structural strength, machining accuracy, and weight control; the connector clip 31 and gasket 32 ​​are preferably made of POM, nylon, or other engineering plastics to protect and cushion the adapter plug 2 and external power cord plug 4; the surface of the fixture body 1 can be hard anodized to improve wear resistance and facilitate visual identification. Furthermore, a stainless steel guide sleeve can be provided on the fixture body 1 to improve the wear resistance of the positioning holes during long-term use. It should also be noted that, without affecting the clamping, positioning, and limiting effects, the fixture body 1 can also be made of stainless steel, magnesium-aluminum alloy, carbon fiber composite material, or other materials with sufficient rigidity and dimensional stability.

[0058] In summary, the plug conversion fixture provided in this embodiment, by setting a fixed cavity 15, a positioning part, and a limiting component 3 on the fixture body 1, and by converting the external power cord plug 4 into a regular, standard clamping fixture structure through the conversion plug 2, eliminates the problem of difficulty in clamping irregular plugs and inaccurate positioning for the robot arm 6, thereby improving the success rate and repeatability of automatic insertion and removal. Furthermore, through the assembly platform 14, the avoidance platform 16, the connector clip 31, the wire groove 311, the gasket 32, and the first locking component 33 and the second locking component 34, a stable limit can be formed on the conversion plug 2 and the external power cord plug 4, reducing displacement and loosening during the insertion and removal process. Furthermore, through the setting of the fixture base 5, the first magnetic suction component 511, the second magnetic suction component 171, the alignment component 512, the alignment hole 172, the robot arm 6, and the vision recognition mechanism 7, the fixture body 1 can be quickly picked up and placed, accurately clamped, and stably reset, making it suitable for safety, aging, and electrical performance testing stations of products such as LCD TVs. Meanwhile, the automatic insertion and removal method, through steps such as acquiring position information, gripping, pre-insertion, controlled insertion, release and retraction, re-gripping, removal, and repositioning, enables the testing process to form a continuous automatic operation, thereby improving the automation level of the production line, production efficiency, and product quality. Without departing from the concept of this application, the aforementioned connection methods, limiting methods, visual recognition methods, robotic gripping methods, and fixture material forms can all be replaced accordingly.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A plug conversion fixture, characterized in that, include: The fixture body includes a first clamping member, a second clamping member, and a connecting member connecting the first clamping member and the second clamping member. The first clamping member, the connecting member, and the second clamping member together form a fixed cavity. The fixed cavity has a first end and a second end facing each other and is used to accommodate an external power cord plug. The fixture body also has a positioning part, which is disposed on the first clamping member and / or the second clamping member, for positioning and gripping by an external robotic arm. The adapter plug has a plug portion and a socket portion, the socket portion being used to connect to the external power cord plug, the plug portion being used to connect to the power socket of an external device, and the adapter plug being connected to the fixture body; A limiting component is disposed on the fixture body and includes a connector clip. The connector clip is disposed at the second end of the fixing cavity and is respectively connected to the first clamping member and the second clamping member. The connector clip has a wire passage groove for avoiding the wire harness of the external power cord plug. The limiting component is used to limit the external power cord plug within the fixed cavity, so that the fixture body, the adapter plug and the external power cord plug form an operating unit that can be gripped as a whole by an external robotic arm.

2. The plug conversion fixture as described in claim 1, characterized in that, The connector extends toward the side where the first end is located to form an assembly platform that connects to the adapter plug.

3. The plug conversion fixture as described in claim 2, characterized in that, The first clamping member and the second clamping member are provided with clearance platforms facing each other near the first end, and a socket portion for accommodating and limiting the adapter plug is formed between the two clearance platforms.

4. The plug conversion fixture as described in claim 2, characterized in that, The limiting component further includes at least one gasket located at the first end of the fixing cavity and connected to the first clamping member and / or the second clamping member for abutting against the outer surface of the adapter plug.

5. The plug conversion fixture as described in claim 4, characterized in that, A first locking element is provided between the connector clip and the first clamping element and the second clamping element; And / or, A second locking element is provided between the gasket and the first clamping member and / or the second clamping member.

6. The plug conversion fixture as described in claim 1, characterized in that, The positioning part includes a first positioning hole provided on the first clamping member and a second positioning hole provided on the second clamping member.

7. An automatic plugging and unplugging system, comprising a fixture base, a robotic arm, at least one external power cord plug, and at least one plug conversion fixture as described in any one of claims 1-6, characterized in that, The fixture base is provided with a first connecting part, and the first clamping member and / or the second clamping member are provided with a second connecting part corresponding to the first connecting part. The robot arm controls the fixture body to assemble or detach from the fixture base by clamping the positioning part. After detachment, the robot arm drives the fixture body to move so as to connect the plug part to the power socket of the external device.

8. The automatic insertion and removal system as described in claim 7, characterized in that, The first connecting part is provided with a first magnetic suction member, and the second connecting part is provided with a second magnetic suction member. The first magnetic suction member and the second magnetic suction member are magnetically connected, and the magnetic attraction between the first magnetic suction member and the second magnetic suction member is less than the maximum gripping force of the robotic arm.

9. The automatic insertion and removal system as described in claim 7, characterized in that, The robotic arm includes a first gripping arm and a second gripping arm capable of moving in opposite directions. The first gripping arm is provided with a first pin and a second pin, and the second gripping arm is provided with a third pin and a fourth pin. The first pin and the third pin are respectively inserted from both sides of a first positioning hole on the first gripping arm, and the second pin and the fourth pin are respectively inserted from both sides of a second positioning hole on the second gripping arm.

10. The automatic insertion and removal system as described in claim 7, characterized in that, It also includes a visual recognition mechanism, which is used to identify and locate the positioning part of the fixture body, so as to facilitate gripping by the robotic arm.

11. An automatic plug-in / plug-out method for a plug conversion fixture, characterized in that, The automatic insertion and removal system as described in any one of claims 7-10 includes the following steps: S1. Obtain the position information of the fixture body; S2. Based on the position information, control the robotic arm to grip the fixture body and drive the fixture body to separate from the fixture base; S3. Control the robotic arm to move the fixture body to the power socket of the external device, and insert the plug of the adapter into the power socket of the external device; S5. Control the robotic arm to pull the plug out of the power socket of the external device; S6. Control the robotic arm to place the fixture body back into the fixture base and release the fixture body.

12. The automatic insertion and removal method of the plug conversion fixture as described in claim 11, characterized in that, Step S3 also includes: S31. The robotic arm moves the fixture body to a pre-insertion position in front of the power socket of the external device; S32. The robotic arm switches to torque control mode and drives the fixture body to move along the insertion direction with a predetermined torque, inserting the plug into the power socket of the external device.

13. The automatic insertion and removal method of the plug conversion fixture as described in claim 11, characterized in that, The step between S3 and S5 also includes: S4. Control the robotic arm to release the fixture body and retract.

14. The automatic plug-in / plug-out method of the plug conversion fixture as described in claim 13, characterized in that, The S5 step also includes: after the test is completed, controlling the robotic arm to re-grip the fixture body.

15. The automatic insertion and removal method of the plug conversion fixture as described in claim 11, characterized in that, Step S1 further includes: The positioning part of the fixture body is photographed and identified by a visual recognition mechanism to obtain the position coordinates and orientation angle of the fixture body.

Images