Automatic rubber plug plugging equipment for terminal

Abstract

The utility model relates to the technical field of press production, and discloses automatic rubber plug plugging equipment for terminals, which comprises a rack, a terminal conveying line, a rubber plug feeding device, a visual positioning device and a transfer device, an assembling station is arranged on the rack, and a containing groove used for containing a single rubber plug is further formed in the rack; the terminal conveying line is arranged on the rack and is used for conveying the presses to the assembly station one by one; the rubber plug feeding device is arranged on the rack and located on one side of the terminal conveying line, and the rubber plug feeding device is used for conveying rubber plugs into the containing grooves one by one. The visual positioning device is arranged on the rack, is opposite to the position of the assembly station, and is used for detecting the position of a terminal of a press at the assembly station; the transferring device is arranged on the rack and used for grabbing the rubber plug in the containing groove and transferring the rubber plug to a terminal of the assembling station. The automatic rubber plug plugging device for the terminal provided by the utility model can solve the problem of how to improve the universality.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of press production, and specifically relates to an automatic rubber plug equipment of terminal. BACKGROUND

[0002] In modern industrial manufacturing, as an important processing equipment, the press is widely used in metal forming, plastic pressing and other fields. As a key component of the electrical connection of the press, the terminal of the external power supply plays a crucial role in the operation of the press. However, during the transportation or storage of the press product, the terminal is directly exposed to the outside and is easily affected by dust, moisture and accidental touch. Therefore, in order to ensure the quality of the press, a rubber plug is usually installed on the outside of the terminal during the assembly of the press. The rubber plug is designed with a matching jack on the terminal, which can be tightly fitted on the terminal to form an effective protective barrier. The material of the rubber plug is usually plastic or rubber material with good insulation and weather resistance, so as to ensure that it can withstand the erosion of the external environment for a long time and maintain effective protection of the terminal.

[0003] At present, the widely used rubber plug installation method in the market relies on automatic rubber plug equipment. This kind of equipment can accurately and quickly complete the fitting operation of the rubber plug through highly automated moving plug-in mechanism, thereby greatly improving the production efficiency and reducing the errors and safety hazards caused by manual operation.

[0004] However, with the continuous increase of the types of presses and the widening of the application fields, the automatic rubber plug equipment gradually exposes the deficiency in universality. Specifically, due to the design difference of different types of presses, the position of the terminal may be different. However, the traditional automatic rubber plug equipment, due to its highly customized mechanical structure and control program, can only be applied to a certain type or type of press. When facing different types of presses, if the same automatic rubber plug equipment is directly used, it may cause the rubber plug to be unable to be correctly installed due to the mismatch of the terminal position, and even may damage the press or the rubber plug itself.

[0005] Therefore, how to overcome the deficiency of the automatic rubber plug equipment in universality and improve its adaptability to different types of presses has become a problem to be solved in the current press manufacturing and assembly industry. INVENTION CONTENTS

[0006] (I) Technical problem solved

[0007] The utility model provides an automatic rubber plug equipment of terminal, at least can solve the technical problem: how to improve the universality.

[0008] (II) Technical scheme

[0009] To solve the above technical problems, the utility model provides technical scheme as follows: A kind of automatic plug equipment of terminal, comprising

[0010] Frame is equipped with assembly station on frame, and accommodating groove for accommodating single rubber plug is further equipped on frame;

[0011] Terminal conveying line is equipped on frame, and terminal conveying line is used to convey pressing machine to assembly station one by one;

[0012] Rubber plug feeding device is equipped on frame, and rubber plug feeding device is used to convey rubber plug to accommodating groove one by one and is located in the side of terminal conveying line;

[0013] Visual positioning device is equipped on frame, and visual positioning device is used to detect the position of the terminal of pressing machine of assembly station and is located opposite assembly station position;

[0014] Transfer device is equipped on frame, and transfer device is used to grab rubber plug in accommodating groove and transfer to terminal of assembly station.

[0015] Further setting, the automatic plug equipment of terminal further includes visual detection device, and visual detection device is equipped above accommodating groove and is used to detect the position of rubber plug in accommodating groove.

[0016] Further setting, the frame is further equipped with assembly detection station on the aforementioned, and assembly detection station is located downstream of assembly station;

[0017] The automatic plug equipment of terminal further includes assembly detection device, and assembly detection device is equipped in the side of terminal conveying line and is located opposite assembly detection station position, and assembly detection device is used to detect the assembly condition of terminal and rubber plug.

[0018] Further setting, the aforementioned transfer device includes:

[0019] Grabbing mechanism is used to grab or release rubber plug;

[0020] Manipulator is equipped on frame, and the output end of manipulator is connected with grabbing mechanism, and manipulator is used to drive grabbing mechanism to move between accommodating groove and assembly station.

[0021] Further setting, the aforementioned grabbing mechanism includes:

[0022] At least two ring-shaped interval distribution clamping arms, and the clamping space for embracing rubber plug is formed between at least two clamping arms;

[0023] Clamping driving element is equipped on the output end of manipulator and is drivingly connected with at least two clamping arms, and clamping driving element is used to drive at least two clamping arms to approach each other or to move away from each other, to reduce or expand clamping space.

[0024] Further, the clamping driving member is provided with a giving passage communicated with the embracing space.

[0025] The grabbing mechanism further comprises a push rod and a push rod driving member, the push rod driving member is arranged on the output end of the mechanical hand, the output end of the push rod driving member is connected with the push rod, and the push rod driving member is used for driving the push rod to move into or out of the embracing space along the giving passage.

[0026] Further, the rubber plug feeding device comprises a hopper, a vibrating disc and a guide passage, the discharge end of the hopper is communicated with the vibrating disc, the vibrating disc is used for providing the rubber plugs in batches for the vibrating disc, the discharge end of the vibrating disc is communicated with one end of the guide passage, the vibrating disc is used for conveying the rubber plugs to the guide passage one by one, and the other end of the guide passage is butted with the containing groove, so as to guide the rubber plugs into the containing groove.

[0027] Further, at least two material blocking mechanisms are arranged on the rack, and the two material blocking mechanisms are arranged on the two sides of the assembling station respectively, so as to limit the pressing machine on the assembling station.

[0028] Further, the pressing machine is provided with a mounting hole, and the terminal conveying line further comprises a limiting tool, the limiting tool is used for bearing the pressing machine, and comprises at least two limiting rods inserted into the mounting hole correspondingly.

[0029] (Three) beneficial effects

[0030] Compared with the prior art, the automatic rubber plug feeding device for the terminal has the following beneficial effects:

[0031] When the automatic rubber plug feeding device for the terminal is used, first, the terminal conveying line conveys the pressing machine to the assembling station, and the rubber plug feeding device conveys the rubber plug into the containing groove; then, the visual positioning device determines the position of the terminal of the pressing machine on the assembling station through vision; finally, the transfer device grabs the rubber plug in the containing groove, and according to the detected position information of the terminal, the rubber plug is transferred to the assembling station, accurately aligned and sleeved on the terminal, and the assembling of the terminal and the rubber plug is completed. It can be seen that the automatic rubber plug feeding device for the terminal can first visually position the terminal on the assembling station through the cooperation of the visual positioning device and the transfer device, and then assemble the rubber plug and the terminal, so as to avoid the situation that the rubber plug cannot be correctly installed due to the mismatch of the terminal position, thereby effectively improving the versatility and adaptability of the automatic rubber plug feeding device for the terminal to different types of pressing machines. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a perspective view of the automatic rubber plug feeding device for the terminal in the embodiment;

[0033] Figure 2 It is Figure 1 an enlarged schematic view of A in the figure;

[0034] Figure 3 Fig. 1 is a schematic view of a partial structure of a transfer device and a terminal conveying line in the embodiment.

[0035] Reference numerals:

[0036] 1, rack; 11, assembly station; 12, containing groove; 13, assembly detection station;

[0037] 2, terminal conveying line;

[0038] 3, rubber plug feeding device; 31, hopper; 32, vibrating disc; 33, guide channel;

[0039] 4, visual positioning device;

[0040] 5, transfer device; 51, grabbing mechanism; 511, clamping driving piece; 5111, let go channel; 512, clamping arm; 513, embracing space; 514, push rod; 515, push rod driving piece; 52, mechanical hand;

[0041] 6, assembly detection device; 7, material blocking mechanism;

[0042] 8, limiting tool; 81, limiting rod;

[0043] 9, press; 91, terminal; 92, mounting hole; 93, rubber plug. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0045] The present application provides an automatic rubber plug equipment for terminals, which is used to solve the problem of how to improve versatility.

[0046] Referring to Figure 1 and Figure 2 , Figure 1 Fig. 1 is a perspective view of the automatic rubber plug equipment for terminals in the embodiment, Figure 2 Fig. 2 is an enlarged schematic view of position A in Figure 1 The automatic rubber plug equipment for terminals comprises a rack 1, a terminal conveying line 2, a rubber plug feeding device 3, a visual positioning device 4 and a transfer device 5.

[0047] The rack 1 is provided with an assembly station 11, and the rack 1 is further provided with a containing groove 12 for containing a single rubber plug 93.

[0048] The terminal conveying line 2 is installed on the frame 1 and is used to convey the crimping machines 9 to the assembling stations 11 one by one.

[0049] The rubber plug loading device 3 is installed on the frame 1 and is located at one side of the terminal conveying line 2, and is used to convey the rubber plugs 93 to the containing grooves 12 one by one.

[0050] The visual positioning device 4 is installed on the frame 1 and is located opposite to the assembling stations 11, and is used to detect the position of the terminals 91 of the crimping machines 9 of the assembling stations 11.

[0051] The transfer device 5 is installed on the frame 1 and is used to grab the rubber plugs 93 in the containing grooves 12 and transfer them to the terminals 91 of the assembling stations 11.

[0052] When the automatic rubber plug loading device for terminals is used, first, the terminal conveying line 2 conveys the crimping machines 9 to the assembling stations 11, and at the same time, the rubber plug loading device 3 conveys the rubber plugs 93 to the containing grooves 12; then, the visual positioning device 4 determines the position of the terminals 91 of the crimping machines 9 of the assembling stations 11 through vision; finally, the transfer device 5 grabs the rubber plugs 93 in the containing grooves 12 and transfers them to the assembling stations 11 according to the detected position information of the terminals 91, accurately aligns and sleeves the rubber plugs 93 on the terminals 91, and completes the assembly of the terminals 91 and the rubber plugs 93. It can be seen that the automatic rubber plug loading device for terminals can first visually position the terminals 91 of the assembling stations 11 through the cooperation of the visual positioning device 4 and the transfer device 5, and then assemble the rubber plugs 93 and the terminals 91, thereby avoiding the situation that the rubber plugs 93 cannot be correctly installed due to the mismatch of the positions of the terminals 91, and effectively improving the versatility and adaptability of the automatic rubber plug loading device for terminals to different types of crimping machines 9.

[0053] The visual positioning device 4 can use an existing CCD camera to visually determine the accurate position of the terminals 91. The terminal conveying line 2 can use an existing conveying belt, conveying chain or transplanting mechanism to convey the crimping machines 9.

[0054] The frame 1 can also be installed with a control device (not shown in the figure), which is electrically connected with the terminal conveying line 2, the rubber plug loading device 3, the visual positioning device 4 and the transfer device 5, and is used to control the operation timing and coordinated work of each device.

[0055] On the basis of the above embodiment, the automatic rubber plug loading device for terminals further comprises a visual detection device (not shown in the figure), which is installed above the containing grooves 12 and is used to detect the position of the rubber plugs 93 in the containing grooves 12. In this way, the transfer device 5 can accurately grab the rubber plugs 93 in the containing grooves 12 according to the position information of the rubber plugs 93 detected by the visual detection device, and further improve the assembly quality of the terminals 91 and the rubber plugs 93.

[0056] The above visual detection device can use a CCD camera to visually determine the precise position of the rubber plug 93.

[0057] Referring to Figure 3 as shown, Figure 3 Fig. 6 is a schematic view of a partial structure of the transfer device and the terminal conveying line in the embodiment, and Fig. 7 is a schematic view of a partial structure of the transfer device and the terminal conveying line in another embodiment. In the above embodiment, the rack 1 is further provided with an assembly detection station 13 downstream of the assembly station 11. The automatic rubber plug inserting device for the terminal further comprises an assembly detection device 6 installed on one side of the terminal conveying line 2 and opposite the assembly detection station 13. The assembly detection device 6 is used to detect the assembly of the terminal 91 and the rubber plug 93. Thus, after the terminal 91 and the rubber plug 93 are assembled, the terminal conveying line 2 conveys the press 9 of the assembly station 11 to the assembly detection station 13. The assembly detection device 6 detects the assembly of the terminal 91 and the rubber plug 93. If the assembly is qualified, the terminal conveying line 2 conveys the press 9 to the next process. If the assembly is unqualified, the staff can be timely warned. It can be seen that the automatic rubber plug inserting device for the terminal can effectively ensure the quality and position accuracy of the rubber plug 93 through the assembly detection device 6.

[0058] The above assembly detection device 6 can use a CCD camera to visually detect the assembly of the terminal 91 and the rubber plug 93.

[0059] Referring to Figure 1 as shown, in one embodiment of the transfer device 5, the transfer device 5 comprises a grabbing mechanism 51 and a robot 52. The grabbing mechanism 51 is used to grab or release the rubber plug 93. The robot 52 is installed on the rack 1 by screwing or welding, etc. The output end of the robot 52 is connected to the grabbing mechanism 51 by screwing or welding, etc. The robot 52 is used to drive the grabbing mechanism 51 to move between the accommodating groove 12 and the assembly station 11. Thus, when the transfer device 5 is used, first, the robot 52 drives the grabbing mechanism 51 to move above the accommodating groove 12, and the grabbing mechanism 51 grabs the rubber plug 93. Then, the robot 52 drives the grabbing mechanism 51 to move to the assembly station 11, so that the insertion slot of the rubber plug 93 is opposite the terminal 91 of the press 9 of the assembly station 11. The rubber plug 93 is sleeved on the terminal 91 through the insertion slot. Finally, the grabbing mechanism 51 releases the rubber plug 93, so as to grab the next rubber plug 93. The robot 52 drives the grabbing mechanism 51 to return above the accommodating groove 12. Thus, the continuous assembly of the terminal 91 and the rubber plug 93 of the press 9 is realized through repeated operations.

[0060] The above grabbing mechanism 51 can adopt a suction cup, a clamping jaw or an elastic clamping structure to adapt to rubber plugs 93 of different sizes and shapes. The above robot 52 can use an existing robot device.

[0061] Referring toFigure 2 and Figure 3 As shown in FIG. 5, in one embodiment of the gripping mechanism 51, the gripping mechanism 51 comprises a clamping driving member 511 and at least two ring-shaped spaced-apart clamping arms 512. A clamping space 513 for embracing the rubber plug 93 is formed between the at least two clamping arms 512. The clamping driving member 511 is arranged on the output end of the robot 52 by screwing or welding, etc., and is in transmission connection with the at least two clamping arms 512. The clamping driving member 511 is used to drive the at least two clamping arms 512 to approach or move away from each other, so as to reduce or expand the clamping space 513. In this way, the specific process of the transfer device 5 for gripping the rubber plug 93 in the containing groove 12 is as follows: the robot 52 drives the gripping mechanism 51 to move above the containing groove 12, then the gripping mechanism 51 is lowered to make the rubber plug 93 enter the clamping space 513, and then the clamping driving member 511 drives the at least two clamping arms 512 to approach each other, so as to reduce the clamping space 513 and clamp the rubber plug 93 in the clamping space 513, thereby achieving the gripping of the rubber plug 93. After the robot 52 sleeves the rubber plug 93 on the terminal 91 of the assembly station 11, the clamping driving member 511 drives the at least two clamping arms 512 to move away from each other, so as to expand the clamping space 513 and release the rubber plug 93. After the rubber plug 93 is released, the robot 52 drives the gripping mechanism 51 to return above the containing groove 12.

[0062] The above-mentioned clamping driving member 511 can use an existing jaw cylinder, and the output end thereof is connected with the at least two clamping arms 512 by screwing or welding, etc. In the embodiment, the cross section of the rubber plug 93 is triangular, and the clamping arm 512 has three clamping arms, which are respectively used to contact three side surfaces of the rubber plug 93.

[0063] In actual application, due to special design requirements, the terminal 91 of some types of the press 9 is installed in a narrow space. In the operation process of the above-mentioned transfer device 5, the clamping arm 512 drives the rubber plug 93 to enter the installation space of the terminal 91 under the driving of the robot 52, and after the rubber plug 93 is sleeved on the terminal 91 of the assembly station 11, in theory, the clamping driving member 511 drives the clamping arms 512 to move away from each other, so as to release the rubber plug 93 and complete the installation. However, due to the narrow installation space of the terminal 91, the movement range of the clamping arm 512 is limited, that is, the clamping arm 512 is prone to interfere with other parts of the press 9 in the process of moving away from each other to release the rubber plug 93, and thus the press 9 or the clamping arm 512 itself can be damaged. Therefore, referring to FIG. 6, in another embodiment of the gripping mechanism 51, the gripping mechanism 51 comprises a clamping driving member 511 and at least two ring-shaped spaced-apart clamping arms 512. A clamping space 513 for embracing the rubber plug 93 is formed between the at least two clamping arms 512. The clamping driving member 511 is arranged on the output end of the robot 52 by screwing or welding, etc., and is in transmission connection with the at least two clamping arms 512. The clamping driving member 511 is used to drive the at least two clamping arms 512 to approach or move away from each other, so as to reduce or expand the clamping space 513. In this way, the specific process of the transfer device 5 for gripping the rubber plug 93 in the containing groove 12 is as follows: the robot 52 drives the gripping mechanism 51 to move above the containing groove 12, then the gripping mechanism 51 is lowered to make the rubber plug 93 enter the clamping space 513, and then the clamping driving member 511 drives the at least two clamping arms 512 to approach each other, so as to reduce the clamping space 513 and clamp the rubber plug 93 in the clamping space 513, thereby achieving the gripping of the rubber plug 93. After the robot 52 sleeves the rubber plug 93 on the terminal 91 of the assembly station 11, the clamping driving member 511 drives the at least two clamping arms 512 to move away from each other, so as to expand the clamping space 513 and release the rubber plug 93. After the rubber plug 93 is released, the robot 52 drives the gripping mechanism 51 to return above the containing groove 12. Figure 2 and Figure 3As shown, on the basis of the above embodiment, the grabbing mechanism 51 further comprises a push rod 514 and a push rod driving member 515. The push rod driving member 515 is arranged on the output end of the manipulator 52 by screwing or welding, etc., and the output end of the push rod driving member 515 is connected with the push rod 514 by screwing or welding, etc. The clamping driving member 511 has a let-in passage 5111 which communicates with the embracing space 513, and the push rod driving member 515 is used to drive the push rod 514 to move into or out of the embracing space 513 along the let-in passage 5111. In this way, the specific process of releasing the rubber plug 93 by the grabbing mechanism 51 is as follows: first, the manipulator 52 drives the grabbing mechanism 51 to move to the assembly station 11, so that the insertion slot of the rubber plug 93 is opposite to the position of the terminal 91 of the press 9 of the assembly station 11; then, the push rod driving member 515 drives the push rod 514 to move into the embracing space 513, and since the rubber plug 93 is elastic, the rubber plug 93 can be elastically deformed under the pressure of the push rod 514, so as to be pushed out of the embracing space 513 by the push rod 514 and be sleeved on the terminal 91; next, the manipulator 52 drives the grabbing mechanism 51 to return to above the containing groove 12; finally, the clamping driving member 511 drives the at least two clamping arms 512 to move away from each other to expand the embracing space 513, and at the same time, the push rod driving member 515 drives the push rod 514 to move out of the embracing space 513 and return to the original position, so as not to interfere with the clamping arms 512 to embrace the next rubber plug 93. As can be seen, the grabbing mechanism 51 can push the rubber plug 93 out of the embracing space 513 by the push rod 514 and the push rod driving member 515, and the release of the rubber plug 93 can be realized without moving the clamping arms 512, which is suitable for the case that the installation space of the terminal 91 is small and limits the moving range of the clamping arms 512.

[0064] The push rod driving member 515 can use a linear displacement driving mechanism such as an existing telescopic pneumatic cylinder or telescopic electric rod.

[0065] Referring to Figure 1 As shown, in one embodiment of the rubber plug feeding device 3, the rubber plug feeding device 3 comprises a hopper 31, a vibrating disc 32 and a guide channel 33. The discharge end of the hopper 31 communicates with the vibrating disc 32, which is used to provide a batch of rubber plugs 93 for the vibrating disc 32. The discharge end of the vibrating disc 32 communicates with one end of the guide channel 33, which is used to transport the rubber plugs 93 to the guide channel 33 one by one. The other end of the guide channel 33 is connected with the containing groove 12, which is used to guide the rubber plugs 93 into the containing groove 12. In this way, the rubber plug feeding device 3 can transport the rubber plugs 93 into the containing groove 12 one by one by the cooperation of the hopper 31, the vibrating disc 32 and the guide channel 33, so as to realize the continuous and automatic feeding of the rubber plugs 93 and effectively improve the efficiency.

[0066] Referring to Figure 1As shown in any of the above embodiments, the rack 1 is further provided with at least two material blocking mechanisms 7 by screwing or welding, etc., wherein the two material blocking mechanisms 7 are respectively located on both sides of the assembly station 11 to limit the press 9 on the assembly station 11. In this way, the material blocking mechanism 7 can block the press 9 on the terminal conveying line 2 from flowing along the conveying line, and the cooperation of the material blocking mechanisms 7 on both sides of the assembly station 11 can limit the press 9 on the assembly station 11, but does not affect the conveying of the terminal conveying line 2 to other stations until the assembly is completed, effectively avoiding the activity of the press 9 in the assembly process, thereby affecting the assembly quality of the terminal 91 and the rubber plug 93.

[0067] The above-mentioned material blocking mechanism 7 can be realized by combining a baffle and a cylinder driving element.

[0068] Referring to Figure 1 and Figure 2 As shown in any of the above embodiments, the press 9 has a mounting hole 92, and the terminal conveying line 2 further comprises a limiting tool 8 for carrying the press 9, and the limiting tool 8 comprises at least two limiting rods 81 corresponding to the mounting hole 92. In this way, the press 9 is placed on the limiting tool 8, and the limiting rod 81 is inserted into the mounting hole 92 in position, so as to quickly limit the position of the press 9, avoid the activity of the press 9 in the assembly process, and affect the assembly quality of the terminal 91 and the rubber plug 93; and the terminal conveying line 2 conveys the press 9 through the limiting tool 8, and does not directly contact the press 9, which can effectively protect the outer surface of the press 9 from being worn or scratched.

[0069] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An automatic plug pinching apparatus of a terminal, characterized by, The application relates to an automatic rubber plug equipment for terminals. The automatic rubber plug equipment for terminals comprises a rack, a terminal conveying line, a rubber plug feeding device, a visual positioning device and a transfer device. The rack is provided with an assembly station and a containing groove for containing a single rubber plug. The terminal conveying line is arranged on the rack and is used for conveying the press to the assembly station one by one. The rubber plug feeding device is arranged on the rack and is located on one side of the terminal conveying line. The visual positioning device is arranged on the rack and is located opposite the assembly station.

2. The automatic plug pinching apparatus of the terminal according to claim 1, wherein The transfer device is arranged on the rack and is used for grabbing the rubber plug in the containing groove and transferring the rubber plug to the terminal of the assembly station.

3. The automatic plug pinching apparatus of the terminal according to claim 2, wherein The automatic rubber plug equipment for terminals further comprises a visual detection device arranged above the containing groove and used for detecting the position of the rubber plug in the containing groove. The rack is further provided with an assembly detection station located downstream of the assembly station.

4. The automatic plug pinching apparatus of the terminal according to any one of claims 1 to 3, characterized by The automatic rubber plug equipment for terminals further comprises an assembly detection device arranged on one side of the terminal conveying line and located opposite the assembly detection station. The assembly detection device is used for detecting the assembly of the terminal and the rubber plug. The transfer device comprises a grabbing mechanism and a manipulator.

5. The automatic plug pinching apparatus of the terminal according to claim 4, wherein The grabbing mechanism is used for grabbing or releasing the rubber plug. The manipulator is arranged on the rack and is connected with the grabbing mechanism. The grabbing mechanism comprises at least two ring-shaped and spaced-apart clamping arms.

6. The automatic plug pinching apparatus of the terminal according to claim 5, wherein The clamping arms form a clamping space for clamping the rubber plug. A clamping driving member is arranged on the output end of the manipulator and is in transmission connection with the clamping arms.

7. The automatic plug pinching apparatus of the terminal according to any one of claims 1, 2, 3, 5 and 6, characterized by, The clamping driving member is used for driving the clamping arms to approach or move away from each other so as to reduce or enlarge the clamping space.

8. The automatic plug pinching apparatus of the terminal according to any one of claims 1, 2, 3, 5 and 6, characterized by, The clamping driving member is provided with a giving channel in communication with the clamping space.

9. The automatic plug pinching apparatus of the terminal according to claim 8, wherein The grabbing mechanism further comprises a push rod and a push rod driving member. The push rod driving member is arranged on the output end of the manipulator and is connected with the push rod. The push rod driving member is used for driving the push rod to move into or out of the clamping space along the giving channel. The rubber plug feeding device comprises a hopper, a vibrating disc and a guide channel. The output end of the hopper is in communication with the vibrating disc and is used for providing the vibrating disc with a batch of rubber plugs. The output end of the vibrating disc is in communication with one end of the guide channel. The vibrating disc is used for conveying the rubber plugs to the guide channel one by one. The other end of the guide channel is in butt joint with the containing groove and is used for guiding the rubber plugs into the containing groove. The rack is further provided with at least two material blocking mechanisms. The two material blocking mechanisms are respectively arranged on two sides of the assembly station so as to limit the press on the assembly station. The press is provided with a mounting hole. The terminal conveying line further comprises a limiting tool. The limiting tool is used for carrying the press and comprises at least two limiting rods in butt joint with the mounting hole.

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