CN117154495A - Automatic inserting system and method for electric connector contact and control terminal - Google Patents

Abstract

The application discloses an automatic inserting system, method and control terminal of an electric connector contact. The automatic inserting system comprises a contact inserting mechanism, a product feeding mechanism, a product CCD detection mechanism, a product carrying disc mechanism, a product identification detection mechanism, a product moving module, a contact gesture detection mechanism, a contact automatic feeding mechanism, a contact rotary clamping mechanism, a contact azimuth detection mechanism, a four-axis robot and a control terminal. The automatic insertion of the contact elements of the multi-node circular electric connector can be completed, and the automatic detection of missing installation and wrong installation of the contact elements can be completed. The automatic feeding, identifying, assembling, detecting and discharging device has the advantages of realizing the automation of the whole process of feeding, identifying, assembling, detecting and discharging, greatly improving the assembling efficiency and reliability of products and improving the quality traceability of single products.

Description

Automatic inserting system and method for electric connector contact and control terminal

Technical Field

The application relates to the technical field of product assembly, in particular to an automatic inserting system, an automatic inserting method and a control terminal of an electric connector contact.

Background

The contact fitting device aims at the contact fitting work performed in the connector product assembling link, and is a research work for automatically inserting the contact fitting device, which is performed for ensuring the high quality, the high reliability and the high efficiency of the product manufacture. The assembly work of the connector product contact in the prior art is completed by manual operation, and has the problems that for the connector product with multiple cores, a great deal of manpower and time are consumed, and quality accidents of neglected loading and misloading are easy to occur.

Accordingly, there is a need for an automatic insertion scheme for electrical connector contacts that addresses the above-mentioned problems of assembly efficiency and efficiency.

Disclosure of Invention

The application provides an automatic inserting system, method and control terminal of an electric connector contact, which are used for reducing manual operation, reducing manpower and reality and avoiding quality accidents such as neglected loading, wrong loading and the like.

In a first aspect, an automatic electrical connector contact plugging system is provided, including a product loading mechanism, a product moving module, a four-axis robot, and a contact plugging mechanism;

the product feeding mechanism is used for moving the product to the product moving module along the Y direction and the Z direction, and the product moving module is used for taking over the product from the product feeding mechanism and moving the product to the inserting area along the X direction and the Z direction;

the four-axis robot is used for moving the contact to a contact inserting mechanism, the contact inserting mechanism is arranged facing the inserting area of the product moving module, and the contact inserting mechanism is used for inserting the contact into a product along the Y direction.

With reference to the first aspect, in certain implementation manners of the first aspect, the product loading mechanism includes a Y-direction moving module, a Z-direction moving module, a right angle rotating mechanism, and a product clamping mechanism, where the Y-direction moving module and the Z-direction moving module are used for moving a product along the Y-direction and the Z-direction, the product clamping mechanism is used for extending along the Z-direction when picking up the product, and the right angle rotating mechanism is used for rotating the product by 90 ° around the X-direction so that the product faces the product moving module.

With reference to the first aspect, in certain implementation manners of the first aspect, the automatic electrical connector contact inserting system further includes a product tray mechanism, where the product tray mechanism is used to carry products and is further used to move the products along the X direction to pick up the products in cooperation with the product loading mechanism.

With reference to the first aspect, in certain implementations of the first aspect, the electrical connector contact automatic plugging system further includes:

the automatic feeding mechanism of the contact comprises a feed box, an air cylinder feeding mechanism and a vibration tray, wherein the air cylinder feeding mechanism is used for pushing out the contact from the bottom of the feed box to the vibration tray;

and the contact gesture detection mechanism is used for capturing the position and gesture of the contact in the vibration tray, and the position and gesture of the contact are used for indicating the four-axis robot to pick up the contact.

With reference to the first aspect, in certain implementation manners of the first aspect, the outer diameters of two ends of the contact are different, and the automatic electrical connector contact inserting system further includes a contact orientation detection mechanism, and information captured by the contact orientation detection mechanism is used to control the four-axis robot to move the contact to the contact inserting mechanism in a correct direction.

With reference to the first aspect, in certain implementations of the first aspect, one end of the contact has a notch, the automatic electrical connector contact inserting system further includes a contact rotation clamping mechanism, the four-axis robot is used to insert the contact into the contact rotation clamping mechanism before the four-axis robot moves the contact to the contact inserting mechanism, the information captured by the contact orientation detection mechanism is further used to instruct the contact rotation clamping mechanism to rotate the notch of the contact to a rotation angle of a specified orientation, and the four-axis robot takes out the contact from the contact rotation clamping mechanism and moves to the contact inserting mechanism.

With reference to the first aspect, in certain implementations of the first aspect, the contact insertion mechanism includes a pin mechanism, a pin driving module, a rotation driving module, a thimble mechanism, and a thimble driving mechanism;

the pin inserting mechanism is used for connecting the contact piece from the four-axis robot, and the rotary driving module is used for rotating the pin inserting mechanism so as to rotate the contact piece to a splicing area facing the product moving module; the contact pin driving module is used for driving the contact pin mechanism to semi-insert the contact element into the product, then the product moving module moves the product to enable the ejector pin mechanism to be opposite to the contact element which is semi-inserted into the product, and the ejector pin driving mechanism is used for driving the ejector pin mechanism to completely insert the contact element into the product.

With reference to the first aspect, in certain implementations of the first aspect, the automatic electrical connector contact inserting system further includes a product detection mechanism disposed facing the product loading mechanism, the product loading mechanism being configured to move a product to a front of the product detection mechanism before and after inserting the contacts, the product detection mechanism being configured to capture a first picture and a second picture before and after inserting the contacts, respectively, the first picture being configured to indicate a position of a contact to be inserted on the product, and the second picture being configured to indicate whether the product is a proper insert contact.

With reference to the first aspect, in certain implementations of the first aspect, the electrical connector contact automatic insertion system further includes a product identification detection mechanism including a lens, a camera, a cartridge, and a product identification platform; the product clamping mechanism of the product feeding mechanism and the product identification platform are arranged along the Y direction, before the product feeding mechanism moves the product to the product moving module, the product feeding mechanism is used for placing the picked product on the product identification platform, and the lens and the camera are combined to shoot the product identification platform;

when the material coding information is matched, the product feeding mechanism is used for picking up a product from the product identification platform and moving the product to the product moving module;

when the material coding information is not matched, the product feeding mechanism is used for picking up the product from the product identification platform and moving the product into the material box.

In a second aspect, a method applied to an automatic electrical connector contact inserting system is provided, wherein the automatic electrical connector contact inserting system comprises a product identification detection mechanism, a product feeding mechanism, a product tray mechanism, a product moving module, a product detection mechanism, an automatic contact feeding mechanism, a contact gesture detection mechanism, a four-axis robot, a contact azimuth detection mechanism, a contact rotation clamping mechanism and a contact inserting mechanism; the method comprises the following steps:

controlling the product feeding mechanism to move along the Y direction and the Z direction, controlling the product carrying disc mechanism to move along the X direction, and controlling the product feeding mechanism to pick up products from the product carrying disc mechanism to the product identification detection mechanism;

controlling a product identification detection mechanism to acquire material coding information, and executing matching operation according to the material coding information, and controlling a product feeding mechanism to pick up a product from a product identification platform and move the product to a product movement module when the material coding information is matched;

controlling the product moving module to move along the X direction and the Z direction so as to move the product to the front of the product detecting mechanism;

controlling a product detection mechanism to capture a first picture;

determining the position of a contact to be inserted on a product according to the first picture, and controlling the product detection mechanism to move the product so that the position of the contact to be inserted is arranged relative to a pin mechanism of the contact insertion mechanism;

controlling the automatic feeding mechanism of the contact to feed, and controlling the four-axis robot to pick up the contact from the automatic feeding mechanism of the contact according to the position and the gesture of the contact, which are acquired by the gesture detection mechanism of the contact;

controlling the four-axis robot to move the contact to the front of the contact gesture detection mechanism;

controlling a contact element azimuth detection mechanism to perform gesture detection to obtain the current azimuth and notch position of the contact element;

according to the current position of the contact, controlling the four-axis robot to insert the contact into the rotary clamping mechanism in a preset position;

according to the notch position, controlling the four-axis robot to rotate the notch of the contact to a designated direction;

controlling the four-axis robot to take down the contact from the contact rotary clamping mechanism and move the contact to the contact inserting mechanism;

controlling a rotary driving module of the contact element inserting mechanism to rotate the pin inserting mechanism so as to enable the contact element to rotate to a position facing to a contact element to be inserted on a product;

the pin driving module of the control contact element inserting mechanism drives the pin mechanism to semi-insert the contact element into the product;

controlling a product moving module to move a product to the front of a thimble mechanism of the contact element inserting mechanism;

the thimble driving module of the contact element inserting mechanism is controlled to drive the thimble mechanism so as to completely insert the contact element into a product;

controlling a product moving module to move a product to the front of the product detecting mechanism;

and controlling the product detection mechanism to capture a second picture, and determining whether the product is correctly plugged into the contact according to the second picture.

In a third aspect, a control terminal is provided for performing the method as described in any one of the implementations of the second aspect above.

Compared with the prior art, the scheme provided by the application at least comprises the following beneficial technical effects:

the automatic insertion of the contact elements of the multi-node circular electric connector can be completed, and the automatic detection of missing installation and wrong installation of the contact elements can be completed. The automatic feeding, identifying, assembling, detecting and discharging device has the advantages of realizing the automation of the whole process of feeding, identifying, assembling, detecting and discharging, greatly improving the assembling efficiency and reliability of products and improving the quality traceability of single products.

Drawings

FIG. 1 is a schematic diagram of the layout of the apparatus mechanism of the present application.

Fig. 2 is a schematic diagram of a product identification detection mechanism.

Fig. 3 is a schematic diagram of a product loading mechanism.

Fig. 4 is a schematic view of a product tray mechanism.

FIG. 5 is a schematic diagram of a product movement module.

Fig. 6 is a schematic diagram of a product CCD detection mechanism.

Fig. 7 is a schematic diagram of an automatic feeding mechanism for a contact.

Fig. 8 is a schematic view of a contact posture detecting mechanism.

Fig. 9 is a schematic diagram of a four-axis robot.

Fig. 10 is a schematic view of a contact.

Fig. 11 is a schematic view of a contact orientation detection mechanism.

Fig. 12 is a schematic view of a contact rotary clamping mechanism.

Fig. 13 is a schematic view of a contact insertion mechanism.

The drawings are marked with the following description:

an equipment frame: a product identification detecting mechanism 1; a product feeding mechanism 2; a product tray carrying mechanism 3; a product moving module 4; a product CCD detection mechanism 5; a contact automatic feeding mechanism 6; a contact posture detecting mechanism 7; a four-axis robot 8; a contact orientation detection mechanism 9; the contact rotates the clamping mechanism 10; a contact insertion mechanism 11; lens 1-1; 1-2 cameras; 1-3 parts of material boxes; product identification platform 1-4; y-direction moving module 2-1; a Z-direction moving module 2-2; 2-3 of right-angle rotating mechanism; 2-4 parts of a product clamping mechanism; a carrier plate 3-1; an X-direction moving module 3-2; an X-direction moving module 4-1; a Z-direction moving module 4-2; 4-3 parts of a product clamping mechanism; a camera 5-1; a camera moving module 5-2; a feed box 6-1; a cylinder feeding mechanism 6-2; 6-4 of a vibration material tray; a bracket 7-1; a manipulator 8-1; a contact clamping mechanism 8-2; a lens 9-1; a camera 9-2; a cylinder moving module 9-3; a clamping driving mechanism 10-1; a rotary driving mechanism 10-2; a rotary transmission mechanism 10-3; a contact clamping mechanism 10-4; a pin mechanism 11-1; a pin driving module 11-2; a rotary driving module 11-3; the thimble mechanism 11-4; ejector pin driving mechanism 11-5.

Detailed Description

The application is described in further detail below with reference to the drawings and the specific embodiments.

Fig. 1 is a schematic block diagram of an automatic plugging system for electrical connector contacts according to an embodiment of the present application. The automatic inserting system can comprise a product identification detection mechanism 1, a product feeding mechanism 2, a product carrying disc mechanism 3, a product moving module 4, a product CCD detection mechanism 5, a contact automatic feeding mechanism 6, a contact gesture detection mechanism 7, a four-axis robot 8, a contact azimuth detection mechanism 9, a contact rotary clamping mechanism 10 and a contact inserting mechanism 11. The automatic inserting system can also comprise a control terminal, wherein the control terminal is used for carrying out joint control on each device of the automatic inserting system to finish the automatic inserting of the products to be assembled with multiple nodes.

Firstly, a product identification detection mechanism 1, a product feeding mechanism 2, a product carrying disc mechanism 3, a product moving module 4 and a product CCD detection mechanism 5 of an automatic inserting system are introduced in combination with a product feeding process (moving a product to an inserting area of the product moving module 4).

Fig. 2 shows a schematic structural diagram of a product identification detection mechanism 1 provided by an embodiment of the present application. The product identification detection mechanism 1 can comprise a lens 1-1, a camera 1-2, a material box 1-3 and a product identification platform 1-4. The product loading mechanism 2 in fig. 1 can pick up the product 12 from the product tray mechanism 3 shown in fig. 3 and move the product 12 to the product recognition platform 1-4, and the clamping mechanisms of the product recognition platform 1-4 and the product loading mechanism 2 are arranged along the Y direction, so that the clamping mechanisms place the product on the product loading mechanism 2. The automatic photographing and identifying material coding is realized by adjusting the focal length of the lens 1-1 and photographing by the camera 1-2. And comparing the material codes with the input material information to judge the correctness of the material. If the material code is wrong compared with the input material information, the product feeding mechanism 2 can put the product 12 on the product identification platform 1-4 into the material box 1-3, so that the wrong material is prevented from flowing into the automatic inserting system. If the material code is wrong compared with the input material information, the product loading mechanism 2 can move the product 12 on the product identification platform 1-4 to the product moving module 4.

After identifying the material code, the control terminal of the automatic plugging system may obtain the contact plugging scheme of the product 12, including the plugging number and the plugging positions of the contacts, so as to facilitate the subsequent correct execution of the contact plugging.

In one embodiment, the product 12 is cylindrical and the material code is located on the side of the product 12. To ensure complete identification of the material code, the product identification platform 1-4 may have a rotation function. By rotating the product identification platform 1-4 more than or equal to 180 ° (e.g. 185 °), the integrity of the identification information is ensured.

Fig. 3 shows a schematic structural diagram of a product feeding mechanism 2 provided by an embodiment of the present application. The product loading mechanism 2 can comprise a Y-direction moving module 2-1, a Z-direction moving module 2-2, a right-angle rotating mechanism 2-3 and a product clamping mechanism 2-4 (Y, Z directions are shown with reference to fig. 1 and 3). As shown in fig. 3, the Y-direction moving module 2-1 drives the whole body composed of the Z-direction moving module 2-2, the right-angle rotating mechanism 2-3 and the product clamping mechanism 2-4 to move in the Y-axis direction; the Z-direction moving module 2-2 drives the whole formed by the right-angle rotating mechanism 2-3 and the product clamping mechanism 2-4 to move in the Z-axis direction.

Fig. 4 shows a schematic structural view of a product tray mechanism 3 according to an embodiment of the present application. The product tray mechanism 3 may include a tray 3-1, an X-direction moving module 3-2. The product gripping mechanism 2-4 may pick up products 12 from the carrier tray 3-1. The X-direction moving module 3-2 can drive the carrying disc 3-1 to move in the X-axis direction, and the product 12 is picked up in the XY-axis direction in cooperation with the product feeding mechanism 2.

As described above in connection with fig. 1, the product gripping mechanism 2-4 may be used to effect the picking up of products 12 from the product tray mechanism 3 and placement on the product identification platform 1-4. During the picking process, the Y-direction moving module 2-1 is used for realizing the movement of the product 12 in the Y direction, and the Z-direction moving module 2-2 is used for realizing the movement of the product 12 in the Z direction. The product gripping mechanism 2-4 may sequentially remove the products 12 from the carrier tray 3-1 in the Y-direction. After the same row of the carrier tray 3-1 is taken out, the X-direction moving module 3-2 can drive the carrier tray 3-1 to move in the X-axis direction, so that the product clamping mechanism 2-4 aligns with the next row of the carrier tray 3-1 and continues to pick up the product 12.

Based on similar principles, the product gripping mechanism 2-4 may move the product 12 to the product identification platform 1-4, the magazine 1-3 of the product identification detection mechanism 1 and in proximity to the product movement module 4.

During the aforementioned picking up of the product 12, the product gripping mechanism 2-4 may always grip the product in the Z-direction. When the product holding mechanism 2-4 holds the product 12 close to the product moving module 4, the right-angle rotating mechanism 2-3 of the product feeding mechanism 2 can be used to rotate the product 12 by 90 ° counterclockwise, so that the product 12 keeps a horizontal direction and faces the product moving module 4.

Fig. 5 shows a schematic structural diagram of a product mobile module 4 according to an embodiment of the present application. The product movement module 4 may include an X-direction movement module 4-1, a Z-direction movement module 4-2, and a product gripping mechanism 4-3. The X-direction moving module 4-1 and the Z-direction moving module 4-2 can be used for realizing the movement of the product clamping mechanism 4-3 in the X, Z axial direction.

In connection with the above, the product gripping means 4-3 may be moved to a side close to the product loading means 2 before the product 12 is moved to the vicinity of the product movement module 4, and wait there for the arrival of the product 12. After the product loading mechanism 2 moves the product 12 to the front of the product moving module 4, the product clamping mechanism 4-3 of the product loading mechanism 2 can clamp and take over the product 12 from the product loading mechanism 2. The product 12 can be moved to the insertion area of the automatic insertion system by moving the product gripping mechanism 4-3 through the X-direction moving module 4-1 and the Z-direction moving module 4-2.

Fig. 6 shows a schematic structural diagram of a product mobile module 5 according to an embodiment of the present application. The product CCD detection mechanism 5 may include a camera 5-1, a camera movement module 5-2. The camera moving module 5-2 can automatically adjust the focal length of the camera 5-1 through an electric control program. The product CCD detection mechanism 5 can have two purposes, namely, the product CCD detection mechanism is used for detecting the node position of a product before the contact is inserted, so that the accurate insertion of the contact is ensured; and secondly, detecting whether the contact is in missing or wrong installation after the contact is inserted.

In some embodiments, the product movement module 4 may move the product 12 directly in front of the product CCD detection mechanism 5 before the product movement module 4 moves the product 12 to the insertion area of the automatic insertion system. The product CCD detection mechanism 5 can then be used to determine the position on the product 12 to be inserted. For example, the image captured by the product CCD detection mechanism 5 shows that the target interface on the product 12 is not plugged into a contact. The control terminal can obtain the relative position of the target interface in the image according to the image, and control the product moving module 4 to move to the position associated with the target interface in the plugging area according to the relative position, so that the contact is conveniently and correctly plugged into the target interface.

In some embodiments, after performing the action of inserting the contacts into the product 12, the product movement module 4 may move the product 12 directly in front of the product CCD detection mechanism 5. The product CCD detection mechanism 5 can then be used to determine if the contact is properly inserted into the product 12. For example, the control terminal marks the target interface in the image captured by the product CCD detection mechanism 5 after the plugging according to the image captured by the product CCD detection mechanism 5 before the plugging, so that the control terminal can judge whether the contact piece is correctly plugged in the target interface according to the image captured by the product CCD detection mechanism 5 after the plugging. If the insertion is correct, executing the subsequent steps; if not inserted correctly, the product 12 is considered defective and is thrown into the recovery tank by the robot.

The automatic feeding mechanism 6 for the contact, the gesture detection mechanism 7 for the contact, the four-axis robot 8, the contact azimuth detection mechanism 9 and the rotary clamping mechanism 10 for the contact of the automatic insertion system are described below in connection with the contact feeding process (moving the contact to the contact insertion mechanism 11).

Fig. 7 shows a schematic structural diagram of an automatic feeding mechanism 6 for a contact according to an embodiment of the present application. The automatic feeding mechanism 6 of the contact piece can comprise a feed box 6-1, a cylinder feeding mechanism 6-2 and a vibration tray 6-4. The cylinder feeding mechanism 6-2 is driven by a cylinder to push the contact piece 13 (refer to fig. 9) from the bottom of the feed box 6-1 to the inclined material channel 6-3 to slide into the vibration material tray 6-4, so that the feeding process of the contact piece 13 is completed. The automatic feeding mechanism 6 for the contact pieces can have various specifications according to the size of the shell of the tested product, and can be used for placing a plurality of tested products at a time.

Fig. 8 shows a schematic structural view of a contact posture detecting mechanism 7 provided by an embodiment of the present application. The contact posture detecting mechanism 7 may include a bracket 7-1 and a CCD camera. The CCD camera is carried on the bracket 7-1, is disposed facing the vibration tray 6-4 of the contact automatic feeding mechanism 6, and is used for photographing a plurality of contacts 13 in the vibration tray 6-4. The photo captured by the CCD camera can be used to determine the position and attitude of the contact 13 in the tray 6-4, ensuring that the four-axis robot 8 accurately picks up the contact 13.

In some embodiments, when the photo captured by the CCD camera indicates that the gestures of the contacts 13 in the tray 6-4 are not reasonable, such as staggering each other, the control terminal may control the vibration of the tray 6-4 until the photo captured by the CCD camera indicates that the gestures of the contacts 13 in the tray 6-4 are reasonable.

In the embodiment shown in fig. 1, the number of the automatic feeding mechanisms 6 for the contact pieces may be 2. Two CCD cameras, namely a CCD camera 7-2 and a CCD camera 7-3, can be correspondingly arranged on the bracket 7-1. The CCD camera 7-2 and the CCD camera 7-3 may be disposed facing the corresponding tray 6-4, respectively. The double stations can realize simultaneous feeding of 2 different contact pieces.

Fig. 9 shows a schematic structural diagram of a four-axis robot 8 provided by an embodiment of the present application. The four-axis robot 8 may include a manipulator 8-1, a contact gripping mechanism 8-2. The contact clamping mechanism 8-2 is used for controlling the movement of the manipulator 8-1 so as to realize the movable feeding of the contact 13.

In some embodiments, if the direction of inserting the contact 13 is not positive and negative, but has a predetermined insertion direction (in the embodiment shown in fig. 10, the outer diameters of the two ends of the contact 13 are not the same, and the product should be inserted first when the product is inserted), after the four-axis robot 8 picks up the contact 13 from the tray 6-4, the contact 13 may be moved to the contact orientation detecting mechanism 9 to confirm the orientation of the current contact 13, and then the orientation calibration of the contact 13 is performed by the rotating manipulator 8-1 of the four-axis robot 8.

Fig. 11 shows a schematic structural view of a contact orientation detection mechanism 9 provided in an embodiment of the present application. The contact orientation detection mechanism 9 may include a lens 9-1, a camera 9-2, and a cylinder movement module 9-3. The cylinder moving module 9-3 can automatically adjust the position of the lens 9-1 through an electric control program, so as to adjust the focal length of the camera 9-2. In one embodiment, the contact azimuth detection mechanism 9 is used for detecting the angle of the contact characteristic point, and the control terminal can control the manipulator 8-1 to rotate a certain angle according to the result of the contact azimuth detection mechanism 9, so as to ensure that the contact characteristic point is consistent in orientation.

In the embodiment shown in fig. 10, the small end side of the contact 13 also has a recess. The orientation of the notch should be calibrated when the contact 13 is inserted into the product 12. In some embodiments, after the four-axis robot 8 picks up the contact 13 from the tray 6-4, the contact 13 may be moved to the contact orientation detection mechanism 9 to confirm the current notch orientation of the contact 13, after which the contact 13 notch orientation calibration is performed by the contact rotation clamping mechanism 10.

Fig. 12 shows a schematic structural view of a contact rotary clamping mechanism 10 provided in an embodiment of the present application. The contact rotation gripping mechanism 10 may include a gripping drive mechanism 10-1, a rotation drive mechanism 10-2, a rotation transmission mechanism 10-3, and a contact gripping mechanism 10-4. The clamping drive mechanism 10-1 is used to drive the contact clamping mechanism 10-4 and perform a clamping function. The rotary driving mechanism 10-2 is used for outputting rotary driving force, and the rotary driving mechanism 10-3 drives the contact clamping mechanism 10-4 to rotate.

In combination with the above, the control terminal can determine the target rotation angle required for the notch of the contact 13 to rotate to the specified position based on the picture captured by the contact orientation detecting mechanism 9. The four-axis robot 8 may then place the contact 13 along the axis of rotation of the contact gripping mechanism 10-4, causing the contact gripping mechanism 10-4 to grip the contact 13. After the contact gripping mechanism 10-4 rotates by the target rotation angle, the four-axis robot 8 may remove the contact 13 and move the contact 13 to the contact insertion mechanism 11.

The contact insertion mechanism 11 of the automatic insertion system will be described below in connection with the insertion process of the contacts and the product (insertion of the contacts into the product).

Fig. 13 shows a schematic structural view of a contact insertion mechanism 11 provided in an embodiment of the present application. The contact inserting mechanism 11 may include a pin mechanism 11-1, a pin driving module 11-2, a rotation driving module 11-3, a thimble mechanism 11-4, and a thimble driving mechanism 11-5.

Before the four-axis robot 8 moves the contact 13 to the contact-inserting mechanism 11, the pin mechanism 11-1 is extended in the X-axis direction shown in fig. 2 and 13, i.e., is disposed facing the contact-posture detecting mechanism 7, so that the four-axis robot 8 inserts the contact 13 into the pin mechanism 11-1 of the contact-inserting mechanism 11. The rotary driving module 11-3 drives the pin mechanism 11-1 to rotate 90 degrees, and the pin mechanism 11-1 is rotated to extend along the Y-axis direction, namely, to face the product 12 on the product moving module 4.

According to the above, the control terminal aligns the hole to be inserted in the product 12 with the contact 13 on the pin mechanism 11-1 through the X-direction moving module 4-1 and the Z-direction moving module 4-2 of the product moving module 4 based on the image captured by the product CCD detecting mechanism 5. The pin driving module 11-2 drives the pin mechanism 11-1 to be inserted forward into the hole in the product 12. Then the product moving module 4 moves the product 12 along the X-axis direction, so that the contact piece 13 on the product 12 is opposite to the thimble mechanism 11-4. The contact 13 is pushed into the product 12 by the ejector pin mechanism 11-4 under the drive of the ejector pin driving mechanism 11-5. Thereby completing the automatic inserting process of the contact.

One specific working procedure of the automatic contact inserting apparatus according to the present application is described below.

The contact 13 is manually introduced into the bin 6-1, the product 12 is manually placed on the tray 3-1, and the apparatus is started.

The product feeding route is that the product clamping mechanism 2-4 takes the product 12 from the carrying disc 3-1, the product clamping mechanism is placed on the product rotating mechanism 1-3 of the product identification detecting mechanism 1 to rotate 185 degrees, the camera 1-2 performs photographing identification, the product 12 is clamped by the product clamping mechanism 2-4 and put into the material box 1-3 when the material is judged to be wrong, and the product 12 is clamped by the product clamping mechanism 2-4 and moves to the material receiving position of the product moving module 4 when the material is judged to be correct. The right-angle rotating mechanism 2-3 drives the product clamping mechanism 2-4 to rotate 90 degrees anticlockwise, the product 12 is placed in the horizontal direction and is in butt joint with the product clamping mechanism 4-3 of the product moving module 4, then the product 12 is clamped by the product clamping mechanism 4-3 to the position of the camera 5-1 of the product CCD detection mechanism 5 for photographing, and then the product is moved to the position of the pin inserting mechanism 11-1 of the contact inserting mechanism 11 for waiting assembly.

The contact piece feeding route is that the contact piece 13 pushes the contact piece 13 in the feed box 6-1 to the material channel 6-3 through the cylinder feeding mechanism 6-2, the contact piece 13 slides into the vibration material tray 6-4 through the material channel 6-3, and the CCD camera 7-2 and the CCD camera 7-3 take pictures. After the gesture of the contact 13 is confirmed, the manipulator 8-1 of the four-axis robot 8 grabs one contact 13 from the vibration material tray 6-4, and places the contact 13 in front of the light source of the contact azimuth detection mechanism 9 for photographing, then places the contact 13 in the contact rotary clamping mechanism 10 for fetching material, and the contact clamping mechanism 10-4 of the contact rotary clamping mechanism 10 clamps the contact 13 for rotating and moving an angle, and waits for the contact inserting mechanism 11 to fetch material; the contact pin mechanism of the contact pin inserting mechanism 11 picks up the contact pin 13, the contact pin mechanism 11-1 is driven by the rotary driving module 11-3 to rotate anticlockwise by 90 degrees, and the contact pin 13 is ensured to be perpendicular to the product clamping mechanism 4-3 of the product moving module 4 to clamp the product 12, and the assembly is waited.

The pin driving module 11-2 drives the pin mechanism 11-1 to clamp the contact 13 into the node hole position of the product 12, and then the thimble driving mechanism 11-5 drives the thimble mechanism 11-4 to mount the contact 13 into place with the product 12. After the contact 13 is inserted, the product moving module 4 moves the product 12 to the position of the camera 5-1 of the product CCD detection mechanism 5 to take a picture, and whether the node hole contact has the problem of missing or not is detected. After the product is qualified, the product moving module 4 moves the product 12 to the blanking position. The above-described actions are repeated to continue production.

While the application has been described in terms of the preferred embodiment, it is not intended to limit the application, but it will be apparent to those skilled in the art that variations and modifications can be made without departing from the spirit and scope of the application, and therefore the scope of the application is defined in the appended claims.

Claims (11)

1. The automatic inserting system of the electric connector contact is characterized by comprising a product feeding mechanism (2), a product moving module (4), a four-axis robot (8) and a contact inserting mechanism (11);

the product feeding mechanism (2) is used for moving a product to the product moving module (4) along the Y direction and the Z direction, and the product moving module (4) is used for taking over the product from the product feeding mechanism (2) and moving the product to the inserting area along the X direction and the Z direction;

the four-axis robot (8) is used for moving the contact to a contact inserting mechanism (11), the contact inserting mechanism (11) faces to an inserting area of the product moving module (4), and the contact inserting mechanism (11) is used for inserting the contact into a product along the Y direction.

2. The automatic electrical connector contact inserting system according to claim 1, wherein the product loading mechanism (2) comprises a Y-direction moving module (2-1), a Z-direction moving module (2-2), a right-angle rotating mechanism (2-3) and a product clamping mechanism (2-4), the Y-direction moving module (2-1) and the Z-direction moving module (2-2) are used for moving products in the Y-direction and the Z-direction, the product clamping mechanism (2-4) is used for extending in the Z-direction when picking up products, and the right-angle rotating mechanism (2-3) is used for rotating the products by 90 ° around the X-direction so that the products face the product moving module (4).

3. The automatic electrical connector contact inserting system according to claim 1, further comprising a product tray mechanism (3), the product tray mechanism (3) being configured to carry a product and further configured to move the product in the X-direction to pick up the product in cooperation with the product loading mechanism (2).

4. The automatic electrical connector contact plugging system according to claim 1, further comprising:

the automatic feeding mechanism (6) for the contact pieces, wherein the automatic feeding mechanism (6) for the contact pieces comprises a feed box (6-1), an air cylinder feeding mechanism (6-2) and a vibration feed tray (6-4), and the air cylinder feeding mechanism (6-2) is used for pushing the contact pieces from the bottom of the feed box (6-1) to the vibration feed tray (6-4);

and the contact gesture detection mechanism (7) is used for capturing the position and gesture of the contact in the vibration tray (6-4), and the position and gesture of the contact are used for indicating the four-axis robot (8) to pick up the contact.

5. The automatic electrical connector contact inserting system according to claim 1, wherein the outer diameters of the two ends of the contacts are different, the automatic electrical connector contact inserting system further comprising a contact orientation detecting mechanism (9), the information captured by the contact orientation detecting mechanism (9) being used to control the four-axis robot (8) to move the contacts to the contact inserting mechanism (11) in the correct direction.

6. The automatic electrical connector contact inserting system according to claim 5, wherein the contact has a notch at one end, the automatic electrical connector contact inserting system further comprising a contact rotating and clamping mechanism (10), the four-axis robot (8) being configured to insert the contact into the contact rotating and clamping mechanism (10) before the four-axis robot (8) moves the contact to the contact inserting mechanism (11), the information captured by the contact orientation detecting mechanism (9) being further configured to instruct the contact rotating and clamping mechanism (10) to rotate the notch of the contact to a rotation angle of a designated orientation, the four-axis robot (8) being configured to remove the contact from the contact rotating and clamping mechanism (10) and move the contact to the contact inserting mechanism (11).

7. The automatic electrical connector contact plugging system according to claim 1, wherein the contact plugging mechanism (11) comprises a pin mechanism (11-1), a pin driving module (11-2), a rotation driving module (11-3), a thimble mechanism (11-4) and a thimble driving mechanism (11-5);

the pin mechanism (11-1) is used for taking over the contact piece from the four-axis robot (8), and the rotary driving module (11-3) is used for rotating the pin mechanism (11-1) so as to rotate the contact piece to a plugging area facing the product moving module (4); the contact pin driving module (11-2) is used for driving the contact pin mechanism (11-1) to insert a contact part into a product, then the product moving module (4) moves the product to enable the ejector pin mechanism (11-4) to be opposite to the contact part inserted into the upper half of the product, and the ejector pin driving mechanism (11-5) is used for driving the ejector pin mechanism (11-4) to insert the contact part into the product completely.

8. The automatic electrical connector contact plugging system according to claim 1, further comprising a product detection mechanism (5), the product detection mechanism (5) being arranged facing the product loading mechanism (2), the product loading mechanism (2) being configured to move a product in front of the product detection mechanism (5) before and after plugging the contacts, the product detection mechanism (5) being configured to capture a first picture and a second picture before and after plugging the contacts, respectively, the first picture being configured to indicate a position of a contact to be plugged on a product, and the second picture being configured to indicate whether the product is plugged correctly.

9. The automatic electrical connector contact inserting system according to claim 1, further comprising a product identification detection mechanism (1), the product identification detection mechanism (1) comprising a lens (1-1), a camera (1-2), a magazine (1-3) and a product identification platform (1-4); the product clamping mechanisms (2-4) of the product feeding mechanism (2) and the product identification platform (1-4) are arranged along the Y direction, before the product feeding mechanism (2) moves a product to the product moving module (4), the product feeding mechanism (2) is used for placing the picked product on the product identification platform (1-4), and the lens (1-1) and the camera (1-2) are combined to shoot the product identification platform (1-4);

when the material coding information is matched, the product feeding mechanism (2) is used for picking up products from the product identification platform (1-4) and moving the products to the product moving module (4);

when the material coding information is not matched, the product feeding mechanism (2) is used for picking up products from the product identification platform (1-4) and moving the products into the material box (1-3).

10. The method applied to the automatic inserting system of the electric connector contact is characterized by comprising a product identification detection mechanism (1), a product feeding mechanism (2), a product carrying disc mechanism (3), a product moving module (4), a product detection mechanism (5), an automatic contact feeding mechanism (6), a contact gesture detection mechanism (7), a four-axis robot (8), a contact azimuth detection mechanism (9), a contact rotary clamping mechanism (10) and a contact inserting mechanism (11); the method comprises the following steps:

the product feeding mechanism (2) is controlled to move along the Y direction and the Z direction, the product carrying disc mechanism (3) is controlled to move along the X direction, and the product feeding mechanism (2) is controlled to pick up products from the product carrying disc mechanism (3) to the product identification detection mechanism (1);

the product identification detection mechanism (1) is controlled to acquire material coding information, matching operation is carried out according to the material coding information, and when the material coding information is matched, the product feeding mechanism (2) is controlled to pick up a product from the product identification platform (1-4) and move the product to the product moving module (4);

controlling the product moving module (4) to move along the X direction and the Z direction so as to move the product to the front of the product detecting mechanism (5);

controlling the product detection mechanism (5) to capture a first picture;

determining the position of a contact to be inserted on a product according to the first picture, and controlling the product detection mechanism (5) to move the product so that the position of the contact to be inserted is arranged relative to the pin inserting mechanism (11-1) of the contact inserting mechanism (11);

controlling the automatic feeding mechanism (6) of the contact to feed, and controlling the four-axis robot (8) to pick up the contact from the automatic feeding mechanism (6) of the contact according to the position and the gesture of the contact obtained by the gesture detection mechanism (7) of the contact;

controlling the four-axis robot (8) to move the contact to the front of the contact gesture detection mechanism (7);

controlling a contact element azimuth detection mechanism (9) to perform gesture detection to obtain the current azimuth and notch position of the contact element;

according to the current position of the contact, controlling the four-axis robot (8) to insert the contact rotary clamping mechanism (10) in a preset position;

according to the notch position, controlling the four-axis robot (8) to rotate the notch of the contact to a designated direction;

the four-axis robot (8) is controlled to take off the contact from the contact rotary clamping mechanism (10) and move the contact to the contact inserting mechanism (11);

a rotary driving module (11-3) of the contact element inserting mechanism (11) is controlled to rotate the pin inserting mechanism (11-1) so as to rotate the contact element to a position facing to a contact element to be inserted on a product;

a pin driving module (11-2) for controlling the contact element inserting mechanism (11) drives the pin mechanism (11-1) so as to insert the contact element into the product;

controlling the product moving module (4) to move the product to the front of the thimble mechanism (11-4) of the contact element inserting mechanism (11);

the thimble driving module of the contact element inserting mechanism (11) is controlled to drive the thimble mechanism (11-4) so as to completely insert the contact element into a product;

controlling the product moving module (4) to move the product to the front of the product detecting mechanism (5);

and controlling a product detection mechanism (5) to capture a second picture, and determining whether the product is correctly plugged into the contact piece according to the second picture.

11. A control terminal, characterized in that the control terminal is adapted to perform the method according to claim 10.