An automatic wire harness insertion system, method and controller

Abstract

The invention discloses an automatic wiring harness planting system, method and controller, which are used for inserting the terminals of the wires of the wiring harness into the corresponding insertion holes of the connectors, wherein the planting system includes: a PLC control system, a planting robot and a vision camera; the vision camera is used to obtain image information of at least one connector, and obtain the first position information and first rotation angle information of the connector according to the image information; the PLC control system is used to obtain the first position information and first rotation angle information of the connector according to the image information. The first rotation angle information controls the implantation robot to insert the terminal of the wire into the corresponding insertion hole of the connector. The implantation method includes the following steps: A. acquiring first position information and first rotation angle information of the connector; B. controlling the implantation robot to insert and connect the terminals of the wire according to the first position information and the first rotation angle information of the connector into the corresponding insertion hole of the device. The invention realizes the automatic work of wire harness planting, and can accurately carry out the planting work of wire terminals.

Description

technical field [0001] The invention belongs to the technical field of automobile wire harness production, and in particular relates to an automatic wire harness insertion system, method and controller. Background technique [0002] The automotive wiring harness is a circuit network formed by multiple sets of wiring harnesses connected through connectors. The connection between the wiring harness and the connector is completed by inserting the operation, that is, inserting the terminals at both ends of the wire harness into the socket hole of the connector. [0003] At present, this interpolation operation is generally completed by interpolation equipment. The existing interpolation equipment is usually used independently by a single machine. The connector is fixed on the machine by manual operation. The insertion hole of the connector is horizontal, and the interpolation direction is the horizontal direction, that is, the terminal It is inserted into the socket correspondin...

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Problems solved by technology

[0003] At present, this interpolation operation is generally completed by interpolation equipment. The existing interpolation equipment is usually used independently by a single machine. The connector is fixed on the machine by manual operation. The insertion hole of the connector is oriented horizontally. Insert it into the socket corresponding to the connector in the horizontal direction. After each interpolation, you need to manually replace the next connector to be plugged in, so it is difficult to integrate with the factory automated production line system

Furthermore, the interpolation position is fixed by the system preset, and the connector models (mainly different numbers of plug holes and different shapes of plug holes) have poor compatibility, and the interpolation effect cannot be guaranteed. For example, for flat terminals, the corresponding plug The shape of the hole is also flat. Compared with the cylindrical terminal, it needs to meet a certain angle with the insertion hole to be able to align correctly, that is, the outer contour line of the terminal of the wire and the insertion of the connector. Only when the contour lines of the inner walls of the connecting holes coincide, the terminal can be inserted into the connecting hole correctly; when the angle of the terminal relative to the connecting hole deviates, because the system cannot dynamically correct it, the interpolation effect of the wire terminal becomes poor, or even fails. , it is difficult to realize automatic production

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