A stranding double-end insertion structure for automotive wire harness production

Abstract

The present invention discloses a double-end insertion structure for twisted wires used in the production of automotive wiring harnesses, comprising a base plate, an X-axis motion mechanism, a Y-axis motion mechanism, a Z-axis motion mechanism, a twisted wire insertion mechanism, a detection mechanism, a wire shifting mechanism, and a wire storage mechanism; the X-axis motion mechanism is connected to the top of the base plate, the wire shifting mechanism and the Y-axis motion mechanism are connected to the X-axis motion mechanism from left to right, the Z-axis motion mechanism is connected to the Y-axis motion mechanism, the twisted wire insertion mechanism is connected to the Z-axis motion mechanism, the detection mechanism is connected to the bottom of the base plate, the wire storage mechanism is placed below the wire shifting mechanism, a connector fixture is also placed in front of the base plate, and the connector fixture is also located on the right side of the wire storage mechanism, and a number of connectors are detachably placed on the connector fixture. The present invention realizes the automated production of ordinary automotive wiring harnesses without twisted wires and complex automotive wiring harnesses with twisted wires, can meet a wider range of production needs, has strong versatility, sophisticated design, good application prospects, and is worthy of vigorous promotion by the society.

Description

Technical Field

[0001] The present invention relates to the technical field of wire harness production, in particular to a twisted wire double-end insertion structure for automobile wire harness production. Background Art

[0002] Currently, existing wire harness processing centers can perform automated production operations for assembling several single wires (a single wire refers to a single conductor with an insulating protective layer, with terminals crimped on both ends) with multiple connectors. However, they cannot perform automated production operations for unwinding the obtained stranded wires (a stranded wire refers to two conductors with insulating protective layers twisted together at a certain density, with terminals crimped on both ends of each conductor) and inspecting, calibrating before assembly, performing preliminary assembly, calibrating during assembly, and fully assembling the unwound stranded wires into connectors. As a result, existing technology for the production of automotive wiring harnesses that require stranded wire assembly can only complete the stranded wire assembly through manual labor. Manual labor requires a large amount of manpower and material resources, is inefficient, and cannot meet the production needs of automotive wiring harnesses that require stranded wire assembly. On the other hand, existing wiring harness processing centers lack a wire storage structure, making wire storage production impossible. When producing automotive wiring harnesses with a large number of wires, wire tangles are prone to occur, making processing difficult or even impossible. The processing is greatly restricted, the scope of application is small, the versatility is poor, and the actual user experience is poor. Therefore, it is necessary to provide a double-end insertion structure for stranded wires used in automotive wiring harness production that can be used in wiring harness processing centers, which can be used to realize the automated production of automotive wiring harnesses that require assembly of stranded wires, and also to realize wire storage production, thereby solving the defects of existing wiring harness processing centers that cannot realize automated production of automotive wiring harnesses that require assembly of stranded wires and cannot realize wire storage production. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a twisted wire double-end insertion structure for automobile wiring harness production.

[0004] The technical solutions of the present invention are as follows:

[0005] The Z-axis motion mechanism is used to drive the Z-axis motion mechanism to move the wires back and forth, and the Z-axis motion mechanism is used to drive the wire insertion mechanism to move the wires back and forth. The taken stranded wire is untied, the clamped single wire or the untied stranded wire is driven to rotate to perform terminal horizontal correction and realize the switching of the terminal between horizontal and vertical placement, the stranded wire or single wire after horizontal correction is preliminarily assembled on the connector, the terminal offset correction is performed on the stranded wire or single wire preliminarily assembled on the connector, the stranded wire or single wire after offset correction is further assembled on the connector to realize complete assembly of the stranded wire or single wire and the connector, one end of the clamped stranded wire or single wire is transferred to the wire storage mechanism for temporary storage, and whether the stranded wire or single wire is assembled in place on the connector is detected, the detection mechanism is used to perform terminal horizontal detection and terminal offset detection on the stranded wire or single wire transferred by the stranded wire insertion mechanism within its detection range, and to assist the stranded wire insertion mechanism to correct the stranded wire or single wire, the wire moving mechanism is used to realize wire moving by clamping the wire body, and the wire storage mechanism is used to temporarily store one end of the stranded wire or single wire transferred by the stranded wire insertion mechanism by clamping the wire body.

[0006] Furthermore, the stranded wire insertion mechanism includes a second mounting plate, a third mounting plate and two stranded wire insertion assemblies; the second mounting plate is arranged on the Z-axis motion mechanism, and the second mounting plate is driven to rise or fall by the Z-axis motion mechanism; the third mounting plate is connected to the bottom of the second mounting plate, and the two stranded wire insertion assemblies are arranged on the third mounting plate in sequence from left to right, and each stranded wire insertion assembly is used to clamp one end of a single wire in the form of a clamping wire body or cooperate with another stranded wire insertion assembly to clamp the same end of the stranded wire, and cooperate with another stranded wire insertion assembly to untie one end of the clamped stranded wire. , used to drive the clamped stranded wire or single wire to rotate for terminal horizontal correction and to switch the terminal between horizontal and vertical placement, used to perform terminal offset correction on the clamped stranded wire or single wire under the drive of the X-axis motion mechanism or the Z-axis motion mechanism, used to drive the clamped stranded wire or single wire to move forward or backward for assembly with the connector and to detect whether the stranded wire or single wire is assembled in place on the connector, and used to transfer one end of the clamped stranded wire or single wire to the wire storage mechanism for temporary storage under the drive of the X-axis motion mechanism, the Y-axis motion mechanism and the Z-axis motion mechanism to realize wire storage production.

[0007] Preferably, each of the stranded wire insertion components includes a fourth mounting plate, a first motor, a second motor, a driving pulley, a synchronous belt, a first slide rail, a second slide rail, a third slide rail, a screw, a screw mounting seat, a connecting seat, a movable frame, a force sensor, a wire clamp mounting seat, a wire clamp connecting tube, a wire clamp connecting rod, two wire clamp claws, a first connecting block and a wire clamp cylinder; the first motor is arranged on the third mounting plate, the screw mounting seat is arranged on the top of the third mounting plate behind the first motor, the screw is passed through the screw mounting seat in a rotating connection manner, and one end of the screw passing through the screw mounting seat forward is connected to the output shaft of the first motor, and the connecting seat is arranged on the wire clamp in a threaded connection manner. The rod passes through one end of the screw rod mounting seat backward, and the first motor is used to drive the screw rod to rotate, so that the connecting seat placed on the screw rod moves forward or backward along the screw rod; the first slide rail and the second slide rail are sequentially provided on the bottom of the third mounting plate, and the movable frame is slidably connected to the first slide rail through a first slider, and the movable frame is also fixedly connected to the connecting seat, and the movable frame is driven to move forward or backward along the first slide rail through the connecting seat; the fourth mounting plate is slidably connected to the second slide rail through a second slider under the movable frame, and the second slider is also fixedly connected to the movable frame, and the fourth mounting plate is driven to move forward or backward through the movable frame;The driving pulley is mounted on a bottom surface of the driving mechanism, and the driving pulley is mounted on a bottom surface of the driving mechanism. The driving pulley is mounted on a bottom surface of the driving mechanism. The driving pulley is mounted on a bottom surface of the driving mechanism. On the connecting block, the other end of the wire clamp connecting rod is inserted backward into the wire clamp connecting tube, and the end of the wire clamp connecting tube that passes backward out of the wire clamp mounting seat is provided with two opposing movable grooves, each of which is provided with a wire clamp claw, and each of the wire clamp claws is connected to one end of the wire clamp connecting rod inserted into the wire clamp connecting tube, and the wire clamp cylinder is used to drive the first connecting block to move forward or backward, so that the wire clamp connecting rod connected to the first connecting block moves forward or backward accordingly, thereby causing the two wire clamp claws connected to the wire clamp connecting rod to move closer or farther away from each other to clamp or release a wire; the force sensor is provided on the rear side of the movable frame below the first slide rail, and correspondingly, the fourth mounting plate is provided with a second stopper behind the force sensor, and the force sensor is used to detect the insertion force of the terminal during the entire process of inserting the terminal into the connector and to detect the fixing force of the terminal after the terminal is inserted into the connector.

[0008] Preferably, each of the connecting seats is provided with a fifth induction plate, and correspondingly, each of the screw mounting seats is provided with a fifth induction plate for use with the fifth induction plate, and the first motor realizes stroke detection through the fifth induction plate and the fifth induction plate;

[0009] The third mounting plate is provided with a first stopper behind each of the connecting seats, and the first stopper serves as a limit for the corresponding connecting seat.

[0010] Furthermore, the detection mechanism includes a fifth mounting plate, a third linear motor, a second mounting frame, and an imaging device; the fifth mounting plate is connected to the bottom of the base plate, the third linear motor is arranged on the fifth mounting plate, the second mounting frame is connected to the movable slider of the third linear motor, and the third linear motor is used to drive the second mounting frame to move forward or backward; the imaging device is arranged on the second mounting frame and moves in the same direction as the second mounting frame moves, and the imaging device is respectively provided with a horizontal detection part for detecting whether the terminal is horizontal and a deviation detection part for detecting whether the terminal is offset;

[0011] The second mounting frame is further provided with a protective cover, which is used to protect the imaging device;

[0012] Several sixth sensors are arranged in sequence from front to back on the right side of the third linear motor. Correspondingly, a sixth sensor plate used in conjunction with the sixth sensor is provided on the movable slider of the third linear motor. The third linear motor realizes stroke detection through the sixth sensor and the sixth sensor plate.

[0013] Furthermore, the X-axis motion mechanism adopts a double-motor linear motor; the double-motor linear motor is connected to the top of the base plate, the line moving mechanism is arranged on one of the mover sliders of the double-motor linear motor, and the Y-axis motion mechanism is arranged on the right side of the line moving mechanism on the other mover slider of the double-motor linear motor, and the double-motor linear motor drives the line moving mechanism and the Y-axis motion mechanism to move left or right respectively to achieve reciprocating linear motion;

[0014] A first sensor is provided on the front side wall of a movable slider of the line moving mechanism provided on the double-moving linear motor, and correspondingly, a first sensor sheet used in conjunction with the first sensor is provided on the other movable slider of the double-moving linear motor, and the double-moving linear motor realizes stroke detection through the first sensor and the first sensor sheet;

[0015] Several second sensors are arranged in sequence from left to right on the rear side wall of the dual-motor linear motor. Correspondingly, a second sensor plate used in conjunction with the second sensor is arranged on the rear side wall of a mover slider on the dual-motor linear motor. The dual-motor linear motor also realizes stroke detection through the second sensor and the second sensor plate.

[0016] Furthermore, the Y-axis motion mechanism includes a first mounting plate and a first linear motor; the line moving mechanism and the first mounting plate are arranged on the double-motor linear motor in sequence from left to right, and the first mounting plate is driven to move left or right by the double-motor linear motor; the first linear motor is arranged on the top of the first mounting plate, and the Z-axis motion mechanism is arranged on the first linear motor, and the Z-axis motion mechanism is driven to move forward or backward by the first linear motor to realize reciprocating linear motion.

[0017] Furthermore, the line moving mechanism includes a third mounting frame and two line moving assemblies; the third mounting frame and the first mounting plate are sequentially arranged on the double-motor linear motor from left to right, and the double-motor linear motor drives the third mounting frame to move left or right; the two line moving assemblies are sequentially arranged on the third mounting frame from left to right, and each line moving assembly is used to achieve line moving by clamping the line body;

[0018] Each of the line moving components includes a fourth slide rail placed on the third mounting frame, a second connecting block placed on the fourth slide rail in a sliding connection, a lifting cylinder placed on the third mounting frame above the fourth slide rail and connected to the second connecting block, and a first double-line storage claw placed on the second connecting block. The lifting cylinder is used to drive the second connecting block to rise or fall along the fourth slide rail, so that the first double-line storage claw connected to the second connecting block rises or falls accordingly. The first double-line storage claw is used to achieve line moving by clamping the line body under the drive of the X-axis motion mechanism and the lifting cylinder.

[0019] Furthermore, the wire storage mechanism includes a fourth mounting frame, a plurality of second double-wire storage claws and a support plate; the fourth mounting frame is placed below the first double-wire storage claw, and the plurality of second double-wire storage claws are arranged on the front side of the fourth mounting frame in sequence from left to right, and each of the second double-wire storage claws is used to temporarily store one end of a twisted wire or a single wire by clamping the wire body; the support plate is arranged on the front side of the second double-wire storage claw, and the support plate plays a supporting role for the twisted wire or single wire temporarily stored on each of the second double-wire storage claws.

[0020] Furthermore, the Z-axis motion mechanism includes a first mounting frame and a second linear motor; the first mounting frame is arranged on the first linear motor in front of the base plate, and the first linear motor drives the first mounting frame to move forward or backward; the second linear motor is arranged on the first mounting frame, and the second mounting plate is arranged on the second linear motor, and the second linear motor drives the second mounting plate to rise or fall;

[0021] A third sensor sheet is provided on the right side of the first mounting frame. Correspondingly, a third sensor used in conjunction with the third sensor sheet is provided on the first mounting plate. The first linear motor realizes stroke detection through the third sensor and the third sensor sheet.

[0022] A fourth sensor plate is provided on the right side of the second mounting plate. Correspondingly, a fourth sensor used in conjunction with the fourth sensor plate is also provided on the front side of the first mounting frame. The second linear motor realizes stroke detection through the fourth sensor and the fourth sensor plate.

[0023] By adopting the above scheme, the present invention has the following beneficial effects:

[0024] 1. The design of the present invention provides a double-end insertion structure for stranded wires used in automotive wiring harness production. This structure can complete the assembly of stranded wires, single wires, and connectors on the same structure, enabling the automated production of both ordinary automotive wiring harnesses without stranded wires and complex automotive wiring harnesses with stranded wires. This structure can meet a wider range of production needs, has strong versatility, sophisticated design, and good application prospects, and is worthy of vigorous promotion by society.

[0025] 2. The application of the wire storage mechanism and the wire transfer mechanism in the preferred solution avoids the occurrence of wire entanglement, makes processing more flexible, effectively ensures the orderly progress of production, adapts to the production of more types of wire harnesses, can meet more production needs, and has a wider range of applications;

[0026] 3. In the preferred solution, only the wire body of the wire is clamped during the entire wiring harness assembly process, avoiding damage to the terminal caused by direct clamping of the terminal. In addition, through the horizontal correction and offset correction of the terminal, the accuracy of the terminal and connector assembly is effectively guaranteed, and precise positioning assembly is achieved. The assembly effect is good, the processing quality is effectively guaranteed, and the yield rate is high;

[0027] 4. The preferred solution realizes the insertion force detection of the whole process of the terminal inserting into the connector and the fixing force detection of whether the terminal is installed in place. It also realizes the installation of supplementary wires when it is detected that the terminal is not installed in place, ensuring that each terminal on the connector is installed in place, the assembly effect is better, the processing quality is effectively guaranteed, and the yield rate is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0029] Figure 1A three-dimensional structural diagram of a double-end insertion structure for twisted wires used in automobile wiring harness production provided by the present invention;

[0030] Figure 2 A three-dimensional structural diagram from another perspective of the double-end insertion structure of the stranded wire for automobile wiring harness production provided by the present invention;

[0031] Figure 3 A three-dimensional structural diagram of the Y-axis motion mechanism, the Z-axis motion mechanism, and the stranded wire insertion mechanism provided by the present invention when combined together;

[0032] Figure 4 A three-dimensional structural diagram of the stranded wire insertion mechanism provided by the present invention after removing the second mounting plate and the stranded wire;

[0033] Figure 5 A three-dimensional structural diagram of the stranded wire insertion mechanism provided by the present invention after removing the second mounting plate and the stranded wire from another perspective;

[0034] Figure 6 for Figure 5 Cross-section view from a medium AA perspective;

[0035] Figure 7 A three-dimensional structural diagram of the detection mechanism provided by the present invention;

[0036] Figure 8 A three-dimensional structural diagram of the line shifting mechanism provided by the present invention;

[0037] Figure 9 A three-dimensional structural diagram of the wire storage mechanism provided by the present invention with the support plate removed;

[0038] Figure 10 This is an exploded schematic diagram of the dual-wire storage claw provided by the present invention.

[0039] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0041] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0042] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0043] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0044] Reference Figures 1 to 10As shown, the present invention provides a double-end insertion structure for stranded wires used in automotive wiring harness production. This double-end insertion structure is applied to a wiring harness processing center (not shown in the drawings, and the prior art will not be described in detail), enabling automated production of automotive wiring harnesses that require or do not require stranded wires. Specifically, the double-end insertion structure includes a base plate 1, an X-axis motion mechanism 2, a Y-axis motion mechanism 3, a Z-axis motion mechanism 4, a stranded wire insertion mechanism 5, a detection mechanism 6, a wire transfer mechanism 7, and a wire storage mechanism 8.The base plate 1 is used to connect the wire harness processing center. In fact, the base plate 1 is installed on the frame of the wire harness processing center (not shown in the drawings, and the prior art is not described in detail). The X-axis motion mechanism 2 is connected to the top of the base plate 1. The wire moving mechanism 7 and the Y-axis motion mechanism 3 are connected to the X-axis motion mechanism 2 from left to right. The Z-axis motion mechanism 4 is connected to the Y-axis motion mechanism 3. The stranded wire insertion mechanism 5 is connected to the Z-axis motion mechanism 4. The detection mechanism 6 is connected to the bottom of the base plate 1. The wire storage mechanism 8 is placed below the wire moving mechanism 7. In fact, the wire storage mechanism 8 is installed below the wire moving mechanism 7 on the wire harness. On the frame of the machining center, a connector fixture 9 is also placed in front of the base plate 1, and the connector fixture 9 is also located on the right side of the wire storage mechanism 8. Several connectors are detachably placed on the connector fixture 9. In fact, the connector fixture 9 is installed in front of the base plate 1 and on the right side of the wire storage mechanism 8 on the fixture fixing structure of the harness machining center (not shown in the drawings, and the prior art is not described in detail). The X-axis motion mechanism 2 is used to drive the wire moving mechanism 7 and the Y-axis motion mechanism 3 to realize reciprocating linear motion in the left and right directions respectively. The Y-axis motion mechanism 3 is used to drive the Z-axis motion mechanism 4 to realize reciprocating linear motion in the front and back directions. The Z-axis motion The mechanism 4 is used to drive the stranded wire insertion mechanism 5 to rise or fall, and the stranded wire insertion mechanism 5 is used to realize, under the drive of the X-axis motion mechanism 2, the Y-axis motion mechanism 3 and the Z-axis motion mechanism 4, to clamp one stranded wire or single wire at a time in the form of a clamping wire body, to untie the stranded wire taken, to drive the clamped single wire or the untwisted stranded wire to rotate to perform horizontal correction of the terminal and to realize the switching of the terminal between horizontal placement and vertical placement, to preliminarily assemble the stranded wire or single wire after horizontal correction to the corresponding connector on the connector fixture 9, to perform terminal offset correction on the stranded wire or single wire preliminarily assembled on the connector, and to further assemble the stranded wire or single wire after offset correction. The first step is to assemble the stranded wire or single wire into the connector to realize the complete assembly of the stranded wire or single wire with the connector, transfer one end of the clamped stranded wire or single wire to the wire storage mechanism 8 for temporary storage, and detect whether the stranded wire or single wire is assembled in place on the connector. The detection mechanism 6 is used to perform terminal level detection and terminal offset detection on the stranded wire or single wire transferred into the detection range of the stranded wire insertion mechanism 5, and to assist the stranded wire insertion mechanism 5 in correcting the stranded wire or single wire. The wire moving mechanism 7 is used to realize wire moving by clamping the wire body, and the wire storage mechanism 8 is used to temporarily store one end of the stranded wire or single wire transferred by the stranded wire insertion mechanism 5 by clamping the wire body.In fact, the double-end insertion structure of the stranded wire used in the production of automotive wiring harnesses is equipped with a control device when it is used, which is common knowledge. Specifically, the control device is electrically connected to the X-axis motion mechanism 2, the Y-axis motion mechanism 3, the Z-axis motion mechanism 4, the stranded wire insertion mechanism 5, the detection mechanism 6, the line moving mechanism 7 and the line storage mechanism 8, and the control device controls the operation of the X-axis motion mechanism 2, the Y-axis motion mechanism 3, the Z-axis motion mechanism 4, the stranded wire insertion mechanism 5, the detection mechanism 6, the line moving mechanism 7 and the line storage mechanism 8. For example, when the detection mechanism 6 completes the transportation to its detection range When performing terminal level detection and terminal offset detection on a single wire or stranded wire, the detection mechanism 6 feeds back the detection results to the control device, which then controls the operation of the stranded wire insertion mechanism 5 based on the detection results, so that the stranded wire insertion mechanism 5 completes terminal level correction before assembling the single wire or stranded wire to the connector, and completes terminal offset correction during the process of assembling the single wire or stranded wire to the connector, thereby ensuring that each single wire or stranded wire installed on the connector is in an aligned state, achieving precise positioning and assembly, and achieving a good assembly effect.

[0045] In this embodiment, the X-axis motion mechanism 2 preferably adopts a double-motor linear motor; the double-motor linear motor is connected to the top of the base plate 1, the line moving mechanism 7 is arranged on a mover slider of the double-motor linear motor, and the Y-axis motion mechanism 3 is arranged on the other mover slider of the double-motor linear motor on the right side of the line moving mechanism 7, that is, the line moving mechanism 7 and the Y-axis motion mechanism 3 are connected to the double-motor linear motor in sequence from left to right, and the double-motor linear motor drives one of its own mover sliders to move left or right to drive the line moving mechanism 7 or the Y-axis motion mechanism 3 to realize reciprocating linear motion in the left and right directions; that is, when working, the line moving mechanism 7 and the Y-axis motion mechanism 3 are respectively driven by the double-motor linear motor to move left or right to realize reciprocating linear motion of the line moving mechanism 7 or the Y-axis motion mechanism 3;

[0046] In fact, in a preferred embodiment of the present invention, the X-axis motion mechanism 2 can also use a screw 28 transmission mechanism or a belt transmission mechanism to achieve the same function, which will not be described in detail here;

[0047] Furthermore, a first sensor is provided on the front side wall of one of the movable sliders of the line moving mechanism 7 provided on the double-moving linear motor, and correspondingly, a first sensor sheet used in conjunction with the first sensor is provided on the other movable slider of the double-moving linear motor. When working, the double-moving linear motor realizes stroke detection through the first sensor and the first sensor sheet, thereby realizing stroke control, thereby effectively avoiding collision between the line moving mechanism 7 and the Y-axis motion mechanism 3;

[0048] Furthermore, a number of second sensors are arranged in sequence from left to right on the rear side wall of the dual-motor linear motor. Correspondingly, a second sensor plate used in conjunction with the second sensor is arranged on the rear side wall of a mover slider of the line moving mechanism 7 on the dual-motor linear motor. When working, the dual-motor linear motor also realizes stroke detection through the second sensor and the second sensor plate, thereby realizing stroke control.

[0049] In this embodiment, the Y-axis motion mechanism 3 includes a first mounting plate 10 and a first linear motor 11; the line moving mechanism 7 and the first mounting plate 10 are sequentially arranged on the double-motor linear motor from left to right, and the double-motor linear motor drives the first mounting plate 10 to move left or right; the first linear motor 11 is arranged on the top of the first mounting plate 10, and the Z-axis motion mechanism 4 is arranged on the first linear motor 11, and the first linear motor 11 is used to drive the Z-axis motion mechanism 4 to realize reciprocating linear motion in the front and rear directions; that is, when working, the Z-axis motion mechanism 4 is driven to move forward or backward by the first linear motor 11 to realize the reciprocating linear motion of the Z-axis motion mechanism 4;

[0050] In fact, in a preferred embodiment of the present invention, the Y-axis motion mechanism 3 can also adopt a transmission mechanism such as a screw rod 28 transmission mechanism or a belt transmission mechanism to achieve the same function, which will not be described in detail here.

[0051] In this embodiment, the Z-axis motion mechanism 4 includes a first mounting frame 12 and a second linear motor 13; the first mounting frame 12 is arranged on the first linear motor 11 in front of the base plate 1, and the first linear motor 11 drives the first mounting frame 12 to move forward or backward; the second linear motor 13 is arranged on the front side of the first mounting frame 12, and the stranded wire insertion mechanism 5 is arranged on the second linear motor 13, and the second linear motor 13 is used to drive the stranded wire insertion mechanism 5 to rise or fall; that is, during operation, the stranded wire insertion mechanism 5 is driven to rise or fall by the second linear motor 13;

[0052] In fact, in a preferred embodiment of the present invention, the Y-axis motion mechanism 3 can also use a transmission mechanism such as a cylinder or a screw rod 28 transmission mechanism to achieve the same function, which will not be described in detail here;

[0053] Furthermore, a third sensor sheet 14 is provided on the right side of the first mounting frame 12. Correspondingly, a third sensor 15 is provided on the first mounting plate 10 for use with the third sensor sheet 14. When working, the first linear motor 11 realizes stroke detection through the third sensor 15 and the third sensor sheet 14, thereby realizing stroke control.

[0054] In this embodiment, the stranded wire insertion mechanism 5 includes a second mounting plate 16, a third mounting plate 17 and two identical stranded wire insertion assemblies; the second mounting plate 16 is arranged on the Z-axis motion mechanism 4, and the second mounting plate 16 is driven to rise or fall by the Z-axis motion mechanism 4, that is, the second mounting plate 16 is arranged on the second linear motor 13, and the second mounting plate 16 is driven to rise or fall by the second linear motor 13; the third mounting plate 17 is connected to the bottom of the second mounting plate 16, and the two stranded wire insertion assemblies are arranged on the third mounting plate 17 from left to right, each of the stranded wire insertion assemblies is used to clamp one end of a single wire in the form of a clamping wire body or cooperate with another stranded wire insertion assembly to clamp the same end of the stranded wire at the same time (that is, the two stranded wire insertion assemblies clamp the two wires at the same end of the stranded wire at the same time, and at the same time, the wire moving assembly 7 will move the stranded wire under the drive of the X-axis motion mechanism 2 The other end of the wire is moved to the wire storage mechanism 8 for temporary storage to free up the external wire feeding mechanism), used to cooperate with another stranded wire insertion assembly to untie one end of the clamped stranded wire (that is, to untie one end of the clamped stranded wire by a certain distance (the distance is determined according to actual production needs and generally does not exceed 50 units)), used to drive the clamped stranded wire or single wire to rotate to perform terminal horizontal correction and realize the switching of the terminal between horizontal and vertical placement, used to perform terminal offset correction on the clamped stranded wire or single wire under the drive of the X-axis motion mechanism 2 or the Z-axis motion mechanism 4, used to drive the clamped stranded wire or single wire to move forward or backward for assembly with the connector and to detect whether the stranded wire or single wire is in place on the connector, and used to transfer one end of the clamped stranded wire or single wire to the wire storage mechanism 8 for temporary storage under the drive of the X-axis motion mechanism 2, the Y-axis motion mechanism 3 and the Z-axis motion mechanism 4 to realize wire storage production;

[0055] A fourth sensing plate 18 is provided on the right side of the second mounting plate 16. Correspondingly, a fourth sensor 19 is provided on the front side of the first mounting frame 12 for use with the fourth sensing plate 18. During operation, the second linear motor 13 detects the stroke through the fourth sensor 19 and the fourth sensing plate 18, thereby achieving stroke control.

[0056] Furthermore, each of the stranded wire insertion components includes a fourth mounting plate 20, a first motor 21, a second motor 22, a driving pulley 23, a synchronous belt 24, a first slide rail 25, a second slide rail 26, a third slide rail 27, a screw 28, a screw mounting seat 29, a connecting seat 30, a movable frame 31, a force sensor 32, a wire clamp mounting seat 33, a wire clamp connecting tube 34, a wire clamp connecting rod 35, two wire clamping claws 36, a first connecting block 37 and a wire clamp cylinder 38; the first motor 21 is arranged on the third mounting plate 17, the screw mounting seat 29 is arranged on the top of the third mounting plate 17 behind the first motor 21, the screw 28 is passed through the screw mounting seat 29 in a rotating connection manner, and the One end of the screw rod 28 passing through the screw rod mounting seat 29 forward is connected to the output shaft of the first motor 21, and the connecting seat 30 is arranged on the end of the screw rod 28 passing through the screw rod mounting seat 29 backward in a threaded connection manner. The first motor 21 is used to drive the screw rod 28 to rotate, so that the connecting seat 30 placed on the screw rod 28 moves forward or backward along the screw rod 28. In order to prevent the connecting seat 30 from detaching from the rear end of the screw rod 28, the third mounting plate 17 is provided with a first stopper 39 at the rear of each connecting seat 30, and the first stopper 39 plays a role in limiting the corresponding connecting seat 30; the first slide rail 25 is sequentially provided on the bottom of the third mounting plate 17 The movable frame 31 is slidably connected to the first slide rail 25 by a first slider, and the movable frame 31 is also fixedly connected to the connecting seat 30, and the movable frame 31 is driven to move forward or backward along the first slide rail 25 by the connecting seat 30; the fourth mounting plate 20 is slidably connected to the second slide rail 26 by a second slider 40 below the movable frame 31, and the second slider 40 is also fixedly connected to the movable frame 31 by a connecting pin 41, and the fourth mounting plate 20 is driven to move forward or backward by the movable frame 31; the wire clamp cylinder 38, the third slide rail 27, and the wire rack mounting seat are sequentially arranged on the bottom of the fourth mounting plate 20 from front to back. The second motor 22 is arranged on the bottom of the fourth mounting plate 20 on one side of the third slide rail 27, and the driving pulley 23 is arranged on the output shaft of the second motor 22. The wire clamp connecting tube 34 is rotatable around itself through a number of bearings 42 and is passed through the wire clamp mounting seat 33, and a driven pulley 43 is provided on one end of the wire clamp connecting tube 34 that passes through the wire clamp mounting seat 33 forward. The synchronous belt 24 is arranged on the driving pulley 23 and the driven pulley 43. The second motor 22 is used to drive the driving pulley 23 to rotate, so that the synchronous belt 24 placed on the driving pulley 23 drives the driven pulley 43 to rotate, thereby rotating the wire clamp connecting tube 34 connected to the driven pulley 43.The first connecting block 37 is arranged on the third slide rail 27 in a sliding connection manner, and the first connecting block 37 is also connected to the output shaft of the wire clamp cylinder 38. One end of the wire clamp connecting rod 35 is connected to the first connecting block 37 in a rotational connection manner, and the other end of the wire clamp connecting rod 35 is inserted backward into the wire clamp connecting tube 34, and the end of the wire clamp connecting tube 34 that passes through the wire clamp mounting seat 33 backward is provided with two opposite movable grooves, each of which is provided with a wire clamp claw 36, and each of the wire clamp claws 36 is connected to one end of the wire clamp connecting rod 35 inserted into the wire clamp connecting tube 34, and the wire clamp cylinder 38 is used to drive the first connecting block 37 7 moves forward or backward, causing the wire clamp connecting rod 35 connected to the first connecting block 37 to move forward or backward accordingly, so that the two wire clamp claws 36 connected to the wire clamp connecting rod 35 move closer to or farther away from each other, thereby clamping or loosening a wire; the force sensor 32 is arranged on the rear side of the movable frame 31 below the first slide rail 25, and correspondingly, the fourth mounting plate 20 is provided with a second stopper 44 behind the force sensor 32, and the second stopper 44 is further provided with a force measuring slot used with the force sensor 32 at a position corresponding to the force sensor 32, and the force sensor 32 is used to detect the insertion force of the terminal during the entire process of inserting the terminal into the connector and for detecting the force after the terminal is inserted into the connector Fixing force (fixing force can also be called pulling force), specifically, the force sensor 32 preferably adopts a bidirectional tension and compression structure micro force sensor 32 with model F2808; that is, when each of the stranded wire insertion components is working, the wire clamp cylinder 38 drives the first connecting block 37 to move forward or backward along the third slide rail 27, so that the wire clamp connecting rod 35 connected to the first connecting block 37 drives the two wire clamp claws 36 to move closer to or away from each other, so that each of the stranded wire insertion components can realize the operation of clamping or releasing one end of the stranded wire or a single wire, and drives the driving pulley 23 to rotate through the second motor 22, so that the synchronous belt 24 placed on the driving pulley 23 drives the driven pulley 43 The wire clamp connecting tube 34 rotates synchronously with the rotation of the driven pulley 43, so that the two wire clamping claws 36 of one of the stranded wire insertion components and the two wire clamping claws 36 of the other stranded wire insertion component can untie one end of the stranded wire by a certain distance to realize the unwinding operation of the stranded wire, drive the clamped single wire or stranded wire to rotate to realize the horizontal correction of the terminal and the switching of the terminal between horizontal placement and vertical placement to meet the horizontal or vertical installation requirements of the terminal, and the first motor 21 drives the screw rod 28 to rotate, so that the connecting seat 30 connected to the screw rod 28 drives the movable frame 31 to move forward or backward along the first slide rail 25, and the fourth mounting plate 20 moves in the same direction as the movable frame 31 connected thereto moves.Thus, each of the stranded wire insertion components can drive the two wire clamping claws 36 to move forward or backward, insert the terminal at one end of the stranded wire or single wire clamped into the connector, and pull the wire back after the terminal is inserted into the connector to cooperate with the force sensor 32 to detect the terminal fixing force. That is, during the assembly process of the automobile wiring harness, the force sensor 32 automatically collects the insertion force of the terminal during the entire process of inserting the connector, so that the device can compare and analyze whether there is any abnormality in the terminal insertion process based on the pre-set standard insertion force, and then automatically prevent the terminal from being inserted further when an abnormality is found in the terminal insertion, and when a stranded wire or single wire is found, the device can automatically prevent the terminal from being inserted further when an abnormality is found in the terminal insertion. When there is an abnormality in the insertion of a terminal of a wire, the terminal of the stranded wire or single wire is pulled out and the stranded wire or single wire is discarded, and the stranded wire or single wire of the same specification is reassembled with the connector in a supplementary manner, which can effectively avoid the existence of defective terminals on the connector. When the terminal of the stranded wire or single wire is assembled with the connector, each of the stranded wire insertion components moves the two wire clamps 36 forward through the action of the first motor 21, so that the two wire clamps 36 pull the terminals of the wires they clamp back, and during the retreat of the terminal of the stranded wire or single wire, the force sensor 32 detects that the terminal is inserted into the connector. The fixing force after the connector is used to detect whether the terminal of the stranded wire or single wire is installed in place. When it is detected that the terminal of the stranded wire or single wire is not installed in place, each of the stranded wire insertion components uses the action of the first motor 21 to make the two wire clamps 36 continue to move forward, so that the terminal of the stranded wire or single wire is pulled out of the connector and the stranded wire or single wire is discarded. Then, the stranded wire or single wire of the same specification is supplemented by the way of filling the wire and the terminal and the connector are reassembled, so that the connector can be assembled with another stranded wire or single wire of the same specification again, and the assembly is guaranteed by filling the wire. Each stranded wire or single wire connected to the connector can be installed in place; in addition, when the insertion of the terminal on one end of the wire (that is, one end of a single wire or one end of a conductor of a stranded wire) clamped by any of the stranded wire insertion components into the connector will interfere with the smooth progress of the subsequent stranded wire or single wire assembly work, the corresponding stranded wire insertion component will transfer one end of the stranded wire or single wire to the wire storage mechanism 8 for temporary storage under the drive of the X-axis motion mechanism 2, the Y-axis motion mechanism 3 and the Z-axis motion mechanism 4, and after the assembly interference is resolved, the one end of the stranded wire or single wire temporarily stored on the wire storage mechanism 8 will be retrieved and assembled, thereby realizing wire storage production;

[0057] Furthermore, each of the connecting seats 30 is provided with a fifth sensor plate 45, and correspondingly, each of the screw mounting seats 29 is provided with a fifth sensor 46 used in conjunction with the fifth sensor plate 45. When working, each of the first motors 21 realizes stroke detection through the fifth sensor 46 and the fifth sensor plate 45, thereby realizing stroke control.

[0058] In this embodiment, the detection mechanism 6 includes a fifth mounting plate 47, a third linear motor 48, a second mounting frame 49 and an imaging device 50; the fifth mounting plate 47 is connected to the bottom of the base plate 1, the third linear motor 48 is arranged on the fifth mounting plate 47, and the second mounting frame 49 is connected to the movable slider of the third linear motor 48, that is, the second mounting frame 49 is arranged on the third linear motor 48, and the third linear motor 48 is used to drive the second mounting frame 49 to move forward or backward; the imaging device 50 is arranged on the second mounting frame 49, and moves in the same direction as the second mounting frame 49 moves, and the imaging device 50 is respectively provided with A horizontal detection portion for detecting whether the terminal is horizontal and an offset detection portion for detecting whether the terminal is offset are provided. Specifically, the imaging device 50 preferably adopts a 3D imaging device 50 with two acquisition windows, which can achieve 3D positioning and more accurate detection. When working, the second mounting frame 49 is driven forward or backward by the third linear motor 48, so that the imaging device 50 connected to the second mounting frame 49 moves forward or backward accordingly, and the imaging device 50 is used to perform terminal horizontal detection and terminal offset detection on the stranded wire or single wire transferred to the detection range of the stranded wire insertion mechanism 5, so that the stranded wire insertion mechanism 5 can correct the clamped stranded wire or single wire.

[0059] Furthermore, a protective cover 51 is provided on the second mounting frame 49, and the protective cover 51 is used to protect the imaging device 50;

[0060] Furthermore, a plurality of sixth sensors 52 are sequentially arranged on the right side of the third linear motor 48 from front to back. Correspondingly, a sixth sensor plate 53 used in conjunction with the sixth sensor 52 is provided on the movable slider of the third linear motor 48. When working, the third linear motor 48 realizes stroke detection through the sixth sensor 52 and the sixth sensor plate 53, thereby realizing stroke control.

[0061] In this embodiment, the line moving mechanism 7 includes a third mounting frame 54 and two identical line moving assemblies; the third mounting frame 54 is arranged on the double-motor linear motor on the left side of the first mounting plate 10, that is, the third mounting frame 54 and the first mounting plate 10 are arranged on the double-motor linear motor from left to right, and the third mounting frame 54 is driven to move left or right by the double-motor linear motor; the two line moving assemblies are arranged on the front side of the third mounting frame 54 from left to right, and each line moving assembly is used to realize line moving by clamping the line body;

[0062] Furthermore, each of the line moving assemblies includes a fourth slide rail 56 placed on the third mounting frame 54, a second connecting block 57 placed on the fourth slide rail 56 in a sliding connection, a lifting cylinder 55 placed on the third mounting frame 54 above the fourth slide rail 56 and connected to the second connecting block 57, and a first double-line storage claw 58 placed on the second connecting block 57. The lifting cylinder 55 is used to drive the second connecting block 57 to rise or fall along the fourth slide rail 56, so that the first double-line storage claw 58 connected to the second connecting block 57 rises or falls accordingly. The first double-line storage claw 58 is used to clamp the line body under the drive of the X-axis motion mechanism 2 and the lifting cylinder 55. that is, during operation, the first double-wire storage claw 58 is moved leftward or rightward by the action of the X-axis motion mechanism 2 (i.e., the double-motor linear motor), and the first double-wire storage claw 58 is raised or lowered by the action of the lifting cylinder 55, and one end of the stranded wire or single wire is clamped or released by the action of the first double-wire storage claw 58 itself, so that when the stranded wire insertion mechanism clamps one end of the stranded wire, the other end of the stranded wire can be clamped in the same way as the wire body is clamped, and the other end of the stranded wire can be temporarily stored on the wire storage mechanism 8 under the drive of the X-axis motion mechanism 2, or the temporary storage position of the stranded wire or single wire on the wire storage mechanism 8 can be transferred in the way of clamping the wire body, thereby realizing wire moving.

[0063] In this embodiment, the wire storage mechanism 8 includes a fourth mounting frame 59, a plurality of second double-wire storage claws 60 and a support plate 61; the fourth mounting frame 59 is placed below the first double-wire storage claw 58, and the plurality of second double-wire storage claws 60 are arranged in sequence from left to right on the front side of the fourth mounting frame 59, and each of the second double-wire storage claws 60 is used to temporarily store one end of a twisted wire or a single wire by clamping the wire body; the support plate 61 is arranged on the front side of any two of the second double-wire storage claws 60, that is, the support plate 61 is arranged on the front side of the second double-wire storage claws 60, and during operation, the support plate 61 plays a supporting role for the twisted wire or single wire temporarily stored on each of the second double-wire storage claws 60.

[0064] In this embodiment, the structures of each of the first double-line storage claw 58 and the second double-line storage claw 60 are identical, and the only difference is the installation position and the matching object;

[0065] Furthermore, each of the first double-wire storage claw 58 and the second double-wire storage claw 60 is composed of a claw body A and a first claw B and a second claw C respectively connected to the output part of the claw body A. Specifically, the claw body A includes any one of a pneumatic claw and an electric claw; that is, during operation, the claw body A drives the first claw B and the second claw C to move closer to each other or away from each other, thereby being able to clamp or loosen one end of the stranded wire or a single wire.

[0066] The working process and principle of the present invention are as follows:

[0067] When the double-end insertion structure of the stranded wire used in the production of automotive wiring harnesses only performs the assembly work of a single wire and a connector, the first linear motor 11 is driven to move left or right by the double-acting linear motor, the second linear motor 13 is driven forward or backward by the first linear motor 11, and the two stranded wire insertion assemblies are driven to rise or fall by the second linear motor 13, thereby driving the two stranded wire insertion assemblies to realize movement in three-dimensional space, and each stranded wire insertion assembly drives its own two wire clamps 36 to move forward or backward through its own first motor 21, and each stranded wire insertion assembly also drives its own two wire clamps 36 to move away from each other to open or move closer to each other to close through its own wire clamp cylinder 38, so that each stranded wire insertion assembly can clamp the wire through its own two wire clamps 36 in cooperation with the external wire feeding mechanism. one end of the same single wire is clamped in a body manner; when the two twisted wire insertion assemblies transfer the terminals on one end of the wire they clamp into the detection range of the imaging device 50 under the drive of the double-motor linear motor, the first linear motor 11, and the second linear motor 13, the two terminals of the wire are subjected to terminal level detection and terminal offset detection by the imaging device 50, and when the imaging device 50 detects that the upper surface of one of the two terminals of the single wire is not horizontal, the corresponding second motor 22 drives the corresponding wire clamp connecting tube 34 to rotate, so that the wire clamp connecting tube 34 drives the wire clamp claw 36 placed in the wire clamp connecting tube 34 to rotate and adjust the angle, thereby achieving the correction of the terminal on the wire to a state where the upper surface is horizontal, and then making the two terminals on the wire in a horizontal state before being inserted into the connector;When the two stranded wire insertion assemblies are driven by the double-acting linear motor, the first linear motor 11, and the second linear motor 13 to transfer the terminals on one end of the wire they clamp to the front of the connector clamp 9, one of the stranded wire insertion assemblies is driven by the double-acting linear motor, the first linear motor 11, and the second linear motor 13 to transfer the terminals on one end of the wire they clamp to the front of a connector. If the terminal on the end wire needs to be vertically assembled into the connector (that is, the corresponding mounting hole of the terminal on the connector is a vertical hole), then the second motor 22 of the stranded wire insertion assembly will be started first to switch the terminal on the end wire from horizontal to vertical placement (and if the terminal is installed horizontally, there is no need to start the second motor 22). Second motor 22), then the first motor 21 of the stranded wire insertion assembly is started, so that the two wire clamps 36 of the stranded wire insertion assembly move backward to preliminarily insert the terminal into the connector. If the terminal is detected to be offset in the previous detection, the double-acting linear motor (corresponding to the terminal offset correction when the terminal is installed horizontally) or the second linear motor 13 (corresponding to the terminal offset correction when the terminal is installed horizontally and vertically) will be started to drive the stranded wire insertion assembly to make corresponding movements to correct the offset of the terminal, so that the terminal is in an aligned state through the horizontal correction before inserting the connector and the offset correction after the preliminary insertion of the connector. After the offset correction is completed, the first motor 21 is started, so that the two wire clamps 36 of the stranded wire insertion assembly are Continue to move backward to complete the operation of assembling the terminal on the connector, and then the first motor 21 runs in the reverse direction, so that the two wire clamping claws 36 of the stranded wire insertion assembly move forward and retreat to pull the wire. During this retreat process, the force sensor 32 placed on the movable frame 31 of the stranded wire insertion assembly detects the fixing force of the terminal after being inserted into the connector. If it is detected that the fixing force of the terminal after being inserted into the connector meets the standard, the wire clamping cylinder 38 of the stranded wire insertion assembly is started, so that the two wire clamping claws 36 of the stranded wire insertion assembly move away from each other to loosen the wire. If it is detected that the fixing force of the terminal after being inserted into the connector does not meet the standard, the first motor 21 of the stranded wire insertion assembly is started, so that the two wire clamping claws of the stranded wire insertion assembly move away from each other to loosen the wire. The claw 36 continues to move forward to pull the terminal out of the connector, and the wire clamping cylinders 38 of the two stranded wire insertion assemblies are activated, so that the two wire clamping claws 36 of each stranded wire insertion assembly are opened away from each other to discard the wire and perform the wire filling operation (that is, re-taking the wire, terminal level and offset detection, level correction, preliminary assembly, offset correction, complete assembly and fixing force detection), thereby ensuring that each terminal assembled to the connector is installed in place with good processing quality. After one stranded wire insertion assembly assembles the terminal on the wire end it clamps into place, the other stranded wire insertion assembly assembles the terminal on the wire end it clamps into the other connector using the same principle. The steps and processes are described above and will not be repeated here.When the two stranded wire insertion components have assembled the terminals on one end of the wire they clamp into place on the corresponding connector, the assembly of a wire and the connector is completed; in addition, when the insertion of one end of the wire clamped by a stranded wire insertion component into the connector will interfere with the smooth progress of the subsequent single wire assembly work, the corresponding stranded wire insertion component, driven by the double-acting linear motor, the first linear motor 11, and the second linear motor 13, transfers one end of the wire to the wire storage mechanism 8 for temporary storage, and retrieves the end of the wire for assembly after the assembly interference is released. Due to the movement restriction between the wire moving mechanism 7 and the Y-axis motion mechanism 3, the stranded wire insertion component cannot directly transfer the single-end wire to a certain place on the left side of the wire storage mechanism 8. The wire ends are temporarily stored on the second double-wire storage claw 60. The stranded wire insertion assembly will temporarily store the wire end on another accessible second double-wire storage claw 60. At this point, the wire moving mechanism 7, driven by the dual-motor linear motor, needs to move the wire end to a second double-wire storage claw 60 on the left for temporary storage. The wire moving mechanism 7, driven by the dual-motor linear motor, also moves the wire temporarily stored on the second double-wire storage claw 60 on the left to another second double-wire storage claw 60 for temporary storage, allowing the stranded wire insertion mechanism 5 to remove the temporarily stored wire. This cycle completes the assembly of several single wires and multiple connectors, thereby enabling mass production of automotive wiring harnesses that do not require stranded wire.

[0068] When the double-end insertion structure of the stranded wire used in the production of automotive wiring harnesses only performs the assembly work of the stranded wires and the connector, the two stranded wire insertion components are driven by the double-acting linear motor, the first linear motor 11, and the second linear motor 13 to realize the movement in three-dimensional space, and each stranded wire insertion component drives its own two wire clamping claws 36 to move forward or backward through its own first motor 21, and each stranded wire insertion component also drives its own two wire clamping claws 36 to move away from each other to open or move closer to each other through its own wire clamping cylinder 38, so that each stranded wire insertion component can clamp one end of one of the wires at the same end of the stranded wire by clamping the wire body through its own two wire clamping claws 36 in cooperation with the external wire feeding mechanism, and through the wire moving mechanism 7 driven by the double-acting linear motor Under the cooperation of the external wire feeding mechanism and the giving way of the Y-axis motion mechanism 3, the other end of the stranded wire is moved to any second double-wire storage claw 60 of the wire storage mechanism 8 for temporary storage. Then, under the action of the second motor 22 of the two stranded wire insertion assemblies, the two stranded wire insertion assemblies untie one end of the clamped stranded wire by a certain distance to realize automatic unwinding of the stranded wire; when the two stranded wire insertion assemblies transfer the terminal of the clamped stranded wire at one end to the detection range of the imaging device 50 under the drive of the double-motor linear motor, the first linear motor 11 and the second linear motor 13, the imaging device 50 performs terminal level detection and terminal detection on the two terminals of the stranded wire at this end, and the imaging device 50 detects that there is a terminal upper surface that is not wet on the two terminals of the stranded wire at this end. When the two stranded wire insertion assemblies are driven by the dual-motor linear motor, the first linear motor 11, and the second linear motor 13 to transfer the two terminals of the clamped stranded wire at one end to the front of a connector, the first motor 21 of one or two stranded wire insertion assemblies is started (there is interference (including different installation methods of the two terminals, that is, one terminal is installed horizontally and the other terminal is installed vertically, or the two terminals are in a horizontal state). When the sub-installation spacing is too large, etc., the two stranded wire insertion assemblies assemble the terminals and the connector one by one, and when there is no interference, the two stranded wire insertion assemblies can be processed at the same time, and the processing method is more flexible), so that the wire clamping claw 36 of the corresponding stranded wire insertion assembly moves backward to preliminarily insert the terminal into the connector. If one of the two terminals of the stranded wire at this end is detected to be offset in the previous detection, it is necessary to use the double-acting linear motor or the corresponding second motor 22 to drive the corresponding stranded wire insertion assembly to move to correct the offset of the terminal (when one terminal is offset, the terminal without offset is first assembled to the connector, and then the offset terminal is corrected; when two terminals are offset and the offset directions are opposite, one terminal is first corrected and assembled into place, and then the other terminal is corrected);When there are two terminal offsets and the offset directions are the same, the two terminals are corrected at the same time), so that the terminals are in an aligned state through horizontal correction before inserting into the connector and offset correction after preliminary insertion into the connector. After the offset correction is completed, the first motor 21 of the corresponding stranded wire insertion assembly is started, so that the wire clamping claw 36 of the corresponding stranded wire insertion assembly continues to move backward to complete the operation of assembling the terminal on the connector, and then the first motor 21 of the corresponding stranded wire insertion assembly runs in the opposite direction, so that the wire clamping claw 36 of the corresponding stranded wire insertion assembly moves forward and retreats to pull the wire. During this retreat process, the force sensor 32 placed on the movable frame 31 of the stranded wire insertion assembly detects the fixing force of the terminal after being inserted into the connector. If it is detected that the fixing force of the terminal after being inserted into the connector meets the standard, the wire clamp cylinder 38 of the stranded wire insertion assembly is started, so that the wire clamping claws 36 of the stranded wire insertion assembly move away from each other to loosen the wire. If it is detected that the fixing force of the terminal after being inserted into the connector does not meet the standard, the first motor 21 of the corresponding stranded wire insertion assembly is started, so that the wire clamping claws 36 of the stranded wire insertion assembly move away from each other to loosen the wire. The wire clamping claw 36 of the insertion assembly continues to move forward to pull the terminal out of the connector, and the wire clamping cylinders 38 of the two stranded wire insertion assemblies are started, so that the two wire clamping claws 36 of each stranded wire insertion assembly are opened away from each other to discard the wire and perform the wire filling operation (that is, re-taking the wire, twisting the wire, terminal level and offset detection, level correction, preliminary assembly, offset correction, complete assembly and fixing force detection), thereby ensuring that each terminal assembled to the connector is installed in place with good processing quality; if the two stranded wire insertion assemblies are used to assemble the terminal and the connector in sequence, after one of the stranded wire insertion assemblies assembles the terminal on the wire (or wire) at one end it clamps into place, the other stranded wire insertion assembly assembles the terminal on the wire (or wire) at one end it clamps into the same connector using the same principle, and the steps and processes are described above and will not be repeated here; when the two stranded wire insertion assemblies have assembled the terminal on the stranded wire at one end they clamp into place on the corresponding connector, the assembly of a stranded wire and the connector is completed;In addition, when the insertion connector of one end of the stranded wire clamped by the stranded wire insertion assembly will interfere with the smooth progress of the subsequent stranded wire assembly work, the two stranded wire insertion assemblies, driven by the double-acting linear motor, the first linear motor 11, and the second linear motor 13, transfer one end of the stranded wire to the wire storage mechanism 8 for temporary storage, and retrieve the stranded wire at this end for assembly after the assembly interference is released. Due to the movement restriction between the wire moving mechanism 7 and the Y-axis motion mechanism 3, the stranded wire insertion assembly cannot directly transfer the stranded wire to the several second double-wire storage claws 60 on the left side of the wire storage mechanism 8 for temporary storage. The stranded wire insertion assembly will temporarily store one end of the stranded wire on the remaining second double-wire storage claws 60 that can be reached. When the stranded wire is needed, the wire moving mechanism 7, driven by the dual-motor linear motor, moves the stranded wire to a second double-wire storage claw 60 on the left side for temporary storage. The wire moving mechanism 7, driven by the dual-motor linear motor, moves the stranded wire temporarily stored on a second double-wire storage claw 60 on the left side to another second double-wire storage claw 60 for temporary storage, so that the stranded wire insertion mechanism 5 can remove the temporarily stored stranded wire. Thus, with the cooperation of the wire moving mechanism 7, the stranded wire insertion mechanism 5 can sequentially remove all stranded wires temporarily stored on the storage mechanism 8. This cycle can complete the assembly of multiple stranded wires and multiple connectors, thereby realizing mass production of automotive wiring harnesses requiring stranded wires.

[0069] When the automotive wiring harness is produced using a twisted wire double-end insertion structure to produce automotive wiring harnesses that contain both twisted wires and single wires, the twisted wires and single wires are assembled in sequence according to the assembly order. The assembly principle and process of each twisted wire and single wire refer to the above description, and the principle and process of wire storage and transfer also refer to the above description, which will not be repeated here. This cycle is repeated to achieve mass production of automotive wiring harnesses that contain both twisted wires and single wires.

[0070] It is worth mentioning that the second motor can realize the switching between horizontal placement and vertical placement of the terminal, and the terminal installation method is more diverse and flexible, which can meet the assembly requirements of more types of connectors, and during the assembly process, the force sensor 32 can automatically collect the insertion force of the terminal into the connector throughout the entire process, so that the equipment can compare and analyze whether there is any abnormality in the terminal insertion process according to the pre-set standard insertion force, and then automatically prevent the terminal from continuing to be inserted when the terminal insertion is abnormal. When it is found that the terminal insertion is abnormal, the terminal of the stranded wire or single wire is pulled out and discarded, and the stranded wire or single wire of the same specification is re-assembled by patching. It can effectively avoid the existence of defective terminals on the connector, and then cooperate with the fixing force detection work and patching work after the assembly of the terminal and connector is completed, and finally ensure that the terminal of each stranded wire or single wire assembled on the connector can be well installed in place, thereby ensuring the precise positioning and assembly of the terminal and connector, and good assembly effect.

[0071] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A double-end insertion structure for stranded wire used in automobile wiring harness production, characterized in that: The control unit is actuated by a plurality of control mechanisms, and the control unit is actuated by a plurality of control mechanisms, wherein the control unit is actuated by a plurality of control mechanisms, and the control unit is actuated by a plurality of control mechanisms. , driving the clamped single wire or the unwound stranded wire to rotate to perform terminal horizontal correction and realize the switching of the terminal between horizontal and vertical placement, preliminarily assembling the stranded wire or single wire after horizontal correction to the connector, performing terminal offset correction on the stranded wire or single wire preliminarily assembled on the connector, further assembling the stranded wire or single wire after offset correction to the connector to realize complete assembly of the stranded wire or single wire and the connector, transferring one end of the clamped stranded wire or single wire to the wire storage mechanism for temporary storage, and detecting whether the stranded wire or single wire is assembled in place on the connector, the detection mechanism is used to perform terminal horizontal detection and terminal offset detection on the stranded wire or single wire transferred by the stranded wire insertion mechanism into its detection range, and to assist the stranded wire insertion mechanism in correcting the stranded wire or single wire, the wire moving mechanism is used to realize wire moving by clamping the wire body, and the wire storage mechanism is used to temporarily store one end of the stranded wire or single wire transferred by the stranded wire insertion mechanism by clamping the wire body.

2. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 1, characterized in that: The stranded wire insertion mechanism includes a second mounting plate, a third mounting plate and two stranded wire insertion assemblies; the second mounting plate is arranged on the Z-axis motion mechanism, and the second mounting plate is driven to rise or fall by the Z-axis motion mechanism; the third mounting plate is connected to the bottom of the second mounting plate, and the two stranded wire insertion assemblies are arranged on the third mounting plate from left to right in sequence, each stranded wire insertion assembly is used to clamp one end of a single wire in the form of a clamping wire body or cooperate with another stranded wire insertion assembly to clamp the same end of a stranded wire, and cooperate with another stranded wire insertion assembly to untie one end of the clamped stranded wire, and use It is used to drive the clamped stranded wire or single wire to rotate to perform terminal horizontal correction and realize the switching of the terminal between horizontal and vertical placement, to perform terminal offset correction on the clamped stranded wire or single wire under the drive of the X-axis motion mechanism or the Z-axis motion mechanism, to drive the clamped stranded wire or single wire to move forward or backward to perform assembly with the connector and to detect whether the stranded wire or single wire is assembled in place on the connector, and to transfer one end of the clamped stranded wire or single wire to the wire storage mechanism for temporary storage under the drive of the X-axis motion mechanism, the Y-axis motion mechanism and the Z-axis motion mechanism to realize wire storage production.

3. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 2, characterized in that: Each of the stranded wire insertion components includes a fourth mounting plate, a first motor, a second motor, a driving pulley, a synchronous belt, a first slide rail, a second slide rail, a third slide rail, a screw, a screw mounting seat, a connecting seat, a movable frame, a force sensor, a wire clamp mounting seat, a wire clamp connecting tube, a wire clamp connecting rod, two wire clamp claws, a first connecting block and a wire clamp cylinder; the first motor is arranged on the third mounting plate, the screw mounting seat is arranged on the top of the third mounting plate behind the first motor, the screw is passed through the screw mounting seat in a rotating connection manner, and one end of the screw passing through the screw mounting seat forward is connected to the output shaft of the first motor, and the connecting seat is arranged on the screw shaft in a threaded connection manner. The cam is connected to the second supporting plate by the second sliding block, and the cam is connected to the first supporting plate by the second sliding block, so that the cam can move forward or backward along the cam.The wire clamp cylinder, the third slide rail, and the wire rack mounting seat are sequentially arranged on the bottom of the fourth mounting plate from front to back, and the second motor is arranged on the bottom of the fourth mounting plate on one side of the third slide rail. The driving pulley is arranged on the output shaft of the second motor, and the wire clamp connecting tube can rotate around itself through a plurality of bearings and is passed through the wire clamp mounting seat, and a driven pulley is provided on the end of the wire clamp connecting tube that passes through the wire clamp mounting seat forward, and the synchronous belt is arranged on the driving pulley and the driven pulley, and the second motor is used to drive the driving pulley to rotate, so that the synchronous belt placed on the driving pulley drives the driven pulley to rotate, thereby causing the wire clamp connecting tube connected to the driven pulley to rotate, and the first connecting block is arranged on the third slide rail in a sliding connection manner. and a control button which is located on the top of the control button and is connected to the control button's upper end and the control button's lower end. The control button is located on the top of the control button's upper end and is connected to the control button's lower end by a screw thread. The control button is located on the top of the control button's upper end and is connected to the control button's lower end by a screw thread. The control button is located on the top of the control button's upper end and is connected to the control button's upper end. The force sensor is arranged on the rear side of the movable frame below the first slide rail. Correspondingly, the fourth mounting plate is provided with a second stop block behind the force sensor. The force sensor is used to detect the insertion force of the terminal during the entire process of inserting the terminal into the connector and to detect the fixing force after the terminal is inserted into the connector.

4. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 3, characterized in that: Each of the connecting seats is provided with a fifth induction plate, and correspondingly, each of the screw mounting seats is provided with a fifth induction plate used in conjunction with the fifth induction plate, and the first motor realizes stroke detection through the fifth induction plate and the fifth induction plate; The third mounting plate is provided with a first stopper behind each of the connecting seats, and the first stopper serves as a limit for the corresponding connecting seat.

5. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 1, characterized in that: The detection mechanism includes a fifth mounting plate, a third linear motor, a second mounting frame and an imaging device; the fifth mounting plate is connected to the bottom of the base plate, the third linear motor is arranged on the fifth mounting plate, the second mounting frame is connected to the movable slider of the third linear motor, and the third linear motor is used to drive the second mounting frame to move forward or backward; the imaging device is arranged on the second mounting frame and moves in the same direction as the second mounting frame moves, and the imaging device is respectively provided with a horizontal detection part for detecting whether the terminal is horizontal and a deviation detection part for detecting whether the terminal is offset; The second mounting frame is further provided with a protective cover, which is used to protect the imaging device; Several sixth sensors are arranged in sequence from front to back on the right side of the third linear motor. Correspondingly, a sixth sensor plate used in conjunction with the sixth sensor is provided on the movable slider of the third linear motor. The third linear motor realizes stroke detection through the sixth sensor and the sixth sensor plate.

6. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 3, characterized in that: The X-axis motion mechanism adopts a double-motor linear motor; the double-motor linear motor is connected to the top of the base plate, the line moving mechanism is arranged on a mover slider of the double-motor linear motor, and the Y-axis motion mechanism is arranged on the right side of the line moving mechanism on the other mover slider of the double-motor linear motor. The double-motor linear motor drives the line moving mechanism and the Y-axis motion mechanism to move left or right respectively to realize reciprocating linear motion; A first sensor is provided on the front side wall of a movable slider of the line moving mechanism provided on the double-moving linear motor, and correspondingly, a first sensor sheet used in conjunction with the first sensor is provided on the other movable slider of the double-moving linear motor, and the double-moving linear motor realizes stroke detection through the first sensor and the first sensor sheet; Several second sensors are arranged in sequence from left to right on the rear side wall of the dual-motor linear motor. Correspondingly, a second sensor plate used in conjunction with the second sensor is arranged on the rear side wall of a mover slider on the dual-motor linear motor. The dual-motor linear motor also realizes stroke detection through the second sensor and the second sensor plate.

7. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 6, characterized in that: The Y-axis motion mechanism includes a first mounting plate and a first linear motor; the line moving mechanism and the first mounting plate are arranged on the double-motor linear motor from left to right in sequence, and the first mounting plate is driven to move left or right by the double-motor linear motor; the first linear motor is arranged on the top of the first mounting plate, and the Z-axis motion mechanism is arranged on the first linear motor, and the Z-axis motion mechanism is driven to move forward or backward by the first linear motor to realize reciprocating linear motion.

8. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 7, characterized in that: The line moving mechanism includes a third mounting frame and two line moving assemblies; the third mounting frame and the first mounting plate are sequentially arranged on the double-motor linear motor from left to right, and the double-motor linear motor drives the third mounting frame to move left or right; the two line moving assemblies are sequentially arranged on the third mounting frame from left to right, and each line moving assembly is used to realize line moving by clamping the line body; Each of the line moving components includes a fourth slide rail placed on the third mounting frame, a second connecting block placed on the fourth slide rail in a sliding connection, a lifting cylinder placed on the third mounting frame above the fourth slide rail and connected to the second connecting block, and a first double-line storage claw placed on the second connecting block. The lifting cylinder is used to drive the second connecting block to rise or fall along the fourth slide rail, so that the first double-line storage claw connected to the second connecting block rises or falls accordingly. The first double-line storage claw is used to achieve line moving by clamping the line body under the drive of the X-axis motion mechanism and the lifting cylinder.

9. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 8, characterized in that: The wire storage mechanism includes a fourth mounting frame, a plurality of second double-wire storage claws and a support plate; the fourth mounting frame is placed below the first double-wire storage claw, and the plurality of second double-wire storage claws are arranged in sequence from left to right on the front side of the fourth mounting frame, and each of the second double-wire storage claws is used to temporarily store one end of a twisted wire or a single wire by clamping the wire body; the support plate is arranged on the front side of the second double-wire storage claw, and the support plate plays a supporting role for the twisted wire or single wire temporarily stored on each of the second double-wire storage claws.

10. The double-end insertion structure for stranded wires used in automobile wiring harness production according to claim 7, characterized in that: The Z-axis motion mechanism includes a first mounting frame and a second linear motor; the first mounting frame is arranged on the first linear motor in front of the base plate, and the first linear motor drives the first mounting frame to move forward or backward; the second linear motor is arranged on the first mounting frame, and the second mounting plate is arranged on the second linear motor, and the second linear motor drives the second mounting plate to rise or fall; A third sensor sheet is provided on the right side of the first mounting frame. Correspondingly, a third sensor used in conjunction with the third sensor sheet is provided on the first mounting plate. The first linear motor realizes stroke detection through the third sensor and the third sensor sheet. A fourth sensor plate is provided on the right side of the second mounting plate. Correspondingly, a fourth sensor used in conjunction with the fourth sensor plate is also provided on the front side of the first mounting frame. The second linear motor realizes stroke detection through the fourth sensor and the fourth sensor plate.

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