Wire-following device and wire-following method

Abstract

The application discloses a wire arranging device and a wire arranging method thereof. The wire arranging method of the wire arranging device comprises the following steps: obtaining position information of each clamping part on a product after the product is in a wire arranging position at a wire arranging station; determining a first preset wire arranging path according to the position information; and controlling the first driving device, the second driving device and the third driving device to work, so that the clamping part and the pressing part work cooperatively, and then the first cable is sequentially clamped in the plurality of clamping parts according to the first preset wire arranging path. In the technical scheme, the wire arranging device is used to automatically arrange the wire of the product, so as to replace the manual wire arranging operation, reduce the labor intensity of workers, save the labor cost, and solve the problems of unstable manual wire arranging state and low efficiency.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment technology, and in particular to a line-aligning device and a line-aligning method thereof. Background Technology

[0002] In the production process, the alignment of the product is a particularly important production step. Taking speaker production as an example, the alignment of the nylon wire in speaker assembly is still done manually. The nylon wire generally needs to pass through the cone, be led out from under the cone and connected to the terminal clip, and be fixed in the middle by the wire groove. However, the space around the wire groove is small and there are many wire grooves, making the alignment operation difficult. When mass production is carried out, it will affect product quality and production efficiency. Summary of the Invention

[0003] The main objective of this invention is to provide a thread-straightening device and method, which aims to solve the problems of unstable and inefficient manual thread-straightening.

[0004] To achieve the above objectives, the present invention proposes a method for a thread-aligning device, the thread-aligning device comprising a base, a mounting base movably mounted on the base, a first driving device for driving the mounting base to move, a clamping part and a pressing part disposed on the mounting base, a second driving device for driving the pressing part to move relative to the clamping part, and a third driving device for driving the clamping part to perform a clamping action.

[0005] The alignment method of the alignment device includes:

[0006] After the product is in the straight-line position at the straight-line station, obtain the position information of each clamping part on the product;

[0007] A first preset wiring path is determined based on the location information;

[0008] The first driving device, the second driving device, and the third driving device are controlled to work so that the clamping part and the pressing part work together, thereby causing the first cable to be sequentially clamped in the multiple clamping parts according to the first preset wiring path.

[0009] Optionally, obtaining the position information of each of the card-holding parts on the product includes:

[0010] Obtain the product's planar image information and elevation information;

[0011] Determine the planar position information of each of the aforementioned holding parts provided on the product based on the planar image information of the product;

[0012] Determine the height position information of each of the aforementioned clamping parts on the product based on the product's elevation information;

[0013] The position information of each of the holding parts on the product is determined based on the planar position information and the height position information.

[0014] Optionally, controlling the first driving device, the second driving device, and the third driving device to operate so that the clamping part and the pressing part cooperate to cause the first cable to be sequentially clamped in the plurality of clamping parts according to the first preset wiring path includes:

[0015] The first drive device, the second drive device, and the third drive device are controlled to operate. The clamping part and the pressing part work together to make the first cable clamped in one of the wire groove outlets of the adjacent product among the multiple first clamping parts facing the same direction on the first preset wiring path.

[0016] Repeat the above control steps so that the first cable is sequentially locked into the remaining first holding parts.

[0017] Optionally, the control of the first driving device, the second driving device, and the third driving device, with the clamping part and the pressing part cooperating to secure the first cable within one of the multiple first clamping parts facing the same direction on the first preset wiring path, adjacent to the product's cable tray outlet, includes:

[0018] The third driving device is controlled to operate so that the clamping part has a first clamping state to hold the first cable;

[0019] Control the first drive device to work, pull the first cable above the first clamping part, and cross the first clamping part in the routing direction of the first preset routing path, so that the first cable is laid on the first clamping part.

[0020] The third driving device is controlled to operate so that the clamping part has a second clamping state to clamp the first cable;

[0021] Control the first drive device to work and pull the first cable down so that the first cable is pre-locked on the first holding part;

[0022] The second drive device is controlled to operate so that the pressing part performs a pressing action, so that the first cable is finally locked onto the first holding part.

[0023] Optionally, the alignment device further includes a guide portion that can be movably mounted in the horizontal direction;

[0024] After repeating the above control steps to sequentially engage the first cable within the remaining first holding portions, the method further includes:

[0025] After the guide portion engages with the second clamping portion located on the first preset cable routing path, the third driving device is controlled to operate so that the clamping portion has a first clamping state to hold the first cable.

[0026] Control the first drive device to work, pull the first cable to be above the second clamping part which is located on the first preset wiring path and has a different orientation from the first clamping part, and cross the second clamping part in the wiring direction of the first preset wiring path, so that the first cable is laid on the second clamping part under the guidance of the guide part;

[0027] The third driving device is controlled to operate so that the clamping part has a second clamping state to clamp the first cable;

[0028] Control the first drive device to work and pull the first cable down so that the first cable is pre-locked on the second holding part;

[0029] The second drive device is controlled to operate so that the pressing part performs a pressing action, so that the first cable is finally locked onto the second holding part.

[0030] Optionally, the alignment device further includes a fourth drive device for driving the guide portion to move;

[0031] Before controlling the third driving device to operate so that the clamping part has a first clamping state to hold the first cable, the method further includes:

[0032] The fourth drive device is controlled to operate so that the guide portion engages with the second holding portion located on the first preset wiring path.

[0033] Optionally, the base may also have a feeding position located below the alignment position at the alignment station, and the alignment device may further include a lifting drive device.

[0034] Before obtaining the position information of each of the retaining parts on the product, the method further includes:

[0035] Control the lifting drive device to move so that the product moves from the loading position to the line position.

[0036] Optionally, after controlling the first driving device, the second driving device, and the third driving device to operate so that the clamping part and the pressing part cooperate to make the first cable sequentially clamped in the plurality of clamping parts according to the first preset wiring path, the method further includes:

[0037] Determine the second preset wiring path based on the location information;

[0038] The first driving device, the second driving device, and the third driving device are controlled to work so that the clamping part and the pressing part work together, thereby causing the second cable to be sequentially clamped in the multiple clamping parts according to the second preset wiring path.

[0039] The present invention also proposes a line-aligning device, comprising:

[0040] Base;

[0041] A mounting base is movably mounted on the base, and the mounting base is provided with a clamping part and a pressing part;

[0042] A first driving device drives the mounting base to move;

[0043] The second driving device drives the pressing part to move relative to the clamping part;

[0044] The third driving device drives the clamping part to perform a clamping action; and

[0045] The control device is electrically connected to the first drive device, the second drive device, and the third drive device.

[0046] Optionally, the control device includes a memory, a processor, and a routing program of the routing device stored in the memory, wherein the processor executes the routing program of the routing device to implement the routing method of the routing device described in any of the above claims.

[0047] In the technical solution of this invention, after the product is in the alignment position at the alignment station, the position information of each clamping part on the product is obtained, and a first preset wiring path is determined according to the position information. The first driving device, the second driving device, and the third driving device are controlled to work so that the clamping part and the pressing part work together, thereby causing the first cable to be sequentially clamped in the multiple clamping parts according to the first preset wiring path. In this way, the alignment device realizes automatic alignment assembly of the product, replacing manual alignment operation, reducing the labor intensity of workers, saving labor costs, and solving the problems of unstable and low efficiency of manual alignment. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0049] Figure 1This is a perspective view of an embodiment of the line-aligning device provided by the present invention;

[0050] Figure 2 for Figure 1 A three-dimensional schematic diagram of the mounting base and connecting base;

[0051] Figure 3 for Figure 1 A three-dimensional schematic diagram of the clamping arm in the middle;

[0052] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle;

[0053] Figure 5 for Figure 1 A three-dimensional schematic diagram of the lifting component in the middle;

[0054] Figure 6 for Figure 1 A three-dimensional schematic diagram of the guide section in the middle;

[0055] Figure 7 A schematic diagram of the hardware operating environment of the control device provided by the present invention.

[0056] Figure 8 This is a schematic flowchart of the first embodiment of the line-aligning method of the line-aligning device provided by the present invention.

[0057] Explanation of icon numbers:

[0058] label name label name 100 Linear device 51 First connecting arm 1 base 52 Second connecting arm 11 Line workstation 53 Connector 2 Mounting base 6 Guiding Department 3 Clamping part 7 Image acquisition device 31 Clamping arm 8 Distance measuring device 311 Limiting shaft 9 Lifting component 312 mating hole 200 product 4 Press-in section 201 First Cardholder Department 5 Multi-arm rotating connection structure 202 Second Card Holder

[0059] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0062] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0063] In the production process, the alignment of the product is a particularly important production step. Taking speaker production as an example, the alignment of the nylon wire in speaker assembly is still done manually. The nylon wire generally needs to pass through the cone, be led out from under the cone and connected to the terminal clip, and be fixed in the middle by the wire groove. However, the space around the wire groove is small and there are many wire grooves, making the alignment operation difficult. When mass production is carried out, it will affect product quality and production efficiency.

[0064] To address the aforementioned problems, this invention proposes a thread-aligning device and method, aiming to solve the issues of unstable and inefficient manual thread alignment. Figures 1 to 6 This is a schematic diagram of an embodiment of the aligning device provided by the present invention.

[0065] Please refer to Figures 1 to 2 This invention proposes a line-aligning device 100, comprising a base 1, a mounting base 2, a first driving device, a second driving device, a third driving device, and a control device; the mounting base 2 is movably mounted on the base 1, and the mounting base 2 is provided with a clamping part 3 and a pressing part 4; the first driving device drives the mounting base 2 to move; the second driving device drives the pressing part 4 to move relative to the clamping part 3; the third driving device drives the clamping part 3 to perform a clamping action; the control device is electrically connected to the first driving device, the second driving device, and the third driving device.

[0066] In the technical solution provided by the present invention, after the cable on the product 200 is clamped by the clamping part 3, the clamping part 3 is driven to move by the first driving device to pull the cable according to the preset cable routing path. After the cable is pulled to the top of the multiple clamping parts of the product 200 in sequence, the cable is pressed into the multiple clamping parts by the pressing part 4 to complete the cable routing. In this way, the cable routing assembly of the product 200 is automatically realized, which replaces the manual cable routing operation, reduces the labor intensity of workers, saves labor costs, and solves the problems of unstable and inefficient manual cable routing.

[0067] It is understandable that the clamping part 3 and the pressing part 4 can move according to the preset path, but this will make the structure of the line-aligning device 100 complex, increase the difficulty of control, and cause interference during movement. In order to make the structure of the line-aligning device 100 more compact, in this embodiment, the clamping part 3 and the pressing part 4 are both set on the mounting base 2, and the mounting base 2 drives them to move according to the preset path.

[0068] It should be noted that the driving method of the second driving device for the pressing part 4 in this invention is not limited. It can be driven by a cylinder or by a lead screw structure, as long as it can drive the pressing part 4 cable to press into the holding part; preferably, the first driving device includes a cylinder, and the pressing part 4 is installed at the output end of the cylinder.

[0069] It should be noted that the driving method of the third driving device in this invention for the clamping part 3 is not limited. It can be driven by a cylinder to clamp the clamping part 3, or it can be driven by a bidirectional lead screw structure to clamp the clamping part 3. As long as the clamping part 3 can be driven to perform a clamping action to clamp the cable and can perform a releasing action to loosen the cable, it is acceptable. Preferably, the first driving device includes a cylinder, and the pressing part 4 is installed at the output end of the cylinder.

[0070] For further information, please refer to [link / reference]. Figure 6 The holding part may be located at different positions on the spatially different surfaces of the product 200. In order to enable the clamping part 3 and the pressing part 4 to move to the holding part at different positions on the spatially different surfaces, in this embodiment, the aligning device 100 further includes a multi-arm rotating connection structure 5 and a connecting base 53. The multi-arm rotating connection structure 5 includes multiple connecting arms that are rotatably mounted relative to each other along axes extending vertically. The multiple connecting arms are located at both ends as a first connecting arm 51 and a second connecting arm 52. The first connecting arm 51 is rotatably mounted on the base 1. The connecting seat 53 is rotatably mounted on the second connecting arm 52, and the mounting seat 2 is movably mounted on the connecting seat 53 in the vertical direction. It can be understood that by rotating each of the connecting arms to different rotation angles, the mounting seat 2 can move in the horizontal and vertical directions. Since the mounting seat 2 is movably mounted on the connecting seat 53 in the vertical direction, it can drive the clamping part 3 and the pressing part 4 to move according to the preset wiring path, thereby clamping the cable in the three clamping parts located at different positions on the spatially different surfaces of the product 200 as shown in the figure.

[0071] It should be noted that the present invention does not impose specific limitations on the specific form of the clamping part 3, which can be a clamp-type gripper, an adsorption-type gripper, an electromagnetic gripper, etc. Preferably, please refer to [the relevant documentation]. Figure 3 In this embodiment, the clamping part 3 includes two clamping arms 31 arranged opposite to each other. The ends of the two clamping arms 31 form clamping spaces for cable to pass through. The distance between the two clamping arms 31 can be adjusted. The clamping force can be adjusted by adjusting the distance between the two clamping arms 31. For example, in this embodiment, the clamping part 3 has a first clamping state, a second clamping state, and a released state with the cable released, depending on the distance between the two clamping arms 31. When the clamping part 3 is in the first clamping state, it holds the cable but does not clamp it tightly. When the clamping part 3 is in the second clamping state, it clamps the cable completely. When the clamping part 3 is in the first clamping state, it can hold the cable for traction, and the cable will not fall while the possibility of damage to the cable is small. When the clamping part 3 is in the second clamping state, it can pull the cable to pre-lock it on the clamping part. The distance between the two clamping arms 31 in the three states can be determined according to the diameter of the cable. In the first clamping state, the distance between the two clamping arms 31 is slightly greater than or equal to the diameter of the cable. In the second clamping state, the distance between the two clamping arms 31 is less than the diameter of the cable.

[0072] Specifically, please refer to Figure 4 One of the two clamping arms 31 has a limiting shaft portion 311 on its opposite end face, and the other has a mating hole portion 312. The limiting shaft portion 311 is inserted into the mating hole portion 312. The limiting shaft portion 311 and the mating hole portion 312 are provided in pairs and spaced apart. The clamping space is limited between the two limiting shaft portions 311 and the opposite end faces of the two clamping arms 31. Thus, the size of the clamping space can be adjusted by adjusting the distance between the opening of the two clamping arms 31. When the clamping part 3 clamps the cable, the two clamping arms 31 can be opened by a certain distance first so that the end of the cable can enter the clamping space more easily. Then, the distance between the two clamping parts 3 can be adjusted to reduce the clamping space, so that the free end of the cable is gradually clamped, and the cable can be clamped more accurately. Moreover, the clamping force can be adjusted by adjusting the size of the clamping space.

[0073] It is understood that the positions of the various holding parts are not the same in different products 200. In order to obtain the specific position of each holding part in the product 200 and thus facilitate the determination of the preset wiring path, in this embodiment, the wiring device 100 further includes an image acquisition device 7. The image acquisition device 7 is movably mounted relative to the base 1 to acquire planar image information of the product 200, thereby determining the planar position information of each holding part on the product 200, and determining the preset wiring path based on the planar position information of each holding part. It should be noted that the image acquisition device 7 can be an industrial camera. By acquiring an image, only one picture is needed to determine the position of the product 200.

[0074] Furthermore, in order to ensure that the vertical cable can be accurately inserted into the holding part, and to avoid insufficient pressing distance of the pressing part 4 resulting in incomplete insertion or excessive pressing distance damaging the cable, in this embodiment, the cable guiding device 100 also includes a distance measuring device 8 disposed on the mounting base 2. The distance measuring device 8 can measure the distance between the mounting base 2 and the product 200, thereby obtaining the elevation information of the product 200, and thus determining the height position information of each holding part on the product 200.

[0075] It is understandable that in order to obtain the height position information of each of the holding parts, it is not necessary to set up the distance measuring device 8. After the image acquisition device 7 obtains the planar image information of the product 200, the size information of the product 200 on the image can be compared with the actual size information of the product 200 to determine the distance between the image acquisition device 7 and the product 200, and thus the height position information of each of the holding parts on the product 200 can be determined.

[0076] Given that cables are flexible materials, please refer to [link / reference needed]. Figure 6 When the cable is pulled from the first clamping part 201 (circumferential direction) to the second clamping part 202 (radial direction), the cable may bend and its shape may be difficult to control. Therefore, in this embodiment, please refer to... Figure 5 and Figure 6 The cable guiding device 100 further includes a guide portion 6, which is movably mounted horizontally on the base 1. The clamping portion 3 pulls the cable against the guide portion 6 according to a preset cable routing path and moves downward at an angle to pull the cable from one of the clamping portions circumferentially in the routing direction to another second clamping portion 202 in the routing direction radially. Thus, the portion of the cable that is clamped into the second clamping portion 202 will abut against the guide portion 6, and then the cable will move downward at an angle along the guide slope, allowing the cable to be placed into the second clamping portion 202.

[0077] It is understandable that when the clamping part 3 pulls the cable along the second clamping part 202 according to the preset cable routing path, it needs to pass over the guide part 6, which will cause the cable routing path to become longer. In this embodiment, the clamping part 3 has a guide slope, which can avoid the clamping part 3 and guide the cable.

[0078] It is understood that the alignment process of product 200 is only one step in the assembly production of product 200. In order to achieve automated production of product 200, in this embodiment, a loading position is also formed on the alignment station 11 of the base 1, which is located below the alignment position. The alignment device 100 also includes a lifting member 9 that can be movably arranged vertically relative to the base 1 and a lifting drive device that drives the lifting member 9. The moving stroke of the lifting member 9 can sequentially reach the loading position and the alignment position to lift the product 200 at the loading station to the alignment position. In this way, the product 200 to be aligned can be transported to the loading position by the conveyor line, and then transported to the alignment position by the lifting member 9 to complete the alignment process. The alignment process can be carried out automatically and continuously without the need for manual transfer, thus reducing labor costs.

[0079] It should be noted that the present invention does not impose specific limitations on the lifting structure, which can be a convex shaft structure, a connecting rod structure, a lead screw structure, etc., which will not be described in detail here.

[0080] Reference Figure 7 , Figure 7 This is a schematic diagram of the control device of the line-following device 100 in the hardware operating environment involved in the embodiment of the present invention.

[0081] like Figure 7As shown, the control unit of the connection device 100 may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0082] Those skilled in the art will understand that Figure 7 The structure shown does not constitute a limitation on the control device of the alignment device 100, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0083] like Figure 7 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and the routing program of the routing device 100.

[0084] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the control device of the routing device 100 calls the routing program of the routing device 100 stored in the memory 1005 through the processor 1001, and executes the routing method of the routing device 100 provided in the embodiment of the present invention.

[0085] Based on the above-described apparatus, the present invention also provides a method for aligning lines using the alignment device 100. Figure 8 This is a schematic flowchart of the first embodiment of the line-straightening method of the line-straightening device 100 of the present invention.

[0086] Please see Figure 8 See also Figures 1 to 6The straightening device 100 includes a base 1, a mounting base 2 movably mounted on the base 1, a first driving device for driving the mounting base 2 to move, a clamping part 3 and a pressing part 4 provided on the mounting base 2, a second driving device for driving the pressing part 4 to move relative to the clamping part 3, and a third driving device for driving the clamping part 3 to perform a clamping action. The straightening method of the straightening device 100 includes:

[0087] S10: After the product 200 is in the straight-line position at the straight-line station 11, obtain the position information of each clamping part on the product 200;

[0088] S20: Determine the first preset wiring path based on the location information;

[0089] S30: Control the first driving device, the second driving device and the third driving device to work so that the clamping part 3 and the pressing part 4 work together, thereby causing the first cable to be sequentially clamped in the multiple clamping parts according to the first preset wiring path.

[0090] In the technical solution of this embodiment, after the product 200 is in the alignment position at the alignment station 11, the position information of each clamping part on the product 200 is obtained. Based on the position information, a first preset wiring path is determined, and the first driving device, the second driving device, and the third driving device are controlled to work so that the clamping part 3 and the pressing part 4 work together, thereby causing the first cable to be sequentially clamped in the multiple clamping parts according to the first preset wiring path. In this way, the alignment device 100 realizes automatic alignment assembly of the product 200, replacing manual alignment operation, reducing the labor intensity of workers, saving labor costs, and solving the problems of unstable and low efficiency of manual alignment.

[0091] The present invention proposes a second embodiment of a line-aligning method using a line-aligning device 100.

[0092] Based on the first embodiment described above, step S10 of the line-straightening method of the line-straightening device 100 in this embodiment includes:

[0093] S11: Obtain planar image information and elevation information of product 200;

[0094] S12: Determine the planar position information of each of the holding parts provided on the product 200 based on the planar image information of the product 200;

[0095] S13: Determine the height position information of each of the clamping parts provided on the product 200 based on the elevation information of the product 200;

[0096] S14: Determine the position information of each of the holding parts on the product 200 based on the planar position information and the height position information.

[0097] Specifically, the alignment device 100 further includes an image acquisition device 7 and a distance measuring device 8 movably mounted relative to the base 1. The image acquisition device 7 may be an industrial camera, and the distance measuring device 8 may be a laser displacement sensor.

[0098] In the technical solution of this embodiment, the three-dimensional position of each of the holding parts can be confirmed by the image acquisition device 7 and the distance measuring device 8, which makes the preset wiring path more superior, can straighten the product 200 with the shortest stroke, improve efficiency, and can better control the pressing distance of the second driving device driving the pressing part 4, so as to avoid the cable being damaged due to excessive pressing distance, or the cable not being fully locked into the holding part due to insufficient pressing distance.

[0099] The present invention proposes a third embodiment of a line-aligning method for a line-aligning device 100.

[0100] Based on the first embodiment described above, step S30 of the line-straightening method of the line-straightening device 100 in this embodiment includes:

[0101] S31: Control the first drive device, the second drive device and the third drive device to work, the clamping part 3 and the pressing part 4 work together to make the first cable clamped in one of the multiple first clamping parts 201 facing the same direction on the first preset wiring path, adjacent to the cable groove outlet of the product 200.

[0102] S32: Repeat the above control steps so that the first cable is sequentially locked in the remaining first holding parts 201.

[0103] For details, please refer to Figure 6 In product 200, the thickness direction of the first holding part 201 is the circumferential direction of product 200, and the opening faces upward.

[0104] In the technical solution of this embodiment, when the cable is inserted into multiple first holding parts 201, the first cable is first inserted into one of the cable slot outlets adjacent to the product 200, and the operation of inserting the first cable into the remaining first holding parts 201 is basically the same, thereby improving the efficiency of inserting the cable into the product 200.

[0105] The present invention proposes a fourth embodiment of a line-aligning method for a line-aligning device 100.

[0106] Based on the third embodiment described above, step S31 of the line-aligning method of the line-aligning device 100 in this embodiment includes:

[0107] S311: Control the third driving device to work so that the clamping part 3 has a first clamping state to hold the first cable;

[0108] For details, please refer to Figure 3 The clamping part 332 includes two clamping arms 31321 arranged opposite to each other. The ends of the two clamping arms 31321 form clamping spaces for cable to pass through. The distance between the two clamping arms 31321 can be adjusted. The clamping part 332 has a first clamping state according to the distance between the two clamping arms 31321. In the first clamping state, the distance between the two clamping arms 31 is slightly greater than or equal to the diameter of the cable.

[0109] S312: Control the first drive device to work, pull the first cable above the first holding part 201, and cross the first holding part 201 in the routing direction of the first preset routing path, so that the first cable is laid on the first holding part 201.

[0110] S313: Control the third driving device to work so that the clamping part 3 has a second clamping state to clamp the first cable;

[0111] Specifically, in the second clamping state, the distance between the two clamping arms 31 is less than the diameter of the cable.

[0112] S313: Control the first drive device to work and pull the first cable down so that the first cable is pre-locked on the first holding part 201;

[0113] S314: Control the second drive device to work so that the pressing part 4 performs a pressing action so that the first cable is finally locked on the first holding part 201.

[0114] In the technical solution of this embodiment, when it is necessary to pull the first cable above the first clamping part 201, the clamping part 3 is in the first clamping state, that is, it is holding the first cable. Since the clamping part 3 in the first clamping state does not apply clamping force to the first cable, it can pull the first cable without causing damage to the first cable. Since the clamping part 3 needs to move downward to pull the first cable when the first cable is pre-clamped on the first clamping part 201, it is necessary to adjust the distance between the two clamping arms 31 so that the clamping part 3 is in the second clamping state and can clamp the first cable. Finally, with the movement of the pressing part 4, the first cable can be completely clamped into the first clamping part 201.

[0115] The present invention provides a fifth embodiment of a line-aligning method for a line-aligning device 100.

[0116] Based on the third embodiment described above, please refer to Figure 6 The line-aligning device 100 further includes a guide portion 6 that can be movably installed in the horizontal direction, and the line-aligning device 100 also includes a fourth driving device for driving the guide portion 6 to move.

[0117] It should be noted that, since the thickness direction of the second holding part 202 is radial to the product 200 and almost perpendicular to the thickness direction of the first holding part 201, and considering that the cable is a flexible material, when the cable is pulled from the first holding part 2018 which is circumferential to the cable routing direction to the second holding part 2028 which is radial to the cable routing direction, the first cable may be bent and its shape is difficult to control, so that the first cable cannot be aligned with the second holding part 202.

[0118] The steps following step S32 of the straightening method of the straightening device 100 described in this embodiment include:

[0119] S33: Control the fourth drive device to work so that the guide part 6 engages with the second holding part located on the first preset wiring path.

[0120] Specifically, the guide portion 6 extends vertically, and one side of its width direction is aligned with the opening of the second holding portion 202. The thickness of the guide portion 6 is close to the thickness of the second holding portion 202, so that after the first cable abuts against the guide portion 6, the portion of the first cable above the second holding portion 202 can be aligned with the second holding portion 202.

[0121] S34: After the guide part 6 reaches the second clamping part located on the first preset cable path, control the third driving device to work so that the clamping part 3 has a first clamping state to hold the first cable.

[0122] S35: Control the first drive device to work, pull the first cable to be above the second holding part 202 which is located on the first preset wiring path and has a different orientation from the first holding part 201, and cross the second holding part 202 in the wiring direction of the first preset wiring path, so that the first cable is laid on the second holding part 202 under the guidance of the guide part 6.

[0123] S36: Control the third driving device to work so that the clamping part 3 has a second clamping state to clamp the first cable;

[0124] S37: Control the first drive device to work and pull the first cable down so that the first cable is pre-locked on the second holding part 202;

[0125] S38: Control the second drive device to work so that the pressing part 4 performs a pressing action so that the first cable is finally locked on the second holding part 202.

[0126] In the technical solution of this embodiment, when the first cable needs to be inserted into the second holding part 202, after the clamping part 3 holds the first cable, the first cable travels along the upper path of the second holding part 202. After the first cable passes the second holding part 202, the first cable abuts against one side of the guide part 6 in the width direction, so that the first cable can be aligned with the second holding part 202, and the first cable can be smoothly inserted into the second holding part 202.

[0127] Furthermore, in order to avoid the movement of the clamping part 3 along the first preset cable path, the guide part 6 has a guide slope on one side of its width direction. The guide slope is aligned with the opening of the second clamping part 202. When the clamping part 3 passes over the second clamping part 202, it needs to bypass the guide part 6, reducing the travel distance of the clamping part 3 and improving the cable routing efficiency. It should be noted that after the first cable abuts against the guide slope, during the process of the clamping part 3 pulling the first cable downward, the first cable can move downward at an angle along the guide slope, thereby pre-locking it onto the second clamping part 202.

[0128] The present invention provides a sixth embodiment of a line-aligning method for a line-aligning device 100.

[0129] Based on the first embodiment described above, please refer to Figure 5 The base 1 also has a feeding position below the straightening position on the straightening station 11, and the straightening device 100 also includes a lifting drive device.

[0130] The steps preceding step S10 of the line-aligning method of the line-aligning device 100 described in this embodiment include:

[0131] S09: Control the lifting drive device to move so that the product 200 moves from the loading position to the line position.

[0132] It is understandable that during the assembly and processing of product 200, the production line is only one step.

[0133] In the technical solution of this embodiment, after the product 200 moves to the loading position along the production line, the lifting drive device is controlled to work, lifting the product 200 from the loading position to the line-following position and separating it from the production line. After the line-following is completed, the lifting drive device makes the product 200 return to the production line. In this way, the line-following process can be carried out automatically and continuously without the need for manual transfer, thus reducing labor costs.

[0134] The present invention provides a seventh embodiment of a line-aligning method for a line-aligning device 100.

[0135] Based on the first embodiment described above, the steps following step S30 of the straightening method of the straightening device 100 in this embodiment include:

[0136] S40: Determine the second preset wiring path based on the location information;

[0137] S50 controls the first driving device, the second driving device, and the third driving device to work so that the clamping part 3 and the pressing part 4 work together, thereby causing the second cable to be sequentially clamped in the multiple clamping parts according to the second preset wiring path.

[0138] In the technical solution of this embodiment, since there is more than one cable on the product 200, after the first cable is straightened, the second cable is straightened in basically the same way, and the multiple cables are straightened in an orderly manner, reducing the possibility of mutual interference between the components of the straightening device 100.

[0139] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0140] In addition, for technical details not described in detail in this embodiment, please refer to the line-aligning method of the line-aligning device provided in any embodiment of the present invention, which will not be repeated here.

[0141] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0142] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, television, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0144] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A thread guiding method of a thread guiding device, characterized by, The wire arranging device comprises a base, a mounting seat movably mounted on the base, a first driving device for driving the mounting seat to move, a clamping part and a pressing part arranged on the mounting seat, a second driving device for driving the pressing part to move relative to the clamping part, and a third driving device for driving the clamping part to perform a clamping action. The wire arranging method of the wire arranging device comprises the following steps: After the product is arranged at a wire arranging position of the wire arranging station, position information of each clamping part on the product is acquired; A first preset wire arranging path is determined according to the position information; The first driving device, the second driving device and the third driving device are controlled to work, so that the clamping part and the pressing part work cooperatively, and then the first cable is sequentially clamped in the plurality of clamping parts along the first preset wire arranging path; The acquisition of the position information of each clamping part on the product comprises the following steps: Plane image information and height information of the product are acquired; Plane position information of each clamping part arranged on the product is determined according to the plane image information of the product; Height position information of each clamping part arranged on the product is determined according to the height information of the product; The position information of each clamping part on the product is determined according to the plane position information and the height position information, so as to confirm the three-dimensional position of each clamping part.

2. The thread guiding method of the thread guiding device according to claim 1, wherein The control of the first driving device, the second driving device and the third driving device to work, so that the clamping part and the pressing part work cooperatively, and then the first cable is sequentially clamped in the plurality of clamping parts along the first preset wire arranging path, comprises the following steps: The first driving device, the second driving device and the third driving device are controlled to work, so that the clamping part and the pressing part work cooperatively, and then the first cable is sequentially clamped in the plurality of clamping parts along the first preset wire arranging path, comprises the following steps: The first driving device, the second driving device and the third driving device are controlled to work, so that the clamping part and the pressing part work cooperatively, and then the first cable is sequentially clamped in the plurality of clamping parts along the first preset wire arranging path, comprises the following steps:

3. The thread guiding method of the thread guiding device according to claim 2, wherein The third driving device is controlled to work, so that the clamping part has a first clamping state to hold the first cable; The first driving device is controlled to work, so that the first cable is pulled above the first clamping part and passes the first clamping part in the wire arranging direction of the first preset wire arranging path, so that the first cable is arranged on the first clamping part; The third driving device is controlled to work, so that the clamping part has a second clamping state to hold the first cable; The first driving device is controlled to work, so that the first cable is pulled down, so that the first cable is clamped on the first clamping part; The second driving device is controlled to work, so that the pressing part performs a pressing action, so that the first cable is finally clamped on the first clamping part. ​ 4. The thread guiding method of the thread guiding device according to claim 2, wherein The wire arranging device further comprises a guide part movably mounted in horizontal direction; After the above control steps are repeated to make the first cable sequentially clamped in the remaining first clamping parts, the wire arranging device further comprises: After the guide part is positioned at the second clamping part on the first preset wire arranging path, the third driving device is controlled to work to make the clamping part have a first clamping state to hold the first cable; The first driving device is controlled to work to pull the first cable to make the first cable pass over the second clamping part on the first preset wire arranging path and beyond the second clamping part in the wire arranging direction of the first preset wire arranging path, so that the first cable is arranged on the second clamping part under the guidance of the guide part; The third driving device is controlled to work to make the clamping part have a second clamping state to clamp the first cable; The first driving device is controlled to work to pull the first cable downward to make the first cable clamped on the second clamping part; The second driving device is controlled to work to make the pressing part perform a downward pressing action to make the first cable finally clamped on the second clamping part.

5. The thread guiding method of the thread guiding device according to claim 4, wherein The wire arranging device further comprises a fourth driving device to drive the guide part to move; Before the third driving device is controlled to work to make the clamping part have a first clamping state to hold the first cable, the wire arranging device further comprises: The fourth driving device is controlled to work to make the guide part positioned at the second clamping part on the first preset wire arranging path.

6. The thread guiding method of the thread guiding device according to claim 1, wherein The base further comprises a lifting driving device; Before the position information of the clamping parts on the product is acquired, the wire arranging device further comprises: The lifting driving device is controlled to move to make the product move from the feeding position to the wire arranging position.

7. The thread guiding method of the thread guiding device according to claim 1, wherein After the first driving device, the second driving device and the third driving device are controlled to work to make the clamping part and the pressing part work cooperatively to make the first cable sequentially clamped in the clamping parts according to the first preset wire arranging path, the wire arranging device further comprises: A second preset wire arranging path is determined according to the position information; The first driving device, the second driving device and the third driving device are controlled to work to make the clamping part and the pressing part work cooperatively to make the second cable sequentially clamped in the clamping parts according to the second preset wire arranging path.

8. A line following device characterized by A wire arranging method based on the wire arranging device according to any one of claims 1 to 7, comprising: a base; a mounting seat movably mounted on the base, the mounting seat being provided with a clamping part and a pressing part; a first driving device to drive the mounting seat to move; a second driving device to drive the pressing part to move relative to the clamping part; a third driving device to drive the clamping part to perform a clamping action; and a control device electrically connected to the first driving device, the second driving device and the third driving device. An image acquisition device is movably mounted relative to the base, and is configured to acquire planar image information of the product; A distance measurement device is movably mounted relative to the base, and is configured to acquire elevation information of the product; The control device is further configured to determine planar position information of each of the holding portions arranged on the product according to the planar image information of the product, to determine height position information of each of the holding portions arranged on the product according to the elevation information of the product, and to determine position information of each of the holding portions on the product according to the planar position information and the height position information, so as to confirm the three-dimensional positions of each of the holding portions.

9. The thread guiding device of claim 8, wherein The control device comprises a memory, a processor, and a threading program stored in the memory, and the processor executes the threading program to implement the steps of the threading method of the threading device according to any one of claims 1 to 7.

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