Automated production layout and method for very fine coaxial lines

Abstract

The application discloses an automatic production layout and a production method of an ultra-fine coaxial line, and belongs to the technical field of automatic production of the ultra-fine coaxial line. The application discloses the following technical scheme: a customized mold is transported through a guide rail and a conveying plate, a wire harness is fixed based on the customized mold, and the customized mold is sequentially conveyed to each separate production procedure by a conveying belt to perform automatic operation; wherein the production procedure comprises wire arranging and stripping, copper sheet soldering, shearing of a wire core and the copper sheet, plug soldering, shell soldering, then, shell cleaning, detection and packaging; a CCD visual detection method is used to detect defects of the wire harness to obtain defect features of the wire harness; based on the defect features of the wire harness, a collaborative manipulator is used in cooperation with a deviation rectifying mechanism to rectify the wire harness, so that the automatic production of the ultra-fine coaxial line is realized. The application can realize an automatic production assembly line, realize the modularization of production procedures, reduce labor cost and improve production efficiency.

Description

Technical Field

[0001] This invention belongs to the field of automated cable production and processing, and particularly relates to an automated production layout and method for ultra-fine coaxial cables. Background Technology

[0002] As a crucial connecting component for signal transmission in high-precision instruments, the manufacturing quality of ultra-fine coaxial cable bundles is paramount. Ultra-fine coaxial cables consist of a core, insulation layer, shielding layer, and protective sleeve. Their production process can be summarized in eight parts: cable routing and stripping, copper sheet soldering, cutting the core and copper sheet, plug soldering, outer shell soldering, bonding, outer shell cleaning, inspection, and packaging. Currently, the production of ultra-fine coaxial cable bundles is largely completed manually, including for defect detection. Existing ultra-fine coaxial cable bundle production lines suffer from the following main problems:

[0003] (1) Manual operation is inefficient for detecting defects in wire harnesses, which limits the production speed of the production line and cannot meet the mass production needs of ultra-fine coaxial wire harnesses.

[0004] (2) The results of manual inspection are highly objective, but the human judgment standards vary, making it difficult to guarantee the production quality of the wire harness;

[0005] (3) When people work on the detection work for a long time, the accuracy of the detection will decrease over time;

[0006] (4) Production line work is labor-intensive and requires a large number of skilled workers, resulting in high labor costs. As labor costs increase, the production cost of wire harnesses will also increase.

[0007] (5) The manual transfer of wire harnesses during production connection results in wire harnesses being distorted or damaged during transportation, affecting the production quality of the wire harnesses;

[0008] Existing ultra-fine coaxial cable production lines have low levels of automation and rely heavily on manual labor, resulting in low production efficiency, high production costs, and difficulty in consistently ensuring production quality. Summary of the Invention

[0009] To address the aforementioned problems, this invention modifies existing methods for producing ultra-fine coaxial cable bundles, proposing a new automated production method to reduce the number of workers required on the production line and achieve automated production.

[0010] This invention provides the following solution: an automated production layout and method for ultra-fine coaxial cables, comprising:

[0011] Customized molds are transported via guide rails and conveyor plates. Based on these customized molds, wire harnesses are fixed, and the customized molds are sequentially transported by conveyor belts to each individual production process for automated operation. The production process includes wire laying and stripping, copper sheet soldering, cutting of wire cores and copper sheets, plug soldering, shell soldering, bonding, shell cleaning, inspection, and packaging.

[0012] Simultaneously, CCD visual inspection is used to detect wire harness defects and obtain wire harness defect characteristics;

[0013] Based on the aforementioned wire harness defect characteristics, a collaborative robotic arm, in conjunction with a correction mechanism, is used to correct the wire harness deviation, thereby achieving automated production of ultra-fine coaxial cables.

[0014] Preferably, the automated process for wiring and stripping includes,

[0015] First, the customized mold is placed on the conveyor plate, which is transported to the wire laying and stripping process position by the guide rail, and the ultra-fine coaxial cable is fixed on the customized mold.

[0016] Secondly, CCD vision inspection is used to confirm whether the number of wire harnesses in the wire trough is missing. The blue ultra-fine coaxial cable is identified by color transformation method, and the blue outline is identified by Hough transform method to output the number of wire harnesses.

[0017] Finally, the inspection is judged to determine whether it is qualified. If the inspection is qualified, the customized mold is transported to the laser wire stripping machine via conveyor belt to remove the protective sleeve of the wire bundle, and then it enters the copper sheet soldering production process. If the inspection is unqualified, the location and quantity of the missing wire bundle are obtained and the wire bundle is replenished until the inspection is qualified.

[0018] Preferably, the process of automating the soldering of the copper sheet includes,

[0019] First, the collaborative robot places the first copper sheet onto the copper sheet soldering fixture, the conveyor belt inputs the customized mold, and the collaborative robot picks up the customized mold and places it onto the copper sheet soldering fixture;

[0020] Secondly, based on the collaborative robotic arm, the second copper sheet is placed above the wire harness, and the customized mold is transported by the conveyor belt to the pulse heating machine for soldering.

[0021] Finally, the customized mold is transported by conveyor belt to the laser wire stripping machine to remove the shielding and insulation layers of the wire bundle, and then proceeds to the production process of cutting the wire core and copper sheet.

[0022] Preferably, the automated process of cutting the wire core and copper sheet includes,

[0023] First, a customized mold is input via the conveyor belt, and the collaborative robotic arm picks up the customized mold and places it onto the cutting fixture to cut off excess wire cores and copper sheets.

[0024] Secondly, CCD visual inspection is used to detect whether the wire core is distorted or too short. Edge detection method is used to extract the edge segments of the wire core to determine the degree of distortion of the wire core and whether the wire core is too long or too short.

[0025] Finally, it is determined whether the wire core is qualified. If it is qualified, it enters the plug soldering production process; if it is not qualified, the direction and position information of the skewed core are output. The motor drives the roller, the roller rotates the rack to adjust the correction position, and then manipulates the straightening steel needle to perform the corresponding correction process until the test is qualified.

[0026] Preferably, the process of automating the soldering of the plug includes,

[0027] First, the cooperative robot places the plug onto the plug soldering fixture. The conveyor belt inputs the customized mold, and the cooperative robot picks up the customized mold and places it onto the plug soldering fixture. The CCD vision inspection method is used to detect whether the wire core is inside the terminal. The binary images of the wire core and the terminal are extracted by the thresholding method. The outline of the wire core and the terminal is extracted by combining the Hough transform method to determine the position of the outline.

[0028] Secondly, it is determined whether the position of the contour is qualified. If it is qualified, the automatic soldering machine will pull the solder wire and the pulse heating machine will perform soldering. If it is not qualified, the direction and position information of the skewed core will be output. The motor drives the roller, the roller rotates the rack to adjust the correction position, and then manipulates the straightening steel needle to perform the corresponding correction process until the inspection is qualified.

[0029] Finally, the YOLO method is used to train the defect feature dataset of the wire harness to detect solder residue, missing solder, and cold solder joint features. If the detection is qualified, the wire harness will enter the production process of the outer shell solder; if the detection is unqualified, the wire harness will be output as a defective product.

[0030] Preferably, the process of automating the soldering of the outer casing includes,

[0031] First, the collaborative robot places the outer shell onto the plug soldering fixture, the conveyor belt inputs the customized mold, the collaborative robot picks up the customized mold and places it onto the outer shell soldering fixture, and the CCD vision detection method is used to detect the pose of the solder points on the outer shell surface to obtain the first pose information;

[0032] Next, the first pose information is input into the automatic welding machine to perform spot welding in sequence. The YOLO method is used to train the defect feature dataset of the wire harness to detect the features of missing solder, solder spikes, and solder piles in the wire harness. If the detection is qualified, the customized mold is flipped using a collaborative robot arm; if the detection is unqualified, the defective product is output for processing.

[0033] Finally, the CCD vision inspection method is used to detect the pose of the solder joints on the other side of the positioning shell to obtain the second pose information. The second pose information is input into the automatic welding machine to perform spot welding in sequence. The YOLO method is used to train the defect feature dataset of the wire harness to detect the features of missing solder, solder spikes, and solder piles in the wire harness. If the detection is qualified, it enters the next production process; if the detection is unqualified, it is output as a defective product.

[0034] Preferably, the process of subsequently performing automated operations includes,

[0035] First, the collaborative robot grips the wire harness onto the bonding fixture, and the pose of the adhesive application area is detected and obtained using CCD vision detection to obtain third pose information; the third pose information is then input to the collaborative robot to apply the adhesive.

[0036] Secondly, the bonding area of ​​the wire harness is dried using a drying machine;

[0037] Finally, the width and height of the adhesive are inspected using CCD vision inspection. If the inspection is qualified, the product enters the shell cleaning process; if the inspection is unqualified, it is output as a defective product.

[0038] Preferably, the process of automating the cleaning of the outer casing includes,

[0039] First, the outer casing of the wire harness is cleaned based on the input wire harness of the conveyor belt;

[0040] Secondly, the cleaning effect is detected using CCD visual inspection.

[0041] Finally, determine whether the cleaning effect is up to standard. If it is, proceed to the testing and packaging process; if it is not, the product is rejected.

[0042] Preferably, the process of automating the inspection and packaging includes,

[0043] First, based on the input wire harness of the conveyor belt, the size of the wire harness is detected by CCD vision inspection. If the size of the wire harness is qualified, the wire harness enters the CCD vision inspection step of appearance inspection; if the size of the wire harness is not qualified, it is output as a defective product.

[0044] Secondly, if the appearance and dimensions of the wire harness pass the inspection, the electrical conductivity of the wire harness will be manually tested; otherwise, it will be output as a defective product.

[0045] Finally, if the wire harness has good conductivity, it will proceed to manual packaging to complete the production of the ultra-fine coaxial wire harness; if the wire harness has poor conductivity, it will be output as a defective product.

[0046] Compared with the prior art, the present invention has the following advantages and technical effects:

[0047] The existing production process for ultra-fine coaxial cable harnesses mainly relies on manual labor for the connection parts. This invention adopts a conveyor belt transportation production method, which can better protect the cable harness, improve production efficiency, realize mass production of cable harnesses, and increase production speed.

[0048] The existing production process for ultra-fine coaxial cable harnesses is mainly manual. This invention uses a customized mold to fix the cable harness. First, it can protect the core of the cable harness from external factors that may cause the core to bend. Second, it can work with the conveyor belt to achieve better transfer of the cable harness. Finally, it can realize modular production of the production process. For different cable harness models, some parts can be flexibly replaced without changing the structure of the entire production line.

[0049] The existing production of ultra-fine coaxial cable bundles mainly relies on manual labor for defect detection. This invention uses CCD vision inspection for defect detection, which can save labor costs, improve the accuracy of detection, and thus effectively improve production efficiency. Attached Figure Description

[0050] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0051] Figure 1 This is a basic structural diagram of the ultra-fine coaxial cable bundle according to an embodiment of the present invention;

[0052] Figure 2 This is a flowchart of the ultra-fine coaxial cable production line according to an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the basic structure of the ultra-fine coaxial cable production line according to an embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram of the conveying structure of the ultra-fine coaxial cable production line according to an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the collaborative robotic arm gripping mechanism according to an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of the correction mechanism for the ultra-fine coaxial cable production line according to an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram showing the position of the copper sheet in an embodiment of the present invention;

[0058] Figure 8This is a flowchart illustrating the wiring and stripping process according to an embodiment of the present invention.

[0059] Figure 9 This is a schematic diagram of the copper sheet soldering process according to an embodiment of the present invention;

[0060] Figure 10 This is a schematic diagram of the process of cutting the wire core and copper sheet according to an embodiment of the present invention;

[0061] Figure 11 This is a schematic diagram of the plug soldering process according to an embodiment of the present invention;

[0062] Figure 12 This is a schematic diagram of the shell soldering process according to an embodiment of the present invention;

[0063] Figure 13 This is a schematic diagram of the connection process according to an embodiment of the present invention;

[0064] Figure 14 This is a schematic diagram of the shell cleaning process according to an embodiment of the present invention;

[0065] Figure 15 This is a schematic diagram of the detection and packaging process according to an embodiment of the present invention;

[0066] The components are as follows: 1. Wire core; 2. Insulation layer; 3. Shielding layer; 4. Protective sleeve; 5. Base plate; 6. Guide rail; 7. Fairing; 8. Ultra-fine coaxial cable bundle; 9. Conveyor plate; 10. Custom mold; 11. Ultra-fine coaxial cable bundle; 12. Collaborative robot; 13. Alignment steel needle; 14. Motor; 15. Reel; 16. Rack; 17. First copper sheet; 18. Second copper sheet. Detailed Implementation

[0067] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0068] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0069] The present invention provides an automated production layout and method for ultra-fine coaxial cables, comprising: transporting a customized mold 10 via a guide rail 6 and a conveyor plate 9; fixing the wire harness based on the customized mold 10; and sequentially conveying the customized mold 10 to each individual production process for automated operation via a conveyor belt; wherein the production process includes wire laying and stripping, copper sheet soldering, cutting of wire core and copper sheet, plug soldering, shell soldering, bonding, shell cleaning, inspection and packaging; simultaneously, CCD vision inspection is used to detect wire harness defects and obtain wire harness defect features; based on the wire harness defect features, a collaborative robot arm is used in conjunction with a correction mechanism to correct the wire harness, thereby realizing the automated production of ultra-fine coaxial cables.

[0070] The automated production layout and method for ultra-fine coaxial cables of the present invention are specifically designed as follows:

[0071] (1) Adopting conveyor belt transportation to realize automated assembly line mode;

[0072] (2) The wire harness is fixed by using a customized mold to achieve modularization of the production process;

[0073] (3) Use the visual inspection method of charge coupled device (CCD) to detect wire harness defect features and improve production efficiency.

[0074] Furthermore, such as Figure 2 As shown, the automated production line of this invention is based on conveyor belt transportation, with each production process being a separate automated module. Combined with CCD vision inspection, it achieves automated wire harness defect detection and automated wire harness transportation, improving production efficiency and reducing production costs, thus realizing the automated production of ultra-fine coaxial cable harnesses. Specific features are as follows:

[0075] (1) The production process can be flexibly changed according to the requirements of the production line to achieve modular production;

[0076] (2) By combining with the operation of a collaborative robotic arm, automated gripping can be achieved, saving labor costs and improving production efficiency;

[0077] (3) Customized molds can be recycled in combination with the characteristics of conveyor belts, saving production costs;

[0078] Furthermore, the basic structure of the automated production line layout of the present invention mainly includes a base plate 5, guide rails 6, and a fairing 7 (e.g., Figure 3 As shown), the interior of the fairing 7 is composed of fixtures for each production process; the conveying structure mainly includes an ultra-fine coaxial cable bundle 8, a conveyor plate 9, and a custom mold 10 (as shown). Figure 4As shown), the customized mold 10 can be replaced according to different models of the ultra-fine coaxial cable 8, without the need to redesign the entire production line. Through the cooperation of the guide rail 6 and the conveyor plate 9, automated assembly line transfer to each production process can be achieved; in addition, the automated production line is equipped with a collaborative robot 12 (such as...). Figure 5 (as shown) and correction mechanisms (such as Figure 6 As shown), the correction mechanism mainly includes a straightening steel needle 13, a motor 14, a scroll 15, and a rack 16 (as shown). Figure 6 As shown, the correction mechanism corrects the wire core based on the CCD visual inspection effect, and works in conjunction with the gripping and transfer of the robotic arm 12 to better realize automated assembly line operation.

[0079] Furthermore, the automated production line method of this invention mainly employs CCD vision inspection. The production method consists of eight steps: wire laying and stripping, copper sheet soldering, cutting of wire core and copper sheet, plug soldering, outer shell soldering, bonding, outer shell cleaning, inspection, and packaging. The produced ultra-fine coaxial cable is composed of wire core 1, insulation layer 2, shielding layer 3, and protective sleeve 4, as shown below. Figure 1 As shown. The specific CCD visual inspection process is as follows:

[0080] (1) Cable laying and stripping (e.g.) Figure 8 (As shown)

[0081] First, the customized mold 10 is placed on the conveyor plate 9 manually. The conveyor plate 9 is transported to the wire laying and stripping process position by the guide rail 6. The ultra-fine coaxial cable 8 is fixed to the customized mold 10 manually. Second, the number of wire bundles in the wire slot is confirmed by CCD vision inspection. The blue ultra-fine coaxial cable is identified by color transformation method, and the blue outline is identified by Hough transform method to output the number of wire bundles. Finally, it is judged whether the inspection is qualified. If the inspection is qualified, the customized mold is transported to the laser wire stripping machine by conveyor belt to remove the protective sleeve 4 of the wire bundle, and then enters the copper sheet soldering production process. Otherwise, the position and number of missing wire bundles are output and the wire bundles are manually supplemented until the inspection is qualified.

[0082] (2) Copper sheet solder (e.g.) Figure 9 (As shown)

[0083] First, the collaborative robotic arm 12 places the first copper sheet 17 (e.g., Figure 7 (As shown) onto the copper sheet soldering fixture, the conveyor belt inputs the customized mold 10, and the collaborative robot 12 grips the customized mold 10 onto the copper sheet soldering fixture; next, the collaborative robot 12 places the second copper sheet 18 (as shown) onto the copper sheet soldering fixture; Figure 7(As shown) Above the wire harness, it is transported by conveyor belt to the pulse heating machine for soldering; finally, it is transported by conveyor belt to the laser wire stripper to remove the shielding layer 3 and insulation layer 2 of the wire harness, and then enters the process of cutting the wire core and copper sheet.

[0084] (3) Cut the wire core and copper sheet (e.g.) Figure 10 (As shown)

[0085] First, the conveyor belt inputs the customized mold 10, and the robotic arm 12 grips the customized mold 10 onto the cutting fixture to cut off excess wire core 1 and copper sheet. Second, CCD vision inspection is used to detect whether the wire core 1 is distorted or too short. Edge detection method is used to extract the edge segments of the wire core to determine the degree of distortion and whether the wire core 1 is too long or too short. Finally, it is determined whether the wire core is qualified. If it is qualified, it enters the plug soldering production process; otherwise, the direction and position information of the distorted wire core 1 are output. The motor 14 drives the roller 15, and the roller 15 rotates the rack 16 to adjust the correction position, thereby manipulating the straightening steel needle 13 to perform the corresponding correction process until the inspection is qualified.

[0086] (4) Plug soldering (e.g.) Figure 11 (As shown)

[0087] First, the collaborative robot 12 places the plug onto the plug soldering fixture. A custom mold is input via a conveyor belt, and the collaborative robot 12 grips the custom mold 10 onto the plug soldering fixture. CCD vision inspection is used to check whether the wire core 1 is inside the terminal. The binary images of the wire core 1 and the terminal are extracted using a thresholding method, and the contour is extracted using the Hough transform method to determine the position of the contour. Second, the position of the contour is checked for compliance. If the inspection is qualified, the automatic soldering machine pulls the solder wire and the pulse heating machine performs soldering. Otherwise, the direction and position information of the skewed core 1 are output. The motor 14 drives the reel 15, which rotates the rack 16 to adjust the correction position, thereby manipulating the straightening steel needle 13 to perform the corresponding correction processing until the inspection is qualified. Finally, the YOLO method is used to train the defect feature dataset of the wire harness to detect features such as solder residue, missing solder, and cold solder joint. If the inspection is qualified, it enters the shell soldering production process; otherwise, it is output as a defective product.

[0088] (5) Outer casing solder (e.g.) Figure 12 (As shown)

[0089] First, the collaborative robot 12 places the outer casing onto the fixture for soldering the plug. A custom mold 10 is input via a conveyor belt, and the collaborative robot 12 picks up the custom mold 10 and places it onto the fixture for soldering the outer casing. CCD vision inspection is used to detect and position the solder joints on the outer casing surface. Second, the position information is input to an automatic welding machine for sequential spot welding. A YOLO method is used to train a defect feature dataset for the wire harness, detecting features such as missing solder joints, solder spikes, and solder buildups. If the detection is satisfactory, the collaborative robot 12 flips the custom mold 10; otherwise, a defective product is output. Finally, CCD vision inspection is used to detect and position the solder joints on the other side of the outer casing. The position information is input to an automatic welding machine for sequential spot welding. A YOLO method is used to train a defect feature dataset for the wire harness, detecting features such as missing solder joints, solder spikes, and solder buildups. If the detection is satisfactory, the product enters the next production process; otherwise, a defective product is output.

[0090] (6) Next (as in) Figure 13 (As shown)

[0091] First, the collaborative robot arm 12 grips the wire harness onto the bonding fixture. The pose of the adhesive application area is detected and obtained using CCD vision detection. The pose information is input to the collaborative robot arm 12 to apply the adhesive. Second, the bonding area of ​​the wire harness is dried by a drying machine. Finally, the width and height of the adhesive are detected using CCD vision detection. If the detection is qualified, the wire harness enters the shell cleaning process; otherwise, it is output as a defective product.

[0092] (7) Cleaning the outer casing (e.g.) Figure 14 (As shown)

[0093] First, the wire harness is fed into the conveyor belt, and the outer shell of the wire harness is cleaned manually. Second, the cleaning effect is inspected using CCD vision inspection. Finally, it is determined whether the cleaning effect is qualified. If the inspection is qualified, the wire harness enters the inspection and packaging production process; otherwise, it is output as a defective product.

[0094] (8) Testing and packaging (e.g.) Figure 15 (As shown)

[0095] First, the wire harness is input via conveyor belt, and its dimensions are inspected using CCD vision inspection. If the inspection is satisfactory, the harness proceeds to the CCD vision inspection step for its appearance; otherwise, it is output as a defective product. Second, if the wire harness's appearance and dimensions are satisfactory, its electrical conductivity is manually tested; otherwise, it is output as a defective product. Finally, if the wire harness's conductivity is satisfactory, it proceeds to manual packaging, completing the production step of the ultra-fine coaxial cable harness; otherwise, it is output as a defective product.

[0096] The automated production layout and method for ultra-fine coaxial cables designed in this invention transports customized molds via guide rails and conveyor plates, and then conveys them to each individual production process via conveyor belt to complete automated operations. Combining the results of CCD vision inspection, a correction mechanism is used to correct the wire harness. The entire production process is carried out with the cooperation of robotic arms to improve production efficiency and realize an automated production line.

[0097] The existing production process for ultra-fine coaxial cable harnesses mainly relies on manual labor for the connection parts. This invention adopts a conveyor belt transportation production method, which can better protect the cable harness, improve production efficiency, realize mass production of cable harnesses, and increase production speed.

[0098] The existing production process for ultra-fine coaxial cable harnesses is mainly manual. This invention uses a customized mold to fix the cable harness. First, it can protect the core of the cable harness from external factors that may cause the core to bend. Second, it can work with the conveyor belt to achieve better transfer of the cable harness. Finally, it can realize modular production of the production process. For different cable harness models, some parts can be flexibly replaced without changing the structure of the entire production line.

[0099] The existing production of ultra-fine coaxial cable bundles mainly relies on manual labor for defect detection. This invention uses CCD vision inspection for defect detection, which can save labor costs, improve the accuracy of detection, and thus effectively improve production efficiency.

[0100] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automated production layout and method for ultra-fine coaxial cables, characterized in that, include: Customized molds are transported via guide rails and conveyor plates. Based on these customized molds, wire harnesses are fixed, and the customized molds are sequentially transported by conveyor belts to each individual production process for automated operation. The production process includes wire laying and stripping, copper sheet soldering, cutting of wire cores and copper sheets, plug soldering, shell soldering, bonding, shell cleaning, inspection, and packaging. Simultaneously, CCD visual inspection is used to detect wire harness defects and obtain wire harness defect characteristics; Based on the aforementioned wire harness defect characteristics, a collaborative robot arm is used in conjunction with a correction mechanism to correct the wire harness deviation, thereby achieving automated production of ultra-fine coaxial cables. The process of automating the soldering of the plug includes, First, the cooperative robot places the plug onto the plug soldering fixture. The conveyor belt inputs the customized mold, and the cooperative robot picks up the customized mold and places it onto the plug soldering fixture. The CCD vision inspection method is used to detect whether the wire core is inside the terminal. The binary images of the wire core and the terminal are extracted by the thresholding method. The outline of the wire core and the terminal is extracted by combining the Hough transform method to determine the position of the outline. Secondly, it is determined whether the position of the contour is qualified. If it is qualified, the automatic soldering machine will pull the solder wire and the pulse heating machine will perform soldering. If it is not qualified, the direction and position information of the skewed core will be output. The motor drives the roller, the roller rotates the rack to adjust the correction position, and then manipulates the straightening steel needle to perform the corresponding correction process until the inspection is qualified. Finally, the YOLO method is used to train the defect feature dataset of the wire harness to detect the features of solder residue, missing solder, and cold solder joint. If the detection is qualified, it enters the production process of the outer shell solder; if the detection is unqualified, it is output as a defective product. The process of automating the soldering of the outer casing includes, First, the collaborative robot places the outer shell onto the plug soldering fixture, the conveyor belt inputs the customized mold, the collaborative robot picks up the customized mold and places it onto the outer shell soldering fixture, and the CCD vision detection method is used to detect the pose of the solder points on the outer shell surface to obtain the first pose information; Next, the first pose information is input into the automatic welding machine to perform spot welding in sequence. The YOLO method is used to train the defect feature dataset of the wire harness to detect the features of missing solder, solder spikes, and solder piles in the wire harness. If the detection is qualified, the customized mold is flipped using a collaborative robot arm; if the detection is unqualified, the defective product is output for processing. Finally, the CCD vision inspection method is used to detect the pose of the solder joints on the other side of the positioning shell to obtain the second pose information. The second pose information is input into the automatic welding machine to perform spot welding in sequence. The YOLO method is used to train the defect feature dataset of the wire harness to detect the features of missing solder, solder spikes, and solder piles in the wire harness. If the detection is qualified, it enters the next production process; if the detection is unqualified, it is output as a defective product.

2. The automated production layout and method for ultra-fine coaxial cables according to claim 1, characterized in that, The process of automating the wiring and stripping operations includes: First, the customized mold is placed on the conveyor plate, which is transported to the wire laying and stripping process position by the guide rail, and the ultra-fine coaxial cable is fixed on the customized mold. Secondly, CCD vision inspection is used to confirm whether the number of wire harnesses in the wire trough is missing. The blue ultra-fine coaxial cable is identified by color transformation method, and the blue outline is identified by Hough transform method to output the number of wire harnesses. Finally, the inspection is judged to determine whether it is qualified. If the inspection is qualified, the customized mold is transported to the laser wire stripping machine via conveyor belt to remove the protective sleeve of the wire bundle, and then it enters the copper sheet soldering production process. If the inspection is unqualified, the location and quantity of the missing wire bundle are obtained and the wire bundle is replenished until the inspection is qualified.

3. The automated production layout and method for ultra-fine coaxial cables according to claim 1, characterized in that, The process of automating the soldering of the copper sheet includes, First, the collaborative robot places the first copper sheet onto the copper sheet soldering fixture, the conveyor belt inputs the customized mold, and the collaborative robot picks up the customized mold and places it onto the copper sheet soldering fixture; Secondly, based on the collaborative robotic arm, the second copper sheet is placed above the wire harness, and the customized mold is transported by the conveyor belt to the pulse heating machine for soldering. Finally, the customized mold is transported by conveyor belt to the laser wire stripping machine to remove the shielding and insulation layers of the wire bundle, and then proceeds to the production process of cutting the wire core and copper sheet.

4. The automated production layout and method for ultra-fine coaxial cables according to claim 1, characterized in that, The process of automating the cutting of the wire core and copper sheet includes, First, a customized mold is input via the conveyor belt, and the collaborative robotic arm picks up the customized mold and places it onto the cutting fixture to cut off excess wire cores and copper sheets. Secondly, CCD visual inspection is used to detect whether the wire core is distorted or too short. Edge detection method is used to extract the edge segments of the wire core to determine the degree of distortion of the wire core and whether the wire core is too long or too short. Finally, it is determined whether the wire core is qualified. If it is qualified, it enters the plug soldering production process; if it is not qualified, the direction and position information of the skewed core are output. The motor drives the roller, the roller rotates the rack to adjust the correction position, and then manipulates the straightening steel needle to perform the corresponding correction process until the test is qualified.

5. The automated production layout and method for ultra-fine coaxial cables according to claim 1, characterized in that, The process of subsequently performing automated operations includes, First, the collaborative robot grips the wire harness onto the bonding fixture, and the pose of the adhesive application area is detected and obtained using CCD vision detection to obtain third pose information; the third pose information is then input to the collaborative robot to apply the adhesive. Secondly, the bonding area of ​​the wire harness is dried using a drying machine; Finally, the width and height of the adhesive are inspected using CCD vision inspection. If the inspection is qualified, the product enters the shell cleaning process; if the inspection is unqualified, it is output as a defective product.

6. The automated production layout and method for ultra-fine coaxial cables according to claim 1, characterized in that, The process of automating the cleaning of the outer casing includes, First, the outer casing of the wire harness is cleaned based on the input wire harness of the conveyor belt; Secondly, the cleaning effect is detected using CCD visual inspection. Finally, determine whether the cleaning effect is up to standard. If it is, proceed to the testing and packaging process; if it is not, the product is rejected.

7. The automated production layout and method for ultra-fine coaxial cables according to claim 1, characterized in that, The process of automating the inspection and packaging includes, First, based on the input wire harness of the conveyor belt, the size of the wire harness is detected by CCD vision inspection. If the size of the wire harness is qualified, the wire harness enters the CCD vision inspection step of appearance inspection; if the size of the wire harness is not qualified, it is output as a defective product. Secondly, if the appearance and dimensions of the wire harness pass the inspection, the electrical conductivity of the wire harness will be manually tested; otherwise, it will be output as a defective product. Finally, if the wire harness has good conductivity, it will proceed to manual packaging to complete the production of the ultra-fine coaxial wire harness; if the wire harness has poor conductivity, it will be output as a defective product.

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