Terminal wire double-end correction device and correction method

Abstract

According to the terminal wire double-end correction device and correction method, two clamping rotating mechanisms clamp a wire body close to two terminals, a driving translation mechanism drives a visual detection mechanism to move in the direction close to or away from the clamping rotating mechanisms, the visual detection mechanism carries out first-time tail end coordinate recognition on the terminals, and a second-time tail end coordinate recognition is carried out on the terminals; the control console obtains the deflection angle of the terminal according to the recognition result, the clamping and rotating mechanism clamps the wire body to rotate so as to achieve angle correction, the visual detection mechanism can further conduct secondary tail end coordinate recognition on the terminal, and the control console obtains the deflection displacement of the terminal according to the recognition result. And the console can also control the downlink plugging device to move according to the deviation displacement so as to carry out position compensation. According to the invention, by acquiring the deflection angle and the deflection displacement of the terminal, angle correction is carried out, and position compensation data is provided for the downlink plugging device, so that the two ends of the terminal wire are smoothly and accurately inserted into the connector jack, the correction and deviation rectification efficiency is high, and the stability is good.

Description

[Technical field]

[0001] The invention relates to the technical field of wire harnesses, and in particular to a terminal wire double-end correction device and correction method. [Background technology]

[0002] The processing of wire harnesses involves the main processes of unwinding, cutting, stripping, plugging, crimping terminals, visual inspection and plugging connectors. In the process of wire harness manufacturing, ensuring that the terminal wire (the wire with the terminal crimped) is accurately inserted into the connector (i.e., plastic shell or plastic shell) jack is a key step. However, in the current domestic and foreign markets, devices dedicated to the automatic plugging of flexible terminal wires into connectors are relatively scarce, and this link still faces many challenges. The main difficulty is that the wire forms a terminal wire after the terminal is crimped by the crimping device. Due to the soft material of the wire, after the crimping is completed, the terminal will be offset in the horizontal and vertical directions relative to the clamping tool, and the angle may also be deflected. This situation makes it impossible for the terminal on the terminal wire to be accurately aligned with the connector jack, thereby affecting the smooth insertion process. In order to overcome this problem, the spatial position and posture of the terminal must be corrected in some way to achieve an ideal alignment state, thereby ensuring that the terminal wire can be smoothly and accurately inserted into the connector jack.

[0003] In view of this, it is necessary to provide a novel terminal wire double-end correction device and correction method to overcome the above-mentioned defects. [Summary of the invention]

[0004] The purpose of the present invention is to provide a terminal line double-end correction device and correction method to solve the above technical problems.

[0005] In order to achieve the above-mentioned purpose, in the first aspect, the present invention provides a terminal wire double-end correction device, comprising a support mechanism, two driving translation mechanisms arranged side by side, two visual inspection mechanisms arranged side by side, two clamping and rotating mechanisms arranged side by side, and a control console connected to the driving translation mechanism, the visual inspection mechanism, and the clamping and rotating mechanism; the driving translation mechanism and the clamping and rotating mechanism are arranged on the supporting mechanism, the visual inspection mechanism is arranged on the driving translation mechanism, each of the visual inspection mechanisms corresponds to a clamping and rotating mechanism, and the clamping and rotating mechanism is located in front of the visual inspection mechanism, and the clamping and rotating mechanism is used to clamp the terminal wire to be corrected, and the terminal wire includes a wire body and terminals crimped at both ends of the wire body; each of the driving translation mechanisms is connected to a visual inspection mechanism, and the driving translation mechanism is used to drive the visual inspection mechanism to move in a direction close to or away from the clamping and rotating mechanism; the control console is also connected to a downstream plug-in device for clamping the terminal wire and being able to plug the terminal wire into the connector;

[0006] The two clamping and rotating mechanisms are used to clamp the wire body near the two terminal positions respectively, so that the two terminals are respectively positioned opposite to the two visual detection mechanisms;

[0007] The driving translation mechanism is used to drive the visual inspection mechanism to move towards or away from the clamping rotation mechanism so that the visual inspection mechanism can focus according to the type of the terminal;

[0008] The visual inspection mechanism is used to perform a first terminal coordinate recognition on the terminal;

[0009] The console is used to obtain the deflection angle of the terminal according to the recognition result of the first terminal coordinate recognition;

[0010] The clamping and rotating mechanism is used to clamp the electric wire body and rotate it according to the deflection angle to achieve angle correction;

[0011] The visual inspection mechanism is used to perform a second terminal coordinate recognition on the terminal;

[0012] The console is used to obtain the deviation displacement of the terminal according to the recognition result of the second terminal coordinate recognition;

[0013] The console is also used to control the movement of the downstream plug-in device to perform position compensation according to the deviation displacement, so that the downstream plug-in device can clamp the terminal wire and insert the terminal into the connector.

[0014] In a preferred embodiment, the driving translation mechanism includes a driving motor, a motor mounting plate, a coupling, a screw seat, a screw, a screw nut, a nut mounting block and a linear guide; the driving motor is connected to the supporting mechanism via the motor mounting plate, the driving shaft of the driving motor is connected to the screw via the coupling, the screw seat is arranged on the supporting mechanism and is threadedly connected to the screw, the screw nut is threadedly connected to the screw, the nut mounting block is sleeved and connected to the screw nut, and the linear guide is arranged on the supporting mechanism and is located directly above the screw.

[0015] In a preferred embodiment, a buffer rubber is provided on the screw rod, and the buffer rubber is located between the screw rod seat and the screw rod nut; a proximity switch is provided on the linear guide rail, and the proximity switch is used to sense the position of the nut mounting block.

[0016] In a preferred embodiment, the visual detection mechanism includes a guide rail mounting plate, a camera fixing block, a camera, a light source fixing block and a light source; the guide rail mounting plate is arranged on the linear guide rail, a card block is protruding from one end of the camera fixing block, and the other end of the camera fixing block is connected to the camera; a through hole is opened at one end of the guide rail mounting plate, and one end of the camera fixing block protruding from the card block is inserted into the through hole, that is, the card block is clamped on the guide rail mounting plate, and the relative position is adjustable; the light source fixing block includes a base plate and a fixing plate vertically arranged with the base plate, the base plate and the fixing plate are integrally formed, the base plate is fixed on one end of the guide rail mounting plate away from the camera fixing block, the light source is fixed on the fixing plate, and the light source is relative to the camera; the guide rail mounting plate is connected to the nut mounting block, and when the drive motor drives the screw rod to translate, the nut mounting block on the screw rod nut can drive the guide rail mounting plate to translate.

[0017] In a preferred embodiment, the clamping rotating mechanism includes a driving component, a rotating component connected to the driving component, and a clamping component arranged at one end of the rotating component; the driving component includes a rotating motor, a motor fixing plate, a small synchronous wheel, a synchronous belt and a large synchronous wheel, and the rotating component includes a bearing and a rotating shaft; the rotating motor is connected to the supporting mechanism through the motor fixing plate, the small synchronous wheel is sleeved on the driving shaft of the rotating motor, the large synchronous wheel is sleeved on one end of the rotating shaft, and the synchronous belt is sleeved on the small synchronous wheel and the large synchronous wheel; the rotating shaft extends to a side away from the large synchronous wheel to form two parallel rotating arms, the bearing is sleeved on the rotating shaft and the bearing is located between the large synchronous wheel and the rotating arm, and the clamping component is arranged on the rotating arm.

[0018] In a preferred embodiment, the clamping assembly includes a clamping cylinder and two rotating clamps connected to the clamping cylinder, the two rotating clamps are respectively arranged on two air claws of the clamping cylinder, and the clamping cylinder is used to drive the two rotating clamps to close or open to clamp or release the terminal wire.

[0019] In a preferred embodiment, the supporting mechanism includes a base, a horizontal fixed plate arranged on the base, and a rotating seat arranged on the horizontal fixed plate, the motor mounting plate and the screw seat of the driving translation mechanism are arranged below the horizontal fixed plate, and the linear guide rail of the driving translation mechanism is arranged above the horizontal fixed plate; a protective cover is also fixed on the rotating seat, the protective cover is located behind the rotating seat, the clamping rotating mechanism is arranged on the rotating seat, and the visual detection mechanism is located inside the protective cover.

[0020] In a second aspect, the present invention further provides a calibration method for the terminal wire double-end calibration device according to any one of the first aspects, comprising the following steps:

[0021] The two clamping and rotating mechanisms respectively clamp the wire body near the two terminal positions, so that the two terminals are respectively positioned opposite to the two visual detection mechanisms;

[0022] The driving translation mechanism drives the visual inspection mechanism to move toward or away from the clamping rotation mechanism so that the visual inspection mechanism can focus according to the type of the terminal;

[0023] The visual inspection mechanism performs the first terminal coordinate recognition on the terminal;

[0024] The control console obtains the deflection angle of the terminal according to the recognition result of the first terminal coordinate recognition;

[0025] The clamping and rotating mechanism clamps the electric wire body and rotates it according to the deflection angle to achieve angle correction;

[0026] The visual inspection mechanism performs a second terminal coordinate recognition on the terminal;

[0027] The control console obtains the deviation displacement of the terminal according to the recognition result of the second terminal coordinate recognition;

[0028] The console controls the movement of the downstream plug-in device to perform position compensation according to the deviation displacement, so that the downstream plug-in device can clamp the terminal wire and insert the terminal into the connector.

[0029] In a preferred embodiment, the step of performing a first terminal coordinate recognition on the terminal by the visual detection mechanism includes: the visual detection mechanism takes a first photograph of the terminal to obtain a first photograph; the step of the console obtaining the deflection angle of the terminal according to the recognition result of the first terminal coordinate recognition includes: the console obtains the first photograph and calculates the actual angle of the terminal according to the first photograph, and calculates the deflection angle based on a preset theoretical angle and the actual angle;

[0030] In a preferred embodiment, the step of performing a second terminal coordinate identification on the terminal by a visual inspection mechanism includes: the visual inspection mechanism photographs the terminal for a second time to obtain a second photo; the step of obtaining a deviation displacement of the terminal according to the recognition result of the second terminal coordinate identification by a console includes: the console obtains the second photo and calculates the actual position of the terminal according to the second photo, and calculates the deviation displacement based on a preset theoretical position and the actual position.

[0031] Compared with the prior art, the terminal wire double-end correction device and correction method provided by the present invention have two clamping and rotating mechanisms that can respectively clamp the wire body near the two terminal positions, so that the two terminals are respectively positioned opposite to the two visual inspection mechanisms, and the driving translation mechanism can drive the visual inspection mechanism to move in a direction close to or away from the clamping and rotating mechanism so that the visual inspection mechanism can focus according to the type of the terminal. The visual inspection mechanism can also perform a first terminal coordinate recognition on the terminal, and the control console can obtain the deflection angle of the terminal according to the recognition result of the first terminal coordinate recognition. The clamping and rotating mechanism can clamp the wire body according to the deflection angle and rotate it to achieve angle correction. The visual inspection mechanism The mechanism can also perform a second terminal coordinate recognition on the terminal, and the console obtains the deviation displacement of the terminal according to the recognition result of the second terminal coordinate recognition. The console can also control the movement of the downstream plug-in device to perform position compensation according to the deviation displacement, so that the downstream plug-in device can clamp the terminal wire and insert the terminal into the connector, and obtain the deflection angle and deviation displacement of the terminal to perform angle correction and provide position compensation data for the downstream plug-in device, so that both ends of the terminal wire can be smoothly and accurately inserted into the connector jack, with high correction efficiency and good stability, avoiding terminal position and angle deviation, avoiding defective wiring harness products, and facilitating subsequent product processes.

Brief Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 This is a principle block diagram of the terminal wire double-end correction device provided by the present invention.

[0034] Figure 2 This is a structural diagram of the terminal line double-end correction device provided by the present invention.

[0035] Figure 3 This is the structural diagram of the terminal line.

[0036] Figure 4 This is a structural diagram of the support mechanism in the terminal wire double-end correction device provided by the present invention.

[0037] Figure 5 This is a structural diagram of the driving translation mechanism in the terminal wire double-end correction device provided by the present invention.

[0038] Figure 6 This is a structural diagram of the visual detection mechanism in the terminal wire double-end correction device provided by the present invention.

[0039] Figure 7 This is a structural diagram of the clamping and rotating mechanism in the terminal wire double-end correction device provided by the present invention.

[0040] Figure 8-Figure 14 The present invention is a structural diagram of the terminal wire double-end correction device during terminal correction.

[0041] Fig.15 The present invention provides a flowchart of a terminal line double-end calibration method.

[0042] Description of reference numerals: 100-terminal wire double-end correction device; 101-terminal wire, 102-wire body, 103-terminal; 10-support mechanism, 11-base, 12-horizontal fixing plate, 13-rotating seat, 14-protective cover; 20-driving translation mechanism, 21-driving motor, 22-motor mounting plate, 23-coupling, 24-screw seat, 25-screw, 251-buffer rubber, 26-screw nut, 27-nut mounting block, 28-linear guide, 281-proximity switch; 30-visual detection mechanism, 31-guide rail mounting plate, 311-through hole, 32-camera fixing block, 321-card block, 33- Camera, 34-light source fixing block, 341-bottom plate, 342-fixing plate, 35-light source; 40-clamping rotating mechanism, 41-driving assembly, 411-rotating motor, 412-motor fixing plate, 413-small synchronous wheel, 414-synchronous belt, 415-large synchronous wheel, 42-rotating assembly, 420-rotating arm, 421-bearing, 422-rotating shaft, 423-gasket, 424-sensor mounting block, 425-sensor, 426-locking sensor block, 43-clamping assembly, 431-clamping cylinder, 432-rotating clamp, 50-control console, 51-downward plug-in device, 52-upward handover and conveying device. [Specific implementation method]

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0044] See also Figure 1, which is a principle block diagram of the terminal wire double-end correction device provided by the present invention. The terminal wire double-end correction device provided by the present invention can obtain the deflection angle and deviation displacement of the terminal, perform angle correction, and provide position compensation data for the downstream plug-in device, thereby allowing the double ends of the terminal wire to be smoothly and accurately inserted into the connector jack.

[0045] Please also read Figure 2 and Figure 3 The terminal wire double-end correction device 100 includes a supporting mechanism 10, two driving translation mechanisms 20 arranged side by side, two visual inspection mechanisms 30 arranged side by side, two clamping and rotating mechanisms 40 arranged side by side, and a control console 50 connected to the driving and translation mechanisms 20, the visual inspection mechanisms 30, and the clamping and rotating mechanisms 40.

[0046] The driving translation mechanism 20 and the clamping and rotating mechanism 40 are arranged on the supporting mechanism 10, and the visual inspection mechanism 30 is arranged on the driving translation mechanism 20. Each of the visual inspection mechanisms 30 corresponds to a clamping and rotating mechanism 40, and the clamping and rotating mechanism 40 is located in front of the visual inspection mechanism 30. The clamping and rotating mechanism 40 is used to clamp the terminal wire 101 to be corrected, and the terminal wire 101 includes a wire body 102 and terminals 103 crimped at both ends of the wire body 102. Each of the driving translation mechanisms 20 is connected to a visual inspection mechanism 30, and the driving translation mechanism 20 is used to drive the visual inspection mechanism 30 to move in a direction close to or away from the clamping and rotating mechanism 40. The console 50 is also connected to an upward transfer and conveying device 52 for clamping and conveying the terminal wire 101 and a downward plugging device 51 for clamping the terminal wire 101 and plugging the terminal wire 101 into a connector. It can be understood that the console 50 is a control center with a control function, which can receive and send control signals.

[0047] When the terminal wire 101 is calibrated at both ends, first, the upward transfer and conveying device 52 can transfer the terminal wire 101 to the clamping and rotating mechanism 40. The two clamping and rotating mechanisms 40 are respectively used to clamp the wire body 102 near the two terminals 103, so that the two terminals 103 are respectively positioned opposite to the two visual inspection mechanisms 30, which is convenient for the visual inspection mechanism 30 to identify the coordinates of the terminals 103.

[0048] Then, the driving translation mechanism 20 is used to drive the visual detection mechanism 30 to move toward or away from the clamping rotation mechanism 40 so that the visual detection mechanism 30 can focus according to the type of the terminal 103. Specifically, the terminal 103 has various types of different lengths and shapes. Therefore, when targeting different types of terminals 103, the visual detection mechanism 30 needs to adjust its position for focusing. The driving translation mechanism 20 can drive the visual detection mechanism 30 to move to adjust the distance between the camera 33 lens of the visual detection mechanism 30 and the terminal 103, which is conducive to the terminal coordinate identification of the terminal 103.

[0049] After focusing is completed, the visual detection mechanism 30 is used to perform a first terminal coordinate recognition on the terminal 103 . For example, the visual detection mechanism 30 takes a photo of the terminal 103 to obtain a first photo, and the first photo can reflect the posture of the terminal 103 .

[0050] After the first terminal coordinate recognition, the console 50 is used to obtain the deflection angle of the terminal 103 according to the recognition result of the first terminal coordinate recognition. The recognition result is the actual angle of the terminal 103 obtained according to the first photo. The console 50 has a preset theoretical angle of the terminal 103. The console 50 calculates the deviation between the actual angle and the theoretical angle to obtain the deflection angle of the terminal 103.

[0051] After the deflection angle is obtained, the clamping and rotating mechanism 40 is used to clamp the wire body 102 and rotate it according to the deflection angle to achieve angle correction. Specifically, the console 50 controls the clamping and rotating mechanism 40 to rotate the terminal 103 to perform angle compensation. After the angle compensation, the actual angle of the terminal 103 is consistent with the preset theoretical angle, and the posture of the terminal 103 meets the operating requirements.

[0052] After the angle correction, the visual inspection mechanism 30 is used to perform a second terminal coordinate recognition on the terminal 103 . For example, the visual inspection mechanism 30 takes a photo of the terminal 103 to obtain a second photo, and the second photo can reflect the spatial position of the terminal 103 .

[0053] After the second terminal coordinate recognition, the console 50 is used to obtain the deviation displacement of the terminal 103 according to the recognition result of the second terminal coordinate recognition. The recognition result is the actual position of the terminal 103 obtained according to the second photo. The console 50 is preset with the theoretical position of the terminal 103. The console 50 calculates the deviation between the actual position and the theoretical position to obtain the deviation displacement of the terminal 103. The deviation displacement can specifically include lateral position offset data, longitudinal position offset data, etc.

[0054] Finally, the console 50 is also used to control the movement of the downstream plug-in device 51 for position compensation according to the deviation displacement, so that the downstream plug-in device 51 can clamp the terminal wire 101 and insert the terminal 103 into the connector. Specifically, the downstream plug-in device 51 can move the terminal wire 101 from the correction device 100 to the front of the connector's plug-in hole, and then perform segmented plug-in. After calculating the deviation displacement, the console 50 controls the downstream plug-in device 51 to move in the horizontal and vertical directions to perform position compensation. After the downstream plug-in device 51 compensates and corrects the deviation, it can smoothly clamp the terminal wire 101 and accurately insert the terminal 103 into the connector's plug-in hole, realizing double-end correction of the terminal wire 101.

[0055] Therefore, the terminal wire double-end correction device 100 provided by the present invention has two clamping and rotating mechanisms 40 that can respectively clamp the wire body 102 near the two terminals 103, so that the two terminals 103 are respectively positioned opposite to the two visual inspection mechanisms 30, and the driving translation mechanism 20 can drive the visual inspection mechanism 30 to move in a direction close to or away from the clamping and rotating mechanism 40 so that the visual inspection mechanism 30 can focus according to the type of the terminal 103. The visual inspection mechanism 30 can also perform a first terminal coordinate recognition on the terminal 103, and the control console 50 can obtain the deflection angle of the terminal 103 according to the recognition result of the first terminal coordinate recognition. The clamping and rotating mechanism 40 can clamp the wire body 102 according to the deflection angle and rotate it to achieve angle correction. The visual inspection mechanism 30 can also perform a first terminal coordinate recognition on the terminal 103, and the control console 50 can obtain the deflection angle of the terminal 103 according to the recognition result of the first terminal coordinate recognition. The clamping and rotating mechanism 40 can clamp the wire body 102 according to the deflection angle and rotate it to achieve angle correction. The measuring mechanism 30 can also perform a second terminal coordinate recognition on the terminal 103, and the console 50 obtains the deviation displacement of the terminal 103 according to the recognition result of the second terminal coordinate recognition. The console 50 can also control the movement of the downstream plug-in device 51 for position compensation according to the deviation displacement, so that the downstream plug-in device 51 can clamp the terminal wire 101 and insert the terminal 103 into the connector, and obtain the deflection angle and deviation displacement of the terminal 103 to perform angle correction and provide position compensation data for the downstream plug-in device 51, so that the two ends of the terminal wire 101 can be smoothly and accurately inserted into the connector jack, and the correction efficiency is high and the stability is good, which avoids the terminal position and angle deviation, avoids the defective wiring harness product, and is beneficial to the subsequent product process.

[0056] See also Figure 4 and Figure 5 , Figure 4 This is a structural diagram of the support mechanism 10 in the terminal wire double-end correction device 100 provided by the present invention, Figure 5The structural diagram of the driving translation mechanism 20 in the terminal wire double-end correction device 100 provided by the present invention. The support mechanism 10 includes a base 11, a horizontal fixed plate 12 arranged on the base 11, and a rotating seat 13 arranged on the horizontal fixed plate 12. The motor mounting plate 22 and the screw seat 24 of the driving translation mechanism 20 are arranged below the horizontal fixed plate 12, and the linear guide rail 28 of the driving translation mechanism 20 is arranged above the horizontal fixed plate 12; a protective cover 14 is also fixed on the rotating seat 13, and the protective cover 14 is located behind the rotating seat 13, the clamping rotation mechanism 40 is arranged on the rotating seat 13, and the visual inspection mechanism 30 is located in the protective cover 14. The support mechanism 10 is used to carry and fix other components to ensure the stable operation of the mechanical system.

[0057] The driving translation mechanism 20 includes a driving motor 21, a motor mounting plate 22, a coupling 23, a screw seat 24, a screw 25, a screw nut 26, a nut mounting block 27 and a linear guide 28. The driving motor 21 is connected to the support mechanism 10 through the motor mounting plate 22, the driving shaft of the driving motor 21 is connected to the screw 25 through the coupling 23, the screw seat 24 is arranged on the support mechanism 10 and is threadedly connected to the screw 25, the screw nut 26 is threadedly connected to the screw 25, the nut mounting block 27 is sleeved and connected to the screw nut 26, and the linear guide 28 is arranged on the support mechanism 10 and is located directly above the screw 25. The nut mounting block 27 is used to connect with the visual detection mechanism 30, and the driving translation mechanism 20 is used to drive the visual detection mechanism 30 to move forward and backward so as to adjust the focal length according to the type and shape of the terminal 103. The console 50 is connected to the driving motor 21, and is used to control the driving of the driving motor 21 according to the type of the terminal 103, thereby driving the visual detection mechanism 30 to move.

[0058] In some embodiments, a buffer rubber 251 is provided on the screw rod 25, and the buffer rubber 251 is located between the screw rod seat 24 and the screw rod nut 26. The buffer rubber 251 plays a buffering role during movement and can prevent the screw rod seat 24 and the screw rod nut 26 from colliding.

[0059] In some embodiments, a proximity switch 281 is provided on the linear guide rail 28, and the proximity switch 281 is used to sense the position of the nut mounting block 27. The proximity switch 281 is a position switch that does not require direct mechanical contact with the moving parts. When the object moves to the sensing surface of the proximity switch 281 and the distance between the two reaches within a preset action distance, the switch can be activated. Setting the proximity switch 281 can make the nut mounting block 27 move more accurately, and the visual detection mechanism 30 displace more accurately, which is beneficial for the visual detection mechanism 30 to identify the terminal coordinates of the terminal 103.

[0060] See also Figure 6 , which is a structural diagram of the visual inspection mechanism 30 in the terminal wire double-end correction device 100 provided by the present invention. The visual inspection mechanism 30 includes a guide rail mounting plate 31, a camera fixing block 32, a camera 33, a light source fixing block 34 and a light source 35. The guide rail mounting plate 31 is arranged on the linear guide rail 28, and a card block 321 is protruding from one end of the camera fixing block 32, and the other end of the camera fixing block 32 is connected to the camera 33. A through hole 311 is opened at one end of the guide rail mounting plate 31, and one end of the camera fixing block 32 protruding from the card block 321 is inserted into the through hole 311, that is, the card block 321 is clamped on the guide rail mounting plate 31, and the relative position is adjustable. The light source fixing block 34 includes a bottom plate 341 and a fixing plate 342 vertically arranged with respect to the bottom plate 341. The bottom plate 341 and the fixing plate 342 are integrally formed. The bottom plate 341 is fixed to one end of the guide rail mounting plate 31 away from the camera fixing block 32. The light source 35 is fixed to the fixing plate 342, and the light source 35 is opposite to the camera 33. Specifically, the guide rail mounting plate 31 is connected to the nut mounting block 27. When the driving motor 21 drives the screw rod 25 to rotate, the nut mounting block 27 on the screw rod nut 26 can drive the guide rail mounting plate 31 to translate, thereby driving the camera fixing block 32 and the camera 33 to translate, so as to adjust the distance between the lens of the camera 33 and the terminal 103, thereby achieving focusing for different types of terminals 103. The visual inspection mechanism 30 is used to identify the terminal coordinates of the terminals 103 at both ends of the terminal line 101 before and after angle correction and to calculate the lateral and longitudinal position offset data of the terminals 103 after angle correction so that the downstream plug-in device 51 can compensate and correct the deviation.

[0061] See also Figure 7, which is a structural diagram of the clamping and rotating mechanism 40 in the terminal wire double-end correction device 100 provided by the present invention. The clamping and rotating mechanism 40 includes a driving component 41, a rotating component 42 connected to the driving component 41, and a clamping component 43 arranged at one end of the rotating component 42. The driving component 41 includes a rotating motor 411, a motor fixing plate 412, a small synchronous wheel 413, a synchronous belt 414 and a large synchronous wheel 415, and the rotating component 42 includes a bearing 421 and a rotating shaft 422. The rotating motor 411 is connected to the supporting mechanism 10 through the motor fixing plate 412, the small synchronous wheel 413 is sleeved on the driving shaft of the rotating motor 411, the large synchronous wheel 415 is sleeved at one end of the rotating shaft 422, and the synchronous belt 414 sleeves the small synchronous wheel 413 and the large synchronous wheel 415. The rotating shaft 422 extends to a side away from the large synchronous wheel to form two parallel rotating arms 420 . The bearing 421 is sleeved on the rotating shaft 422 and is located between the large synchronous wheel 415 and the rotating arm 420 . The clamping assembly 43 is disposed on the rotating arm 420 .

[0062] In some embodiments, a gasket 423 is further provided between the bearing 421 and the large synchronous wheel 415. Sensor mounting blocks 424 are further provided on both sides of the rotating seat 13, and sensors 425 are fixed on the sensor mounting blocks 424. A locking sensing block 426 is provided on one side of the rotating shaft 422. The sensor 425 and the locking sensing block 426 are used to sense the position of the rotating shaft 422, for example, to sense whether the rotating shaft 422 is located at the origin.

[0063] In some embodiments, the clamping assembly 43 includes a clamping cylinder 431 and two rotating clamps 432 connected to the clamping cylinder 431, and the two rotating clamps 432 are respectively arranged on two air claws of the clamping cylinder 431, and the clamping cylinder 431 is used to drive the two rotating clamps 432 to close or open to clamp or release the terminal wire 101.

[0064] Specifically, the upward handover conveying device 52 hands over the terminal wire 101 to the opened clamping assembly 43, and the clamping cylinder 431 closes to drive the rotating clamp 432 to clamp the wire body 102 of the terminal wire 101. The control console 50 sends a control signal to the rotating motor 411 based on the deflection angle, and the rotating motor 411 drives the small synchronous wheel 413, the synchronous belt 414 and the large synchronous wheel 415 to move, thereby driving the rotating shaft 422 to rotate, and the two rotating clamps 432 clamp the wire body 102 to rotate to achieve angle correction. After the angle compensation, the actual angle of the terminal 103 is consistent with the preset theoretical angle, and the posture of the terminal 103 meets the operation requirements.

[0065] The terminal wire double-end correction device 100 provided by the present invention, when performing terminal correction, Figure 8 As shown, the double-group driving translation mechanism drives the visual detection mechanism to return to the origin position, the double-group clamping rotation mechanism returns to the origin position, and the clamping assembly opens; Fig. 9 As shown, the upward transfer conveying device (not shown) transfers the terminal wire to the opened clamping assembly, and the clamping cylinder closes to drive the rotating clamp to clamp the wire body of the terminal wire; Fig.10 As shown, after the driving translation mechanism drives the visual inspection mechanism to move and adjust the focal length, the visual inspection mechanism performs the first terminal coordinate recognition on the terminal on the terminal line and calculates the deflection angle of the current terminal; Fig.11 As shown, according to the terminal deflection angle, the clamping and rotating mechanism clamps the terminal line and rotates it to make corresponding angle corrections, such as Fig.12 As shown in the figure, after angle compensation, the actual angle of the terminal is consistent with the preset theoretical angle, and the posture of the terminal meets the operating requirements; Fig.13 As shown, the visual inspection mechanism performs a second terminal coordinate recognition on the angle-corrected terminal and calculates the horizontal and vertical position offset data of the current terminal; Fig.14 As shown, the console commands the downstream plug-in device (not shown) to perform corresponding horizontal and vertical position compensation according to the received terminal horizontal and vertical position offset data. After the downstream plug-in device position compensation, it clamps the terminal wire and inserts it into the designated connector jack to achieve plug-in correction. In this way, the double-end angle and position correction of the terminal wire is achieved. The correction device has a simple structure and is easy to debug. It can perform angle correction and plug-in correction on both ends of the terminal wire at the same time. It is compatible with a variety of terminal types and forms, and has high correction efficiency and good stability.

[0066] See also Fig.15 The present invention also provides a calibration method for the terminal wire double-end calibration device according to any one of the above embodiments, the calibration method comprising the following steps:

[0067] Step S10: two clamping and rotating mechanisms respectively clamp the wire body near the two terminal positions, so that the two terminals are respectively located opposite to the two visual inspection mechanisms;

[0068] Step S20: driving the translation mechanism to drive the visual inspection mechanism to move toward or away from the clamping rotation mechanism so that the visual inspection mechanism can focus according to the type of the terminal;

[0069] Step S30: The visual inspection mechanism performs a first terminal coordinate recognition on the terminal;

[0070] Step S40: the console obtains the deflection angle of the terminal according to the recognition result of the first terminal coordinate recognition;

[0071] Step S50: the clamping and rotating mechanism clamps the electric wire body and rotates it according to the deflection angle to achieve angle correction;

[0072] Step S60: The visual inspection mechanism performs a second terminal coordinate recognition on the terminal;

[0073] Step S70: the console obtains the deviation displacement of the terminal according to the recognition result of the second terminal coordinate recognition;

[0074] Step S80: The console controls the movement of the downstream plug-in device to perform position compensation according to the deviation displacement, so that the downstream plug-in device can clamp the terminal wire and insert the terminal into the connector.

[0075] In some embodiments, the step of performing a first terminal coordinate identification on the terminal by a visual inspection mechanism includes: the visual inspection mechanism takes a first photograph of the terminal to obtain a first photograph; the step of a console obtaining a deflection angle of the terminal according to the recognition result of the first terminal coordinate identification includes: the console obtains the first photograph and calculates the actual angle of the terminal according to the first photograph, and calculates the deflection angle based on a preset theoretical angle and the actual angle.

[0076] In some embodiments, the step of performing a second terminal coordinate identification on the terminal by the visual inspection mechanism includes: the visual inspection mechanism photographs the terminal for a second time to obtain a second photo; the step of obtaining a deviation displacement of the terminal according to the recognition result of the second terminal coordinate identification by the console includes: the console obtains the second photo and calculates the actual position of the terminal according to the second photo, and calculates the deviation displacement based on a preset theoretical position and the actual position.

[0077] The double-end correction method of a terminal wire provided by the present invention, when the upward handover and conveying device hands over the terminal wire to the clamping assembly of the clamping and rotating mechanism, the driving translation mechanism drives the visual inspection mechanism to perform the first end coordinate recognition of the terminal on the terminal wire, and calculates the deflection angle of the current terminal. Then, the clamping and rotating mechanism clamps the terminal wire and rotates it to perform corresponding angle correction. Then, the visual inspection mechanism performs the second end coordinate recognition, and calculates the lateral and longitudinal position offset data of the current terminal, so that the downstream plug-in device can perform the corresponding lateral and longitudinal position compensation, ensuring that the terminal wire can be smoothly and accurately inserted into the connector jack after the correction. The driving translation mechanism, the visual inspection mechanism and the clamping and rotating mechanism are all double groups, which can simultaneously perform angle correction and plug correction on both ends of the terminal wire.

[0078] This solution drives the translation mechanism to adjust the focal length according to the terminal type and shape, and then drives the visual inspection mechanism to perform the first terminal coordinate recognition of the terminal on the terminal line, calculates the deflection angle of the current terminal, and then the clamping and rotating mechanism clamps the terminal line to rotate and perform the corresponding angle correction. The visual inspection mechanism then performs the second terminal coordinate recognition and calculates the horizontal and vertical position offset data of the current terminal, so that the downstream plug-in device can perform the corresponding horizontal and vertical position compensation to achieve plug-in correction, ensuring that the terminal line can be smoothly and accurately inserted into the connector jack. This solution has a simple structure and is easy to debug. It can perform angle correction and plug-in correction on both ends of the terminal line at the same time. It is compatible with a variety of terminal types and shapes, and has high correction efficiency and good stability.

[0079] It should be noted that all embodiments of the terminal wire double-end correction device provided by the present invention are applicable to the terminal wire double-end correction method provided by the present invention, and can achieve the same or similar technical effects, which will not be described one by one here.

[0080] In summary, the terminal wire double-end correction device 100 and correction method provided by the present invention, the two clamping and rotating mechanisms 40 can respectively clamp the wire body 102 near the two terminals 103, so that the two terminals 103 are respectively opposite to the two visual inspection mechanisms 30, the driving translation mechanism 20 can drive the visual inspection mechanism 30 to move in a direction close to or away from the clamping and rotating mechanism 40 so that the visual inspection mechanism 30 can focus according to the type of the terminal 103, the visual inspection mechanism 30 can also perform a first terminal coordinate recognition on the terminal 103, the console 50 can obtain the deflection angle of the terminal 103 according to the recognition result of the first terminal coordinate recognition, the clamping and rotating mechanism 40 can clamp the wire body 102 according to the deflection angle and rotate it to achieve angle correction, The visual inspection mechanism 30 can also perform a second terminal coordinate recognition on the terminal 103. The console 50 obtains the deviation displacement of the terminal 103 according to the recognition result of the second terminal coordinate recognition. The console 50 can also control the movement of the downstream plug-in device 51 for position compensation according to the deviation displacement, so that the downstream plug-in device 51 can clamp the terminal wire 101 and insert the terminal 103 into the connector, and obtain the deflection angle and deviation displacement of the terminal 103 to perform angle correction and provide position compensation data for the downstream plug-in device 51, so that the two ends of the terminal wire 101 can be smoothly and accurately inserted into the connector jack, and the correction efficiency is high and the stability is good, which avoids the terminal position and angle deviation, avoids the defective wire harness product, and is beneficial to the subsequent product process.

[0081] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A terminal wire double-end correction device, characterized in that: It comprises a supporting mechanism, two driving translation mechanisms arranged side by side, two visual inspection mechanisms arranged side by side, two clamping and rotating mechanisms arranged side by side, and a control console connected to the driving translation mechanism, the visual inspection mechanism, and the clamping and rotating mechanism; the driving translation mechanism and the clamping and rotating mechanism are arranged on the supporting mechanism, the visual inspection mechanism is arranged on the driving translation mechanism, each of the visual inspection mechanisms corresponds to a clamping and rotating mechanism, and the clamping and rotating mechanism is located in front of the visual inspection mechanism, and the clamping and rotating mechanism is used to clamp the terminal wire to be corrected, and the terminal wire comprises a wire body and terminals crimped at both ends of the wire body; each of the driving translation mechanisms is connected to a visual inspection mechanism, and the driving translation mechanism is used to drive the visual inspection mechanism to move in a direction close to or away from the clamping and rotating mechanism; the control console is also connected to a downstream plugging device for clamping the terminal wire and plugging the terminal wire into a connector; The two clamping and rotating mechanisms are used to clamp the wire body near the two terminal positions respectively, so that the two terminals are respectively positioned opposite to the two visual detection mechanisms; The driving translation mechanism is used to drive the visual inspection mechanism to move towards or away from the clamping rotation mechanism so that the visual inspection mechanism can focus according to the type of the terminal; The visual inspection mechanism is used to perform a first terminal coordinate recognition on the terminal; The console is used to obtain the deflection angle of the terminal according to the recognition result of the first terminal coordinate recognition; The clamping and rotating mechanism is used to clamp the electric wire body and rotate it according to the deflection angle to achieve angle correction; The visual inspection mechanism is used to perform a second terminal coordinate recognition on the terminal; The console is used to obtain the deviation displacement of the terminal according to the recognition result of the second terminal coordinate recognition; The console is also used to control the movement of the downstream plug-in device to perform position compensation according to the deviation displacement, so that the downstream plug-in device can clamp the terminal wire and insert the terminal into the connector.

2. The terminal wire double-end correction device according to claim 1, characterized in that: The driving translation mechanism includes a driving motor, a motor mounting plate, a coupling, a screw seat, a screw, a screw nut, a nut mounting block and a linear guide; the driving motor is connected to the supporting mechanism via the motor mounting plate, the driving shaft of the driving motor is connected to the screw via the coupling, the screw seat is arranged on the supporting mechanism and is threadedly connected to the screw, the screw nut is threadedly connected to the screw, the nut mounting block is sleeved and connected to the screw nut, and the linear guide is arranged on the supporting mechanism and is located directly above the screw.

3. The terminal wire double-end correction device according to claim 2, characterized in that: The screw rod is provided with a buffer rubber, and the buffer rubber is located between the screw rod seat and the screw rod nut; the side of the linear guide rail is provided with a proximity switch, and the proximity switch is used to sense the position of the nut mounting block.

4. The terminal wire double-end correction device according to claim 3, characterized in that: The visual inspection mechanism includes a guide rail mounting plate, a camera fixing block, a camera, a light source fixing block and a light source; the guide rail mounting plate is arranged on the linear guide rail, a card block is protruding from one end of the camera fixing block, and the other end of the camera fixing block is connected to the camera; a through hole is opened at one end of the guide rail mounting plate, and one end of the camera fixing block protruding from the card block is inserted into the through hole, that is, the card block is clamped on the guide rail mounting plate, and the relative position is adjustable; the light source fixing block includes a base plate and a fixing plate vertically arranged with the base plate, the base plate and the fixing plate are integrally formed, the base plate is fixed on one end of the guide rail mounting plate away from the camera fixing block, the light source is fixed on the fixing plate, and the light source is opposite to the camera; the guide rail mounting plate is connected to the nut mounting block, and when the drive motor drives the lead screw to translate, the nut mounting block on the lead screw nut can drive the guide rail mounting plate to translate.

5. The terminal wire double-end correction device according to claim 1, characterized in that: The clamping rotating mechanism includes a driving component, a rotating component connected to the driving component, and a clamping component arranged at one end of the rotating component; the driving component includes a rotating motor, a motor fixing plate, a small synchronous wheel, a synchronous belt and a large synchronous wheel, and the rotating component includes a bearing and a rotating shaft; the rotating motor is connected to the supporting mechanism through the motor fixing plate, the small synchronous wheel is sleeved on the driving shaft of the rotating motor, the large synchronous wheel is sleeved on one end of the rotating shaft, and the synchronous belt is sleeved on the small synchronous wheel and the large synchronous wheel; the rotating shaft extends to a side away from the large synchronous wheel to form two parallel rotating arms, the bearing is sleeved on the rotating shaft and the bearing is located between the large synchronous wheel and the rotating arm, and the clamping component is arranged on the rotating arm.

6. The terminal wire double-end correction device according to claim 5, characterized in that: The clamping assembly includes a clamping cylinder and two rotating clamps connected to the clamping cylinder. The two rotating clamps are respectively arranged on two air claws of the clamping cylinder. The clamping cylinder is used to drive the two rotating clamps to close or open to clamp or release the terminal wire.

7. The terminal wire double-end correction device according to claim 1, characterized in that: The supporting mechanism includes a base, a horizontal fixed plate arranged on the base and a rotating seat arranged on the horizontal fixed plate, the motor mounting plate and the screw seat of the driving translation mechanism are arranged below the horizontal fixed plate, and the linear guide rail of the driving translation mechanism is arranged above the horizontal fixed plate; a protective cover is also fixed on the rotating seat, and the protective cover is located behind the rotating seat, the clamping rotating mechanism is arranged on the rotating seat, and the visual detection mechanism is located inside the protective cover.

8. A calibration method based on the terminal wire double-end calibration device according to any one of claims 1 to 7, characterized in that: The steps include: The two clamping and rotating mechanisms respectively clamp the wire body near the two terminal positions, so that the two terminals are respectively positioned opposite to the two visual detection mechanisms; The driving translation mechanism drives the visual inspection mechanism to move toward or away from the clamping rotation mechanism so that the visual inspection mechanism can focus according to the type of the terminal; The visual inspection mechanism performs the first terminal coordinate recognition on the terminal; The control console obtains the deflection angle of the terminal according to the recognition result of the first terminal coordinate recognition; The clamping and rotating mechanism clamps the electric wire body and rotates it according to the deflection angle to achieve angle correction; The visual inspection mechanism performs a second terminal coordinate recognition on the terminal; The control console obtains the deviation displacement of the terminal according to the recognition result of the second terminal coordinate recognition; The console controls the movement of the downstream plug-in device to perform position compensation according to the deviation displacement, so that the downstream plug-in device can clamp the terminal wire and insert the terminal into the connector.

9. The calibration method according to claim 8, characterized in that: The step of a visual inspection mechanism performing a first terminal coordinate identification on the terminal includes: the visual inspection mechanism taking a first photograph of the terminal to obtain a first photograph; the step of a console obtaining a deflection angle of the terminal according to the recognition result of the first terminal coordinate identification includes: the console obtaining the first photograph and calculating the actual angle of the terminal according to the first photograph, and calculating the deflection angle based on a preset theoretical angle and the actual angle.

10. The calibration method according to claim 8, characterized in that: The step of the visual inspection mechanism performing a second terminal coordinate identification on the terminal includes: the visual inspection mechanism taking a second photo of the terminal to obtain a second photo; the step of the console obtaining the deviation displacement of the terminal according to the recognition result of the second terminal coordinate identification includes: the console obtaining the second photo and calculating the actual position of the terminal according to the second photo, and calculating the deviation displacement based on the preset theoretical position and the actual position.

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