Terminal wire double-end calibration device and calibration method

Abstract

This invention provides a terminal wire double-end correction device and method. Two clamping and rotating mechanisms clamp the wire body near the two terminals. A driving translation mechanism drives a vision inspection mechanism to move towards or away from the clamping and rotating mechanisms. The vision inspection mechanism performs a first end coordinate recognition of the terminal. The control console obtains the deflection angle of the terminal based on the recognition result. The clamping and rotating mechanisms clamp the wire body and rotate to achieve angle correction. The vision inspection mechanism can also perform a second end coordinate recognition of the terminal. The control console obtains the deviation displacement of the terminal based on the recognition result. The control console can also control the movement of the downstream plug-in device for position compensation based on the deviation displacement. This invention achieves angle correction and provides position compensation data for the downstream plug-in device by obtaining the deflection angle and deviation displacement of the terminal, enabling the two ends of the terminal wire to be smoothly and accurately inserted into the connector socket. The correction efficiency is high and the stability is good.

Description

[Technical Field]

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

[0002] The processing of wire harnesses involves key steps such as wire unloading, cutting, stripping, inserting rain plugs, crimping terminals, visual inspection, and connector insertion. A crucial step in wire harness manufacturing is ensuring the precise insertion of the crimped wires into the connector (i.e., the housing or shell) sockets. However, devices specifically designed for automatic connector insertion of flexible terminal wires are scarce in the current domestic and international markets, and this step still faces numerous challenges. The main difficulty lies in the fact that after the wires are crimped to form terminal wires, due to the relatively soft material of the wires, the terminals may shift laterally and longitudinally relative to the clamping tool after crimping, and angular deflection may also occur. This results in the terminals on the wires not being precisely aligned with the connector sockets, thus affecting the smooth insertion process. To overcome this problem, it is necessary to correct the spatial position and orientation of the terminals to achieve an ideal alignment, thereby ensuring that the terminal wires can be smoothly and accurately inserted into the connector sockets.

[0003] Therefore, 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 this invention is to provide a terminal wire double-end correction device and correction method to solve the above-mentioned technical problems.

[0005] To achieve the above objectives, in a 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 rotation mechanisms arranged side by side, and a console connected to the driving translation mechanisms, visual inspection mechanisms, and clamping rotation mechanisms; the driving translation mechanisms and the clamping rotation mechanisms are disposed on the support mechanism, the visual inspection mechanisms are disposed on the driving translation mechanisms, each visual inspection mechanism corresponds to one clamping rotation mechanism, and the clamping rotation mechanism is located in front of the visual inspection mechanism; the clamping rotation mechanism is used to clamp the terminal wire to be corrected, the terminal wire including a wire body and terminals crimped to both ends of the wire body; each driving translation mechanism is connected to one visual inspection mechanism, and the driving translation mechanism is used to drive the visual inspection mechanism to move towards or away from the clamping rotation mechanism; the console is also connected to a downward insertion device for clamping the terminal wire and capable of inserting the terminal wire into a connector;

[0006] Two clamping and rotating mechanisms are used to clamp the wire body near the two terminals, so that the two terminals are respectively opposite to the positions of the two vision inspection mechanisms;

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

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

[0009] The control console is used to obtain the deflection angle of the terminal based on the recognition result of the first end coordinate recognition;

[0010] The clamping and rotating mechanism is used to clamp the 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 end coordinate recognition on the terminal.

[0012] The control console is used to obtain the deviation displacement of the terminal based on the recognition result of the second end coordinate recognition;

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

[0014] In a preferred embodiment, the drive translation mechanism includes a drive motor, a motor mounting plate, a coupling, a lead screw seat, a lead screw, a lead screw nut, a nut mounting block, and a linear guide rail. The drive motor is connected to the support mechanism via the motor mounting plate, the drive shaft of the drive motor is connected to the lead screw via the coupling, the lead screw seat is disposed on the support mechanism and threadedly connected to the lead screw, the lead screw nut is threadedly connected to the lead screw, the nut mounting block is sleeved and connected to the lead screw nut, and the linear guide rail is disposed on the support mechanism and located directly above the lead screw.

[0015] In a preferred embodiment, a buffer rubber is provided on the lead screw, and the buffer rubber is located between the lead screw seat and the lead screw 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 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 disposed on the linear guide rail. One end of the camera fixing block has a protruding locking block, and the other end of the camera fixing block is connected to the camera. One end of the guide rail mounting plate has a through hole, and the end of the camera fixing block with the protruding locking block is inserted into the through hole, i.e., the locking block is held 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 perpendicular to the base plate. The base plate and the fixing plate are integrally formed. The base plate is fixed to the 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 positioned opposite to the camera. The guide rail mounting plate is connected to the nut mounting block. 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.

[0017] In a preferred embodiment, the clamping and rotating mechanism includes a drive assembly, a rotating assembly connected to the drive assembly, and a clamping assembly disposed at one end of the rotating assembly; the drive assembly includes a rotary motor, a motor mounting plate, a small synchronous pulley, a synchronous belt, and a large synchronous pulley; the rotating assembly includes a bearing and a rotating shaft; the rotary motor is connected to the support mechanism through the motor mounting plate; the small synchronous pulley is sleeved on the drive shaft of the rotary motor; the large synchronous pulley is sleeved on one end of the rotating shaft; the synchronous belt sleeves the small synchronous pulley and the large synchronous pulley; the rotating shaft extends away from the side of the large synchronous pulley to form two parallel rotating arms; the bearing is sleeved on the rotating shaft and is located between the large synchronous pulley and the rotating arms; the clamping assembly is disposed on the rotating arms.

[0018] In a preferred embodiment, the clamping assembly includes a clamping cylinder and two rotary clamps connected to the clamping cylinder. The two rotary clamps are respectively disposed on two pneumatic grippers of the clamping cylinder. The clamping cylinder is used to drive the two rotary clamps to close or open to clamp or release the terminal wire.

[0019] In a preferred embodiment, the support mechanism includes a base, a horizontal fixed plate disposed on the base, and a rotating seat disposed on the horizontal fixed plate. The motor mounting plate and lead screw seat of the driving translation mechanism are disposed below the horizontal fixed plate, and the linear guide rail of the driving translation mechanism is disposed above the horizontal fixed plate. A protective cover is also fixed on the rotating seat, the protective cover being located behind the rotating seat. The clamping rotation mechanism is disposed on the rotating seat, and the vision inspection mechanism is located inside the protective cover.

[0020] Secondly, the present invention also provides a calibration method based on the terminal wire double-end calibration device according to any one of the first aspects, comprising the following steps:

[0021] Two clamping and rotating mechanisms respectively clamp the wire body near the two terminals, so that the two terminals are respectively opposite to the positions of the two vision inspection mechanisms;

[0022] The drive translation mechanism drives the vision inspection mechanism to move closer to or further away from the clamping rotation mechanism so that the vision inspection mechanism can focus according to the type of terminal;

[0023] The visual inspection unit performs the first end coordinate identification on the terminal;

[0024] The console obtains the deflection angle of the terminal based on the recognition result of the first end coordinate recognition;

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

[0026] The visual inspection unit performs a second end-coordinate identification on the terminal.

[0027] The console obtains the offset displacement of the terminal based on the recognition results of the second end coordinate recognition;

[0028] The control console moves the downlink plug-in device to perform position compensation based on the deviation displacement, so that the downlink plug-in device can clamp the terminal wire and insert the terminal into the connector.

[0029] In a preferred embodiment, the step of the visual inspection mechanism performing the first end coordinate recognition of the terminal includes: the visual inspection mechanism taking a first picture of the terminal to obtain a first picture; the step of the control console obtaining the deflection angle of the terminal based on the recognition result of the first end coordinate recognition includes: the control console obtaining the first picture and calculating the actual angle of the terminal based on the first picture, and calculating the deflection angle based on the preset theoretical angle and the actual angle.

[0030] In a preferred embodiment, the step of the visual inspection mechanism performing a second end-point coordinate recognition on the terminal includes: the visual inspection mechanism taking a second picture of the terminal to obtain a second picture; the step of the control console obtaining the deviation displacement of the terminal based on the recognition result of the second end-point coordinate recognition includes: the control console obtaining the second picture and calculating the actual position of the terminal based on the second picture, and calculating the deviation displacement based on the preset theoretical position and the actual position.

[0031] Compared to existing technologies, the terminal wire double-end correction device and method provided by this invention have two clamping and rotating mechanisms that can respectively clamp the wire body near the two terminals, so that the two terminals are respectively positioned opposite the two vision inspection mechanisms. A driving translation mechanism can drive the vision inspection mechanism to move closer to or further away from the clamping and rotating mechanisms so that the vision inspection mechanism can focus according to the type of the terminal. The vision inspection mechanism can also perform a first end coordinate recognition of the terminal. The control console can obtain the deflection angle of the terminal based on the recognition result of the first end coordinate recognition. The clamping and rotating mechanisms can clamp and rotate the wire body according to the deflection angle to achieve angle correction. The mechanism can also perform a second end coordinate recognition on the terminal. The control console obtains the deviation displacement of the terminal based on the recognition result of the second end coordinate recognition. The control console can also control the movement of the downlink plug-in device to perform position compensation based on the deviation displacement, so that the downlink plug-in device can clamp the terminal wire and insert the terminal into the connector. It realizes the angle correction and position compensation data for the downlink plug-in device by obtaining the deflection angle and deviation displacement of the terminal, thereby enabling both ends of the terminal wire to be smoothly and accurately inserted into the connector socket. The correction and correction efficiency is high and the stability is good, avoiding terminal position and angle deviation, avoiding wire harness product defects, and benefiting subsequent product processes. [Attached Image Description]

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

[0033] Figure 1 This is a schematic 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 wire double-end correction device provided by the present invention.

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

[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 inspection 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] Figures 8-14 This is a structural diagram of the terminal wire double-end correction device provided by the present invention during the terminal correction process.

[0041] Figure 15 The flowchart shows the terminal wire double-end correction method provided by the present invention.

[0042] Explanation of reference numerals in the attached drawings: 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-Drive translation mechanism; 21-Drive 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 rail; 281-Proximity switch; 30-Vision inspection mechanism; 31-Guide rail mounting plate; 311-Through hole; 32-Camera fixing block; 321-Clamping block; 33- Camera, 34-Light source fixing block, 341-Base plate, 342-Fixing plate, 35-Light source; 40-Clamping and rotating mechanism, 41-Drive assembly, 411-Rotating motor, 412-Motor fixing plate, 413-Small synchronous pulley, 414-Synchronous belt, 415-Large synchronous pulley, 42-Rotating assembly, 420-Rotating arm, 421-Bearing, 422-Rotating shaft, 423-Shim, 424-Sensor mounting block, 425-Sensor, 426-Locking sensor block, 43-Clamping assembly, 431-Clamping cylinder, 432-Rotating clamp, 50-Control console, 51-Downward insertion device, 52-Upward handover and conveying device. [Specific implementation method]

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0044] Please see Figure 1This is a schematic 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 insertion device, thereby enabling the two ends of the terminal wire to be smoothly and accurately inserted into the connector socket.

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

[0046] The driving translation mechanism 20 and the clamping rotation mechanism 40 are mounted on the support mechanism 10. The vision inspection mechanism 30 is mounted on the driving translation mechanism 20. Each vision inspection mechanism 30 corresponds to one clamping rotation mechanism 40, and the clamping rotation mechanism 40 is located in front of the vision inspection mechanism 30. The clamping rotation mechanism 40 is used to clamp the terminal wire 101 to be corrected. The terminal wire 101 includes a wire body 102 and terminals 103 crimped to both ends of the wire body 102. Each driving translation mechanism 20 is connected to one vision inspection mechanism 30, and the driving translation mechanism 20 is used to drive the vision inspection mechanism 30 to move towards or away from the clamping rotation mechanism 40. The control console 50 is also connected to an upward transfer device 52 for clamping and conveying the terminal wire 101 and a downward insertion device 51 for clamping the terminal wire 101 and inserting the terminal wire 101 into a connector. It can be understood that the control console 50 is a control center with control functions, capable of receiving and sending control signals.

[0047] When the terminal wire 101 is double-ended, firstly, 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 used to clamp the wire body 102 near the two terminals 103, so that the two terminals 103 are respectively opposite to the two vision inspection mechanisms 30, which makes it easier for the vision inspection mechanism 30 to identify the coordinates of the terminals 103.

[0048] Then, the drive translation mechanism 20 is used to drive the vision detection mechanism 30 to move closer to or further away from the clamping rotation mechanism 40 so that the vision detection mechanism 30 can focus according to the type of terminal 103. Specifically, the terminal 103 has various types with different lengths and shapes. Therefore, the vision detection mechanism 30 needs to adjust its position to focus when dealing with different types of terminal 103. The drive translation mechanism 20 can drive the vision detection mechanism 30 to move to adjust the distance between the camera 33 lens of the vision detection mechanism 30 and the terminal 103, which is beneficial for end coordinate recognition of the terminal 103.

[0049] After focusing is completed, the vision inspection mechanism 30 is used to perform the first end coordinate recognition of the terminal 103. For example, the vision inspection mechanism 30 takes a picture of the terminal 103 to obtain a first picture, which can reflect the posture of the terminal 103.

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

[0051] After obtaining the deflection angle, the clamping and rotating mechanism 40 is used to clamp the wire body 102 according to the deflection angle to rotate in order to achieve angle correction. Specifically, the control console 50 controls the clamping and rotating mechanism 40 to rotate and drive the terminal 103 to rotate in order to perform angle compensation. After angle compensation, the actual angle of the terminal 103 matches the preset theoretical angle, and the posture of the terminal 103 meets the operation requirements.

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

[0053] After the second end coordinate recognition, the console 50 is used to obtain the deviation displacement of the terminal 103 based on the recognition result of the second end coordinate recognition. The recognition result is the actual position of the terminal 103 obtained based on the second photo. The console 50 has a preset 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 may specifically include lateral position offset data, longitudinal position offset data, etc.

[0054] Finally, the control console 50 is also used to control the movement of the downstream plugging device 51 according to the deviation displacement for position compensation, so that the downstream plugging device 51 can clamp the terminal wire 101 and insert the terminal 103 into the connector. Specifically, the downstream plugging device 51 can move the terminal wire 101 from the correction device 100 to the front of the connector's insertion hole, and then perform segmented plugging. After calculating the deviation displacement, the control console 50 controls the downstream plugging device 51 to move in opposite directions horizontally and vertically for position compensation. After the downstream plugging device 51 has compensated and corrected the deviation, it can smoothly clamp the terminal wire 101 and accurately insert the terminal 103 into the connector's insertion 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 the two vision inspection mechanisms 30. The driving translation mechanism 20 can drive the vision inspection mechanism 30 to move towards or away from the clamping and rotating mechanism 40 so that the vision inspection mechanism 30 can focus according to the type of the terminal 103. The vision inspection mechanism 30 can also perform the first end coordinate recognition of the terminal 103. The control console 50 can obtain the deflection angle of the terminal 103 according to the recognition result of the first end coordinate recognition. The clamping and rotating mechanism 40 can clamp the wire body 102 and rotate it according to the deflection angle to achieve angle correction. The measuring mechanism 30 can also perform a second end coordinate recognition on the terminal 103. The control console 50 obtains the deviation displacement of the terminal 103 based on the recognition result of the second end coordinate recognition. The control console 50 can also control the movement of the downlink plug-in device 51 to perform position compensation based on the deviation displacement, so that the downlink plug-in device 51 can clamp the terminal wire 101 and insert the terminal 103 into the connector. This realizes the angle correction and position compensation data for the downlink plug-in device 51 by obtaining the deflection angle and deviation displacement of the terminal 103, thereby enabling the two ends of the terminal wire 101 to be smoothly and accurately inserted into the connector socket. The correction and deviation efficiency is high and the stability is good, avoiding terminal position and angle deviation, avoiding wire harness product defects, and benefiting subsequent product processes.

[0056] Please see 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 5This is a structural diagram of the drive 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 fixing plate 12 disposed on the base 11, and a rotating seat 13 disposed on the horizontal fixing plate 12. The motor mounting plate 22 and the lead screw seat 24 of the drive translation mechanism 20 are disposed below the horizontal fixing plate 12, and the linear guide rail 28 of the drive translation mechanism 20 is disposed above the horizontal fixing plate 12. A protective cover 14 is also fixed on the rotating seat 13, the protective cover 14 is located behind the rotating seat 13, the clamping rotation mechanism 40 is disposed on the rotating seat 13, and the visual inspection mechanism 30 is located inside the protective cover 14. The support mechanism 10 is used to support and fix other components to ensure the stable operation of the mechanical system.

[0057] The drive translation mechanism 20 includes a drive motor 21, a motor mounting plate 22, a coupling 23, a lead screw seat 24, a lead screw 25, a lead screw nut 26, a nut mounting block 27, and a linear guide rail 28. The drive motor 21 is connected to the support mechanism 10 via the motor mounting plate 22. The drive shaft of the drive motor 21 is connected to the lead screw 25 via the coupling 23. The lead screw seat 24 is mounted on the support mechanism 10 and threadedly connected to the lead screw 25. The lead screw nut 26 is threadedly connected to the lead screw 25. The nut mounting block 27 is sleeved and connected to the lead screw nut 26. The linear guide rail 28 is mounted on the support mechanism 10 and located directly above the lead screw 25. The nut mounting block 27 is used to connect to the vision inspection mechanism 30. The drive translation mechanism 20 drives the vision inspection mechanism 30 to move back and forth to adjust the focal length according to the type and shape of the terminal 103. The control console 50 is connected to the drive motor 21 and is used to control the drive motor 21 according to the type of the terminal 103, thereby driving the vision inspection mechanism 30 to move.

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

[0059] In some embodiments, a proximity switch 281 is provided on the linear guide rail 28. 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 an 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 will be activated. Setting the proximity switch 281 can make the movement of the nut mounting block 27 more precise and the displacement of the vision inspection mechanism 30 more precise, which is beneficial for the vision inspection mechanism 30 to identify the end coordinates of the terminal 103.

[0060] Please see Figure 6 This 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 disposed on the linear guide rail 28. One end of the camera fixing block 32 has a protruding locking block 321, and the other end of the camera fixing block 32 is connected to the camera 33. One end of the guide rail mounting plate 31 has a through hole 311. The end of the camera fixing block 32 with the protruding locking block 321 is inserted into the through hole 311, that is, the locking block 321 is locked on the guide rail mounting plate 31, and the relative position is adjustable. The light source fixing block 34 includes a base plate 341 and a fixing plate 342 perpendicularly disposed to the base plate 341. The base plate 341 and the fixing plate 342 are integrally formed. The base plate 341 is fixed to the end of the guide rail mounting plate 31 away from the camera fixing block 32. The light source 35 is fixed on the fixing plate 342, and the light source 35 is positioned opposite the camera 33. Specifically, the guide rail mounting plate 31 is connected to the nut mounting block 27. When the drive motor 21 drives the lead screw 25 to rotate, the nut mounting block 27 on the lead screw 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 realizing focusing for different types of terminals 103. The visual inspection mechanism 30 is used to identify the end 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] Please see Figure 7This 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 drive assembly 41, a rotating assembly 42 connected to the drive assembly 41, and a clamping assembly 43 disposed at one end of the rotating assembly 42. The drive assembly 41 includes a rotary motor 411, a motor fixing plate 412, a small synchronous pulley 413, a synchronous belt 414, and a large synchronous pulley 415. The rotating assembly 42 includes a bearing 421 and a rotating shaft 422. The rotary motor 411 is connected to the support mechanism 10 through the motor fixing plate 412. The small synchronous pulley 413 is sleeved on the drive shaft of the rotary motor 411. The large synchronous pulley 415 is sleeved at one end of the rotating shaft 422. The synchronous belt 414 sleeves the small synchronous pulley 413 and the large synchronous pulley 415. The rotating shaft 422 extends away from the large synchronous pulley to form two parallel rotating arms 420. The bearing 421 is sleeved on the rotating shaft 422 and is located between the large synchronous pulley 415 and the rotating arm 420. The clamping assembly 43 is disposed on the rotating arm 420.

[0062] In some embodiments, a shim 423 is also provided between the bearing 421 and the large synchronous pulley 415. Sensor mounting blocks 424 are also provided on both sides of the rotating seat 13, and sensors 425 are fixed on the sensor mounting blocks 424. A locking sensor block 426 is provided on one side of the rotating shaft 422. The sensors 425 and the locking sensor 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 position.

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

[0064] Specifically, the upward transfer device 52 transfers the terminal wire 101 to the open clamping assembly 43. The clamping cylinder 431 closes, causing 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 rotary motor 411 based on the deflection angle. The rotary motor 411 drives the small synchronous pulley 413, the synchronous belt 414, and the large synchronous pulley 415 to move, thereby driving the rotating shaft 422 to rotate. The two rotating clamps 432 clamp the wire body 102 and rotate it to achieve angle correction. After angle compensation, the actual angle of the terminal 103 matches the preset theoretical angle, and the posture of the terminal 103 meets the operational requirements.

[0065] The terminal wire double-end correction device 100 provided by the present invention, when performing terminal correction, such as Figure 8 As shown, the dual-set drive translation mechanism drives the vision inspection mechanism back to its original position, the dual-set clamping rotation mechanism returns to its original position, and the clamping components open; as Figure 9 As shown, the upward transfer device (not shown) transfers the terminal wire to the open clamping assembly, and the clamping cylinder closes, causing the rotating clamp to clamp the wire body of the terminal wire; as Figure 10 As shown, after the driving translation mechanism moves and adjusts the focus, the vision inspection mechanism performs the first end coordinate recognition on the terminal on the terminal line and calculates the current deflection angle of the terminal; as Figure 11 As shown, based on the terminal deflection angle, the clamping and rotating mechanism clamps the terminal wire and rotates to perform corresponding angle correction, such as... Figure 12 As shown, the actual angle of the terminal after angle compensation matches the preset theoretical angle, and the terminal's posture meets the operational requirements; as Figure 13 As shown, the vision inspection mechanism performs a second end-coordinate recognition on the angle-corrected terminal to calculate the current lateral and longitudinal positional offset data of the terminal; as shown... Figure 14 As shown, the control console commands the downstream plug-in device (not shown) to perform corresponding lateral and longitudinal position compensation based on the received terminal lateral and longitudinal position offset data. After position compensation, the downstream plug-in device clamps the terminal wire and inserts it into the designated connector socket, achieving plug-in correction. This process is repeated to achieve plug-in correction of the terminal wire's double-end angle and position. The correction device has a simple structure and is easy to debug. It can simultaneously perform angle correction and plug-in correction on both ends of the terminal wire, is compatible with various terminal types and shapes, and has high correction efficiency and good stability.

[0066] Please see Figure 15 The present invention also provides a calibration method for the terminal wire double-end calibration device based on any of the above embodiments, the calibration method comprising the following steps:

[0067] Step S10: The two clamping and rotating mechanisms clamp the wire body near the two terminals respectively, so that the two terminals are opposite to the positions of the two vision inspection mechanisms.

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

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

[0070] Step S40: The console obtains the deflection angle of the terminal based on the recognition result of the first end coordinate recognition;

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

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

[0073] Step S70: The console obtains the offset displacement of the terminal based on the recognition result of the second end coordinate recognition;

[0074] Step S80: The control console moves the downlink plug-in device to perform position compensation based on the deviation displacement, so that the downlink plug-in device can clamp the terminal wire and insert the terminal into the connector.

[0075] In some implementations, the step of the visual inspection mechanism performing the first end coordinate recognition of the terminal includes: the visual inspection mechanism taking a first picture of the terminal to obtain a first picture; the step of the control console obtaining the deflection angle of the terminal based on the recognition result of the first end coordinate recognition includes: the control console obtaining the first picture and calculating the actual angle of the terminal based on the first picture, and calculating the deflection angle based on the preset theoretical angle and the actual angle.

[0076] In some implementations, the step of the visual inspection mechanism performing a second end-point coordinate recognition on the terminal includes: the visual inspection mechanism taking a second picture of the terminal to obtain a second picture; the step of the control console obtaining the deviation displacement of the terminal based on the recognition result of the second end-point coordinate recognition includes: the control console obtaining the second picture and calculating the actual position of the terminal based on the second picture, and calculating the deviation displacement based on the preset theoretical position and the actual position.

[0077] The terminal wire double-end correction method provided by this invention involves the following steps: When the upward transfer and conveying device transfers the terminal wire to the clamping assembly of the clamping and rotating mechanism, the driving translation mechanism drives the vision detection mechanism to perform the first end coordinate recognition of the terminal on the terminal wire, calculate the current deflection angle of the terminal, and then the clamping and rotating mechanism clamps the terminal wire and rotates it to perform the corresponding angle correction. Then, the vision detection mechanism performs the second end coordinate recognition to calculate the current lateral and longitudinal position offset data of the terminal, so that the downward insertion device can perform the corresponding lateral and longitudinal position compensation, ensuring that the terminal wire can be smoothly and accurately inserted into the connector socket after correction. The driving translation mechanism, vision detection mechanism, and clamping and rotating mechanism are all in pairs, which can simultaneously perform angle correction and insertion correction on both ends of the terminal wire.

[0078] This solution uses a drive translation mechanism to adjust the focal length according to the terminal type and shape, then drives a vision inspection mechanism to perform the first end coordinate recognition of the terminal on the terminal wire, calculating the current deflection angle of the terminal. Next, a clamping and rotating mechanism clamps the terminal wire and rotates it for corresponding angle correction. Then, the vision inspection mechanism performs a second end coordinate recognition, calculating the current lateral and longitudinal position offset data of the terminal. This allows the downstream insertion device to perform corresponding lateral and longitudinal position compensation to achieve insertion correction, ensuring that the terminal wire can be smoothly and accurately inserted into the connector socket. This solution has a simple structure, is easy to debug, can simultaneously perform angle correction and insertion correction at both ends of the terminal wire, is compatible with various 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 in detail here.

[0080] In summary, the terminal wire double-end correction device 100 and correction method provided by the present invention have 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 the two vision inspection mechanisms 30. The driving translation mechanism 20 can drive the vision inspection mechanism 30 to move towards or away from the clamping and rotating mechanism 40 so that the vision inspection mechanism 30 can focus according to the type of the terminal 103. The vision inspection mechanism 30 can also perform a first end coordinate recognition of the terminal 103. The control console 50 can obtain the deflection angle of the terminal 103 according to the recognition result of the first end coordinate recognition. The clamping and rotating mechanism 40 can clamp the wire body 102 and rotate it according to the deflection angle to achieve angle correction. The visual inspection mechanism 30 can also perform a second end coordinate recognition on the terminal 103. The control console 50 obtains the deviation displacement of the terminal 103 based on the recognition result of the second end coordinate recognition. The control console 50 can also control the movement of the downlink plug-in device 51 to perform position compensation based on the deviation displacement, so that the downlink plug-in device 51 can clamp the terminal wire 101 and insert the terminal 103 into the connector. This realizes the angle correction and position compensation data for the downlink plug-in device 51 by obtaining the deflection angle and deviation displacement of the terminal 103, thereby enabling the two ends of the terminal wire 101 to be smoothly and accurately inserted into the connector socket. The correction and deviation efficiency is high and the stability is good, avoiding terminal position and angle deviation, avoiding wire harness product defects, and benefiting subsequent product processes.

[0081] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A terminal wire double-end correction device, characterized in that, The device includes a support mechanism, two drive translation mechanisms arranged side-by-side, two vision inspection mechanisms arranged side-by-side, two clamping rotation mechanisms arranged side-by-side, and a control console connected to the drive translation mechanisms, vision inspection mechanisms, and clamping rotation mechanisms. The drive translation mechanisms and clamping rotation mechanisms are mounted on the support mechanism, and the vision inspection mechanisms are mounted on the drive translation mechanisms. Each vision inspection mechanism corresponds to one clamping rotation mechanism, and the clamping rotation mechanism is located in front of the vision inspection mechanism. The clamping rotation mechanism is used to clamp the terminal wire to be calibrated. The terminal wire includes a wire body and terminals crimped to both ends of the wire body. Each drive translation mechanism is connected to one vision inspection mechanism, and the drive translation mechanism is used to drive the vision inspection mechanism to move towards or away from the clamping rotation mechanism. The control console is also connected to a downward insertion device for clamping the terminal wire and inserting it into a connector. Two clamping and rotating mechanisms are used to clamp the wire body near the two terminals, so that the two terminals are respectively opposite to the positions of the two vision inspection mechanisms; The drive translation mechanism is used to drive the vision detection mechanism to move towards or away from the clamping rotation mechanism so that the vision detection mechanism can focus according to the type of terminal; The visual inspection mechanism is used to perform the first end coordinate recognition of the terminal; The control console is used to obtain the deflection angle of the terminal based on the recognition result of the first end coordinate recognition; The clamping and rotating mechanism is used to clamp the wire body and rotate it according to the deflection angle to achieve angle correction. The visual inspection mechanism is used to perform a second end coordinate recognition on the terminal. The control console is used to obtain the deviation displacement of the terminal based on the recognition result of the second end coordinate recognition; The control console is also used to control the movement of the downlink plug-in device for position compensation based on the deviation displacement, so that the downlink plug-in device can clamp the terminal wire and insert the terminal into the connector.

2. The terminal wire double-end correction device as described in claim 1, characterized in that, The driving translation mechanism includes a drive motor, a motor mounting plate, a coupling, a lead screw seat, a lead screw, a lead screw nut, a nut mounting block, and a linear guide rail. The drive motor is connected to the support mechanism via the motor mounting plate. The drive shaft of the drive motor is connected to the lead screw via the coupling. The lead screw seat is disposed on the support mechanism and threadedly connected to the lead screw. The lead screw nut is threadedly connected to the lead screw. The nut mounting block is sleeved and connected to the lead screw nut. The linear guide rail is disposed on the support mechanism and located directly above the lead screw.

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

4. The terminal wire double-end correction device as described in 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 mounted on the linear guide rail. One end of the camera fixing block has a protruding locking block, and the other end of the camera fixing block is connected to the camera. One end of the guide rail mounting plate has a through hole, and the end of the camera fixing block with the protruding locking block is inserted into the through hole, i.e., the locking block is held on the guide rail mounting plate, and its relative position is adjustable. The light source fixing block includes a base plate and a fixing plate perpendicular to the base plate. The base plate and the fixing plate are integrally formed. The base plate is fixed to the 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 positioned opposite to the camera. The guide rail mounting plate is connected to the nut mounting block. 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 as described in claim 1, characterized in that, The clamping and rotating mechanism includes a drive assembly, a rotating assembly connected to the drive assembly, and a clamping assembly disposed at one end of the rotating assembly. The drive assembly includes a rotary motor, a motor mounting plate, a small synchronous pulley, a synchronous belt, and a large synchronous pulley. The rotating assembly includes a bearing and a rotating shaft. The rotary motor is connected to the support mechanism through the motor mounting plate. The small synchronous pulley is sleeved on the drive shaft of the rotary motor, and the large synchronous pulley is sleeved at one end of the rotating shaft. The synchronous belt sleeves the small synchronous pulley and the large synchronous pulley. The rotating shaft extends away from the large synchronous pulley to form two parallel rotating arms. The bearing is sleeved on the rotating shaft and is located between the large synchronous pulley and the rotating arms. The clamping assembly is disposed on the rotating arms.

6. The terminal wire double-end correction device as described in claim 5, characterized in that, The clamping assembly includes a clamping cylinder and two rotary clamps connected to the clamping cylinder. The two rotary clamps are respectively disposed on two pneumatic grippers of the clamping cylinder. The clamping cylinder is used to drive the two rotary clamps to close or open to clamp or release the terminal wire.

7. The terminal wire double-end correction device as described in claim 1, characterized in that, The support mechanism includes a base, a horizontal fixed plate mounted on the base, and a rotating seat mounted on the horizontal fixed plate. The motor mounting plate and lead screw seat of the driving translation mechanism are located below the horizontal fixed plate, and the linear guide rail of the driving translation mechanism is located 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 rotation mechanism is mounted on the rotating seat, and the vision inspection mechanism is located inside the protective cover.

8. A calibration method based on the terminal wire double-end calibration device as described in any one of claims 1-7, characterized in that, Includes the following steps: Two clamping and rotating mechanisms respectively clamp the wire body near the two terminals, so that the two terminals are respectively opposite to the positions of the two vision inspection mechanisms; The drive translation mechanism drives the vision inspection mechanism to move closer to or further away from the clamping rotation mechanism so that the vision inspection mechanism can focus according to the type of terminal; The visual inspection unit performs the first end coordinate identification on the terminal; The console obtains the deflection angle of the terminal based on the recognition result of the first end coordinate recognition; The clamping and rotating mechanism clamps the wire body and rotates it according to the deflection angle to achieve angle correction. The visual inspection unit performs a second end-coordinate identification on the terminal. The console obtains the offset displacement of the terminal based on the recognition results of the second end coordinate recognition; The control console moves the downlink plug-in device to perform position compensation based on the deviation displacement, so that the downlink plug-in device can clamp the terminal wire and insert the terminal into the connector.

9. The correction method as described in claim 8, characterized in that, The steps for the visual inspection mechanism to perform the first end coordinate recognition of the terminal include: the visual inspection mechanism taking a first picture of the terminal to obtain a first picture; the steps for the control console to obtain the deflection angle of the terminal based on the recognition result of the first end coordinate recognition include: the control console obtaining the first picture and calculating the actual angle of the terminal based on the first picture, and calculating the deflection angle based on the preset theoretical angle and the actual angle.

10. The correction method as described in claim 8, characterized in that, The steps of the visual inspection mechanism performing a second end coordinate recognition on the terminal include: the visual inspection mechanism taking a second picture of the terminal to obtain a second picture; the steps of the control console obtaining the deviation displacement of the terminal based on the recognition result of the second end coordinate recognition include: the control console obtaining the second picture and calculating the actual position of the terminal based on the second picture, and calculating the deviation displacement based on the preset theoretical position and the actual position.

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