Wire harness squaring forming device based on machine vision assistance

Abstract

The invention discloses a wire harness squaring forming device based on machine vision assistance. The wire harness squaring forming device comprises a machine case (1), a wire opening machine (2), an SCARA mechanical arm (3), a shaping mechanism (4), a clamping jaw mechanism (5), a visual mechanism (6) and a resistance welding squaring machine (7). A wire harness machining process line is planned on the case, and the wire opening machine, the SCARA mechanical arm, the shaping mechanism, the clamping jaw mechanism, the visual mechanism and the electric resistance welding squaring machine are arranged along the wire harness machining process line. According to the wire harness squaring forming device, the procedures of automatic wire cutting and stripping, shaping, positioning, squaring and the like of the wire harness are integrated, assembly line type automatic operation is achieved, accurate positioning is achieved through visual recognition and an SCARA mechanical arm, it can be guaranteed that the squaring positions of the two ends of the wire harness are accurate, and the device is simple and reasonable in structure, high in automation degree and high in practicability. The working efficiency is improved, the labor cost is reduced, and the labor intensity of workers is relieved.

Description

Technical Field

[0001] The invention relates to a kind of automobile wire harness production technology equipment, in particular to a wire harness square forming device based on machine vision assistance. Background Art

[0002] At present, in the production of automobile wire harnesses, wire stripping machines are usually used to strip wires, wire harnesses are manually transferred, and then the wire harnesses are manually pressed at both ends. At the same time, the existing method is to use manual inspection to perform operations, and the operator uses the naked eye to check whether the wire harness is pressed properly. The production line is currently basically all manually operated.

[0003] The current problem is:

[0004] The traditional process of automotive wiring harness pressing is too dependent on manual operation. The entire process involves the serial use of multiple devices, and the connection between the devices often requires workers to transfer materials. Since the wiring harness production process requires continuous work, the labor intensity of the staff is increased. At the same time, there are disadvantages such as low production efficiency, difficult product quality control and high labor costs, and the use effect is not good. Summary of the invention

[0005] The object of the present invention is to provide a wire harness squaring and forming device based on machine vision assistance, which realizes an automated process for stripping and squaring automobile wire harnesses, thereby improving production efficiency.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] A wire harness squaring and forming device based on machine vision assistance, comprising a chassis, a wire opening machine, a SCARA mechanical arm, a shaping mechanism, a clamping mechanism, a visual mechanism and a resistance welding squaring machine; a wire harness processing flow line is planned on the chassis, and the wire opening machine, the SCARA mechanical arm, the shaping mechanism, the clamping mechanism, the visual mechanism and the resistance welding squaring machine are arranged along the wire harness processing flow line.

[0008] Furthermore, the wire opening machine cuts and strips the wire harness; the shaping mechanism straightens and shapes the wire harness after cutting and stripping; the visual mechanism collects the wire harness image and identifies the position, shape and defects of the wire harness in real time; the SCARA robot arm grabs the wire harness after being straightened and shaped by the shaping mechanism, and transports the wire harness to the resistance welding squaring machine for squaring; the resistance welding squaring machine squares the wire harness; the SCARA robot arm grabs the wire harness after being squaring by the resistance welding squaring machine, and outputs the wire harness as a finished product.

[0009] Furthermore, a finished product blanking port is provided on the chassis, and the finished product blanking port is located at the end of the wire harness processing flow line; when the SCARA robotic arm outputs the wire harness as a finished product, the SCARA robotic arm transports the wire harness to the finished product blanking port.

[0010] Furthermore, when the SCARA robot arm grabs the wire harness, it accurately grabs the wire harness based on the position of the wire harness identified by the visual mechanism.

[0011] Furthermore, the clamping mechanism is provided with a clamping jaw base, two cylinder-driven clamping jaws, a gear rack mechanism, a spacing adjustment knob, a flange and a locking device; the cylinder-driven clamping jaw is installed and connected to the clamping jaw base through the gear rack mechanism; the spacing adjustment knob is assembled together with the gear rack mechanism, and the spacing adjustment knob is used to adjust the spacing between the two cylinder-driven clamping jaws through the gear rack mechanism; the locking device is installed on the clamping jaw base of the clamping jaw mechanism, and the locking device can lock the gear rack mechanism.

[0012] Furthermore, the shaping mechanism is provided with an installation base plate, a fixed base plate, a shaping clamp mounting plate, a linear slide rail, a shaping clamp, a limit plate, a slide cylinder, a tail swing cylinder, a limit buffer and a rotating shaft; the fixed base plate is mounted on the installation base plate through a rotating shaft; the shaping clamp mounting plate is mounted on the fixed base plate through a linear slide rail; the number of the shaping clamps is several, the shaping clamps are mounted on the shaping clamp mounting plate, and all the shaping clamps are assembled together for clamping and aligning the straight harness; the limit plate is mounted on the fixed base plate and is located at the entrance of the shaping clamp; the slide cylinder is used to drive the opening and closing action of the shaping clamp; the tail swing cylinder is used to drive the fixed base plate to rotate based on the installation base plate; the limit buffer is mounted on the fixed base plate, and is used to achieve buffering between the fixed base plate and the installation base plate.

[0013] Furthermore, the number of shaping clamps provided in the shaping mechanism is determined and configured according to needs to meet the requirements of wire harness products of different specifications.

[0014] Furthermore, the number of shaping clamps provided in the shaping mechanism is determined and configured according to needs to meet the requirements of wire harness products of different specifications.

[0015] Furthermore, the wire opening machine has a wire harness guide tube and a guide slide; the wire harness guide tube is used to guide the wire harness to be output from the wire opening machine; the guide slide is used to smoothly transport the wire harness from the wire harness guide tube to the shaping mechanism.

[0016] Compared with the prior art, the wire harness square forming device of the present invention has the following beneficial effects:

[0017] (1) In the wire harness squaring device, the processes of automatic wire cutting, shaping, positioning and squaring are integrated to realize assembly line-style automated operation, greatly shortening the time of each process and thus improving the overall production efficiency;

[0018] (2) Reduced reliance on manpower. Only a small number of personnel are needed to monitor and maintain the equipment, which reduces the number of operators required, saves labor costs, and improves work efficiency.

[0019] (3) The shaping clamp can be assembled according to different product requirements to meet different product requirements. At the same time, quick replacement can be completed by removing or adding the ball positioning wire of the shaping clamp with the same structure.

[0020] (4) When the wire harness falls into the shaping mechanism, the fixed base plate is driven by the tail swing cylinder to rotate a certain angle, so that a section of the wire harness slides to the limit plate, which facilitates the positioning of the robot arm.

[0021] (5) Through visual recognition and precise positioning of the SCARA robot arm, the position of the wire harness in each pressing process can be ensured to be accurate, reducing the deviations and errors that may occur in manual operation, thereby improving the consistency and quality of the finished product. Traditional manual operation is prone to position deviation or inaccurate pressing due to human factors.

[0022] (6) It reduces labor costs, improves work efficiency, improves work safety, and significantly optimizes each link in the wire harness pressing process, which can bring higher production capacity, more stable product quality and lower production costs to the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a wire harness square forming device based on machine vision assistance of the present invention;

[0024] Figure 2 A top view of the structure of the wire harness square forming device of the present invention;

[0025] Figure 3 It is a structural schematic diagram of a wire opening machine in a wire harness square forming device of the present invention;

[0026] Figure 4 It is a structural schematic diagram of a shaping mechanism in a wire harness squaring and forming device of the present invention;

[0027] Figure 5 It is a schematic diagram from another angle of the shaping mechanism in the wire harness squaring and forming device of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the shaping clamp block in the wire harness square forming device of the present invention,

[0029] In the figure, the upper part is the middle part of the assembled plastic clamp block, and the lower part is the two ends of the assembled plastic clamp block;

[0030] Figure 7 It is a schematic diagram of the structure of the clamping mechanism in the wire harness square forming device of the present invention;

[0031] Figure 8 It is a schematic diagram of the connection structure of the piston rod of the slide cylinder in the wire harness squaring forming device of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below with specific embodiments:

[0033] This embodiment provides a wire harness squaring and forming device based on machine vision assistance, which is used to implement wire stripping and squaring processing on automobile wire harnesses.

[0034] See also Figures 1 to 7 The wire harness squaring device of this embodiment includes: a chassis 1, a wire opening machine 2, a SCARA robot arm 3, a shaping mechanism 4, a clamping mechanism 5, a visual mechanism 6 and a resistance welding squaring machine 7.

[0035] The entire wire harness squaring device uses the chassis 1 as the basic framework, and arranges various functional components in sequence according to the processing flow of the wire harness. Starting from the input end of the wire harness (wire opening machine 2), it passes through the shaping mechanism, the clamping mechanism, the visual mechanism, and finally reaches the resistance welding squaring machine and the finished product blanking port. The various components cooperate with each other through mechanical connection, pneumatic control and electrical control to realize the automated processing of wire harness squaring.

[0036] The chassis 1 serves as the basic frame of the entire wire harness squaring device, and is used to install and fix other functional components, such as the wire opening machine 2, the SCARA robot arm 3, the shaping mechanism, etc. The chassis 1 is a supporting platform for all components, and other functional components are fixed to the chassis 1 by means of bolts, brackets, etc. The chassis 1 is located at the bottom of the wire harness squaring device and carries all functional modules.

[0037] It should be noted that an invisible wire harness processing flow line is planned on the chassis 1, and all other functional modules are arranged along this wire harness processing flow line.

[0038] One end of the wire harness processing circuit is called the front end, and the other end is called the end. In this embodiment, the front end of the wire harness processing circuit is located at the front end of the chassis 1, and the end of the wire harness processing circuit is located at the end of the chassis 1.

[0039] The chassis 1 is also provided with a finished product blanking port 11, which is provided on the chassis 1 and is located at the end of the wire harness processing flow line and at the downstream side of the resistance welding square press 7. The function of the finished product blanking port 11 is to receive the finished wire harness after the square press operation is completed from the resistance welding square press 7 and collect it into the finished product collection box.

[0040] It should be noted that the finished product collection box is arranged below the finished product drop opening 11 .

[0041] The wire opening machine 2 is close to the loading position of the operator and is the entrance of the wire harness into the wire harness square forming device. After the wire harness is output from the wire opening machine 2, it enters the shaping mechanism 4 through the wire harness guide tube 21 and the guide slide 22.

[0042] It should be noted that the wire opening machine 2 used in this embodiment is customized based on the basic structure of the existing wire opening machine 2 according to specific needs, and its specific customization content includes: wire opening machine 2, wire harness guide tube 21 and guide slide plate 22, so that the wire harness can accurately slide into the shaping clamp when it is output from the output end of the wire opening machine 2. At the same time, the working process of the wire opening machine 2 is designed, and the next wire stripping work will only be performed when the feedback signal is received after the entire work is completed.

[0043] See also Figure 2 and Figure 3 As mentioned above, the components provided in the wire opening machine 2 include a wire harness guide tube 21 and a guide slide 22.

[0044] The wire harness guide tube 21 is used to guide the wire harness to be smoothly output from the cutting and stripping area of ​​the wire opening machine 2 to ensure that the wire harness does not deviate during transportation.

[0045] The wire harness guide tube 21 is installed at the outlet of the wire opening machine 2, close to the wire stripping area. The inlet of the wire harness guide tube 21 is directly connected to the wire stripping outlet of the wire opening machine 2, ensuring that the wire harness can smoothly enter the guide tube. The outlet direction of the wire harness guide tube 21 is toward the guide slide 22, so as to smoothly guide the wire harness to the guide slide.

[0046] The guide slide 22 is used to smoothly transport the wire harness from the wire harness guide tube 21 to the subsequent shaping mechanism 4, ensuring that the wire harness remains stable during transportation. The guide slide 22 is located downstream of the wire harness guide tube 21 and is installed below the wire opening machine 2. The inlet of the guide slide 22 is closely connected to the outlet of the wire harness guide tube 21 to ensure that the wire harness can transition seamlessly. The surface of the guide slide 22 is designed to be a smooth arc or inclined surface to reduce the friction of the wire harness during sliding.

[0047] The SCARA robot arm 3 is installed at the center of the chassis 1 to facilitate grabbing and transporting the wire harness. A processing area is planned on the chassis 1, and the movement range of the SCARA robot arm 3 covers the entire processing area and can reach the wire opening machine 2, the shaping mechanism 4, the visual mechanism 6 and the resistance welding press 7.

[0048] In this embodiment, the SCARA robot arm 3 is mainly used to transport the wire harness from the wire opening machine 2 to the shaping mechanism 4, and transport the wire harness to the resistance welding square press 7 and the finished product blanking port 11 in the subsequent process.

[0049] The clamping mechanism 5 is mounted at the end of the SCARA robot arm 3 via a flange 54. The position and movement of the clamping mechanism 5 are controlled by the SCARA robot arm 3 and can reach various key positions in the processing area.

[0050] See also Figure 7 The components provided in the clamping mechanism 5 include a clamping base 56 , two cylinder driven clamping jaws 51 , a gear rack mechanism 52 , a locking device 53 , a flange 54 , and a spacing adjustment knob 55 .

[0051] The gripper base 56 is mounted at the end of the SCARA robot arm 3 via a flange 54 .

[0052] The cylinder-driven clamping jaw 51 is equipped with a cylinder, which provides power for the opening and closing of the clamping jaw, and the clamping and releasing of the clamping jaw are achieved through the extension and contraction of the cylinder. The cylinder-driven clamping jaw 51 is installed on the clamping jaw base 56 of the clamping jaw mechanism through a gear rack mechanism 52.

[0053] The gear rack mechanism 52 is used to adjust the opening and closing distance of the two cylinder-driven clamping jaws 51 .

[0054] The locking device 53 is used to fix the distance between the clamping jaws after the clamping jaws are adjusted to a suitable position, so as to ensure that the clamping jaws remain stable during operation.

[0055] The locking device 53 is mounted on the jaw base 56 of the jaw mechanism, close to the spacing adjustment knob 55, and the locking device 53 can lock the rack and pinion mechanism 52. In this way, the locking device 53 is used in conjunction with the spacing adjustment knob 55, and the jaw spacing is fixed by the locking device after the adjustment is completed.

[0056] The spacing adjustment knob 55 is mounted on the clamping jaw base 56 and assembled with the gear rack mechanism 52. The spacing adjustment knob 55 is used to adjust the spacing between the two cylinder-driven clamping jaws 51 through the gear rack mechanism 52 to adapt to wire harnesses of different specifications.

[0057] The shaping mechanism 4 is located at the downstream side of the wire opening machine 2 and is installed on the chassis 1. The wire harness enters the shaping mechanism 4 from the wire opening machine 2 through the guide slide 22. After the shaping mechanism 4 straightens and shapes the wire harness, the wire harness is grabbed by the SCARA robot arm 3 and transported to the next station.

[0058] See also Figure 4 and Figure 5 The components arranged in the shaping mechanism 4 include a mounting base plate 41, a fixed base plate 42, a linear slide rail 43, a limit plate 44, a shaping clamp 45, a shaping clamp mounting plate 46, a slide cylinder 47, a tail swing cylinder 48, a support 49, a limit buffer 410, and a rotating shaft 411.

[0059] The mounting base plate 41 serves as a basic mounting platform for each component in the shaping mechanism 4 and provides structural support. The mounting base plate 41 is located at the bottom of the shaping mechanism 4 and is fixed to the chassis 1. Other components (such as the fixed base plate 42, the linear guide rail 43, etc.) are all mounted on the mounting base plate 41.

[0060] The fixed base plate 42 is mounted on the mounting base plate 41 via a rotating shaft 411. The fixed base plate 42 can rotate around the rotating shaft 411 based on the mounting base plate 41.

[0061] The shaping clamp mounting plate 46 is mounted on the fixed base plate 42 via a linear guide rail 43 .

[0062] The linear guide rail 43 is used to provide a linear motion track for the shaping clamp 45 to ensure smooth movement of the clamp.

[0063] A plurality of shaping clamps 45 are assembled and connected to a shaping clamp mounting plate 46 , and the shaping clamps 45 can slide and move along the linear guide rail 43 along with the shaping clamp mounting plate 46 .

[0064] The limit plate 44 is used to limit the range of motion of the wire harness to ensure that the wire harness can accurately enter the shaping clamp 45. The limit plate 44 is installed on the fixed bottom plate 42 and is located at the entrance of the shaping clamp 45, that is, at the end of the guide slide 22. The position of the limit plate 44 is aligned with the entrance of the shaping clamp 45 to ensure that the wire harness can smoothly enter the shaping clamp 45.

[0065] Furthermore, the overall connection method of the shaping mechanism 4 is as follows: first, the installation base plate 41 is connected to the chassis 1 by bolts; the fixed base plate 42 is connected to the installation base plate 41 by the rotating shaft 411, the linear slide rail 43 is fixedly installed at both ends of the installation base plate 42, and the shaping clamping block mounting plate 46 is installed on the two sliders at the upper part of the linear slide rail 43; a plurality of shaping clamping blocks 45 on the left and right parts are alternately installed on the shaping clamping block positioning plate 46 in sequence (the shaping clamping blocks are installed by wave ball positioning wires); the limit plate 44 is installed on the fixed base plate One end of 42, (when the wire harness falls into the opening of the shaping clamp, the fixed base plate 42 and the components above rotate downward, one end of the wire harness slides to the limit plate, so that the robot arm can locate and clamp it); the slide cylinder 47, the tail swing cylinder 47, the support 49, and the limit buffer 410 are all arranged under the fixed base plate 42; when the slide cylinder 47 moves, it drives the connecting rod to rotate, and the connecting rod pushes the linear slide rail 43 fixed on the shaping clamp mounting plate 46 to move accordingly, thereby realizing the opening and closing between the shaping clamps and clamping the wire harness. The two ends of the tail swing cylinder are respectively installed on the mounting base plate 41 and the fixed base plate 42 through the support 49, (when the cylinder piston rod retracts, the fixed base plate and the components above are controlled to rotate, and return to the original position when extended); the limit buffer is installed at the other end of the fixed base plate without a rotating shaft.

[0066] See also Figure 6 The number of the shaping clamps 45 is several, and these shaping clamps 45 are assembled together to clamp and align the wire harness to ensure that the shape and position of the wire harness are accurate before entering the squaring process. The shaping clamps 45 are installed on the shaping clamp mounting plate 46, and the shaping clamps 45 can be spliced ​​alternately. A threaded hole is provided below the shaping clamp 45, which is connected to the shaping clamp mounting plate 46, so as to facilitate quick installation or removal and improve adaptability.

[0067] It should be noted that the number of shaping clamps 45 provided in the shaping mechanism 4 can be determined and configured according to needs, and the shaping clamps 45 can be freely spliced ​​and combined according to the requirements of the wire harness length to meet the requirements of wire harness products of different specifications.

[0068] More specifically, several shaping clamps 45 on the left and right parts are arranged alternately, and a groove is provided on the shaping clamp mounting plate 46. The lower half of the shaping clamp 45 is directly stuck in the groove, and then fixed on the shaping clamp mounting plate 46 using a ball-shaped positioning wire, which is convenient for adding or removing the shaping clamp to meet different product requirements.

[0069] The shaping clamp block mounting plate 46 is used to assemble the shaping clamp block 45 , and the shaping clamp block mounting plate 46 is mounted on the slider portion of the linear guide rail 43 .

[0070] The slide cylinder 47 is used to drive the opening and closing of the shaping clamp 45 to achieve the clamping and releasing of the wire harness. The slide cylinder 47 is installed on the fixed base plate 42 and is located below the fixed base plate 42. The piston rod of the slide cylinder 47 is connected to the end of the cylinder piston rod through a connecting rod at one end, and is connected to the bottom of the shaping clamp mounting plate (such as Figure 8 As shown), thereby driving the opening and closing action of the shaping clamp 45.

[0071] The tail-swing cylinder 48 is installed on the mounting base plate 41 through a support 49 and is hinged by an axle pin, and is located below the mounting base plate 41. The piston rod of the tail-swing cylinder 48 is also installed and connected to the fixed base plate 42 through a support 49 and is hinged by an axle pin. In this way, the tail-swing cylinder 48 can drive the fixed base plate 42 to rotate around the rotating shaft 411 based on the mounting base plate 41. When the tail-swing cylinder 48 contracts, the fixed base plate 42 rotates downward around the rotating shaft 411. When the tail-swing cylinder 48 extends, the fixed base plate 42 rotates upward around the rotating shaft 411. This facilitates the wiring harness to slide to the limit plate 44, and facilitates the positioning and clamping of the SCARA robot arm 3.

[0072] The position limiting buffer 410 is installed on the fixed base plate 42 to achieve buffering between the fixed base plate 42 and the installation base plate 41 .

[0073] The visual mechanism 6 is installed on the chassis 1, located above (or on the side) of the clamping mechanism 5, and above the wire harness processing flow line, so as to capture the wire harness image for real-time detection of the position, shape and defects of the wire harness, and provide accurate position information for the SCARA robot arm 3 to ensure that the wire harness can be accurately grasped and processed.

[0074] The resistance welding square press 7 is installed on the chassis 1, located at the downstream side of the clamp mechanism 5, and is the final station of the wire harness processing. The SCARA robot arm 3 sends the wire harness after shaping and visual inspection into the resistance welding square press 7, and the resistance welding square press 7 performs a square operation on the wire harness, and then the finished wire harness is output through the finished product blanking port 11.

[0075] The specific working process of the wire harness square forming device of this embodiment is as follows:

[0076] 1. Wire harness input and wire cutting and stripping

[0077] 1.1. The operator puts the wire harness to be processed into the input end of the wire opening machine 2.

[0078] The wire cutter 2 cuts the wire harness to a suitable length and strips off the insulation layer at the end of the wire harness to expose the conductor part.

[0079] 1.2. The wire harness after cutting and stripping is smoothly output through the wire harness guide tube 21. The design of the wire harness guide tube 21 ensures that the wire harness does not deviate or twist during the transportation process.

[0080] 1.3. The wire harness enters the guide plate 22 from the wire harness guide tube 21 . The smooth arc surface of the guide plate 22 further guides the wire harness to be smoothly transported to the shaping mechanism 4 .

[0081] 2. Wire harness shaping

[0082] 2.1. The wire harness enters the shaping mechanism 4 through the guide slide plate 22, and the limit plate 44 ensures that the wire harness accurately enters the shaping area.

[0083] When the wire harness falls into the shaping mechanism 4 , the fixed bottom plate 42 is driven by the tail swing cylinder 48 to rotate a certain angle, so that a section of the wire harness slides to the limiting plate 44 .

[0084] 2.2. The shaping clamp block 45 clamps the wire harness and performs straightening operation under the drive of the slide cylinder 47. The shaping clamp block 45 can be spliced ​​and combined according to the specifications of the wire harness to adapt to wire harnesses of different lengths and diameters.

[0085] 2.3. The shaping mechanism 4 is driven by the tail swing cylinder 48 to rotate at a certain angle, and the wire harness is initially positioned to prepare for subsequent processing.

[0086] 3. Harness grabbing and transportation

[0087] 3.1. The visual mechanism 6 collects the wire harness image, identifies the position, shape and defects of the wire harness in real time, and feeds the data back to the control system.

[0088] 3.2. The control system adjusts the motion trajectory of the SCARA robot arm 3 according to the data provided by the visual mechanism 6, so that the gripper mechanism 5 moves accurately above the wiring harness.

[0089] 3.3. The cylinder-driven clamping jaw 51 drives the clamping jaw to close and grab the shaped wire harness. The spacing of the clamping jaw mechanism 5 can be adjusted by the spacing adjustment knob 55 to adapt to wire harnesses of different specifications.

[0090] 3.4. The SCARA robot arm 3 transports the captured wire harness to the processing area of ​​the resistance welding square press 7 for square pressing. The clamp mechanism 5 can be horizontally rotated 180° during transportation to adjust the direction of the wire harness.

[0091] 4. Wire harness pressing

[0092] 4.1. The clamping mechanism 5 delivers the wire harness into the processing area of ​​the resistance welding press 7.

[0093] 4.2. The resistance welding square pressing machine 7 performs square pressing on the wire harness to ensure that the conductors at both ends of the wire harness are pressed into a square shape while ensuring good conductivity and mechanical strength.

[0094] 4.3. After the squaring is completed, the clamping mechanism 5 takes the finished wire harness out of the resistance welding squaring machine 7.

[0095] 5. Finished product output

[0096] 5.1. The SCARA robot arm 3 transports the finished wire harness that has been squared to the finished product blanking port 11.

[0097] 5.2. The clamping mechanism 5 releases the clamping jaws and places the finished wire harness into the finished product blanking opening 11, completing the entire processing flow.

[0098] The wire harness squaring device of this embodiment has the following advantages:

[0099] (1) In the wire harness squaring forming device, the processes of automatic wire cutting, shaping, positioning and squaring are integrated to realize assembly line-style automated operation, greatly shortening the time of each process and thus improving the overall production efficiency.

[0100] (2) Reduced dependence on manpower. Only a small number of personnel are needed to monitor and maintain the equipment, which reduces the number of operators required, saves labor costs, and improves work efficiency.

[0101] (3) The shaping clamp block 45 can be assembled according to different product requirements to meet different product requirements. At the same time, quick replacement can be completed by removing or adding the ball positioning wire of the shaping clamp block 45 of the same structure.

[0102] (4) When the wire harness falls into the shaping mechanism 4, the fixed base plate 42 is driven by the tail swing cylinder 48 to rotate a certain angle, so that a section of the wire harness slides to the limit plate 44, which facilitates the positioning of the robot arm.

[0103] (5) Through visual recognition and precise positioning of the SCARA robot 3, the position of the wire harness in each pressing can be ensured to be accurate, reducing the deviation and error that may occur in manual operation, thereby improving the consistency and quality of the finished product. Traditional manual operation is prone to position deviation or inaccurate pressing due to human factors.

[0104] (6) It reduces labor costs, improves work efficiency, improves work safety, and significantly optimizes each link in the wire harness pressing process, which can bring higher production capacity, more stable product quality and lower production costs to the enterprise.

[0105] The following describes how the wire harness square forming device of this embodiment overcomes the deficiencies of the prior art and achieves the technical effects.

[0106] 1) The existing technology requires manual work for wire harness cutting, shaping, positioning and squaring, which is labor-intensive and inefficient. The visual recognition system replaces manual visual inspection, automatically identifies the position of the wire harness, and feeds back to the SCARA robot 3 to achieve accurate positioning of the wire harness. The SCARA robot 3 cooperates with the clamping mechanism 5 to achieve automatic grasping, shaping, transfer and squaring of the wire harness, completely eliminating manual intervention. The automated control system integrates each process into the equipment to ensure the efficiency and stability of the assembly line operation.

[0107] 2) Inefficiency caused by separation of multiple devices: In the traditional production model, wire cutting, shaping, and squaring require multiple devices to be completed separately, and the connection depends on manual handling, which affects the overall efficiency. In the wire harness squaring forming device of this embodiment, the steps of wire cutting, shaping, positioning, and squaring are integrated into one device, and seamless connection is achieved through automated control, greatly shortening the production cycle. The SCARA robot arm 3 and the clamping mechanism 5 realize full-process positioning, automatic transportation, and operation, without the need for manual material transfer, completely eliminating the connection bottleneck between equipment.

[0108] 3) In the traditional production mode, all changes in the wire harness size requirements need to be manually adapted. In the wire harness squaring forming device of this embodiment, a modular shaping mechanism 4 is used to adapt to the processing of wire harnesses of multiple specifications. The shaping mechanism 4 adopts a modular assembly design, and the shaping clamp block 45 can be freely spliced ​​and combined according to the wire harness length requirements to quickly adapt to wire harnesses of different specifications. At the same time, the clamping mechanism 5 adjusts the clamping distance by adjusting the knob, and supports horizontal rotation of 180°, which can flexibly handle various wire harness lengths and processing requirements.

[0109] 4) Manual operation and simple mechanical equipment can easily lead to inaccurate pressing position and force, affecting the electrical conductivity and mechanical strength of the wire harness. In the wire harness pressing and forming device of this embodiment, the visual system provides high-precision position information to the SCARA robot arm 3 to ensure that the wire harness always maintains the correct position during the processing. The resistance welding press 7 cooperates with precise positioning and shaping to ensure that the electrical conductivity and mechanical strength of the wire harness press meet the standards. The automated process avoids errors in manual operation and improves the consistency and quality stability of the product.

[0110] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wire harness square forming device based on machine vision assistance, characterized in that: The wire harness squaring device comprises a chassis (1), a wire opening machine (2), a SCARA mechanical arm (3), a shaping mechanism (4), a clamping mechanism (5), a visual mechanism (6) and a resistance welding squaring machine (7); A wire harness processing flow line is planned on the chassis (1), and the wire opening machine (2), SCARA mechanical arm (3), shaping mechanism (4), clamping mechanism (5), visual mechanism (6) and resistance welding square pressing machine (7) are arranged along the wire harness processing flow line.

2. The wire harness squaring device based on machine vision assistance according to claim 1, characterized in that: The wire cutting machine (2) cuts and strips the wire harness; The shaping mechanism (4) straightens and shapes the wire harness after cutting and stripping; The visual mechanism (6) collects the wire harness image and identifies the position, shape and defects of the wire harness in real time; The SCARA robot arm (3) grabs the wire harness that has been straightened and shaped by the shaping mechanism (4), and transports the wire harness to the resistance welding square press (7) for square pressing; The resistance welding square pressing machine (7) performs a square pressing operation on the wire harness; The SCARA mechanical arm (3) grabs the wire harness that has been squared by the resistance welding squarer (7), and outputs the wire harness as a finished product.

3. The wire harness squaring device based on machine vision assistance according to claim 2, characterized in that: The chassis (1) is provided with a finished product blanking opening (11), and the finished product blanking opening (11) is located at the end of the wiring harness processing process line; When the SCARA robot arm (3) outputs the wire harness as a finished product, the SCARA robot arm (3) transports the wire harness to a finished product drop port (11).

4. The wire harness squaring device based on machine vision assistance according to claim 2, characterized in that: When the SCARA robot arm (3) grabs the wire harness, the wire harness is accurately grabbed based on the position of the wire harness identified by the visual mechanism (6).

5. The wire harness squaring device based on machine vision assistance according to claim 2, characterized in that: The clamping mechanism (5) is provided with a clamping base (56), two cylinder driven clamping jaws (51), a gear rack mechanism (52), a spacing adjustment knob (55), a flange (54) and a locking device (53); The cylinder-driven clamping jaw (51) is installed and connected to the clamping jaw base (56) via a gear rack mechanism (52); The spacing adjustment knob (55) is assembled with the gear rack mechanism (52), and the spacing adjustment knob (55) is used to adjust the spacing between the two cylinder-driven clamping jaws (51) through the gear rack mechanism (52); The locking device (53) is installed on a clamping jaw base (56) of the clamping jaw mechanism, and the locking device (53) can lock the gear rack mechanism (52).

6. The wire harness squaring device based on machine vision assistance according to claim 2, characterized in that: The shaping mechanism (4) is provided with a mounting base plate (41), a fixing base plate (42), a shaping clamping block mounting plate (46), a linear slide rail (43), a shaping clamping block (45), a limit plate (44), a slide cylinder (47), a tail swing cylinder (48), a limit buffer (410) and a rotating shaft (411); The fixed base plate (42) is mounted on the mounting base plate (41) via a rotating shaft (411); The shaping clamp mounting plate (46) is mounted on the fixed base plate (42) via a linear slide rail (43); The number of the shaping clamps (45) is several, and the shaping clamps (45) are mounted on a shaping clamp mounting plate (46). All the shaping clamps (45) are assembled together to clamp and align the harness. The limiting plate (44) is installed on the fixed base plate (42) and is located at the entrance of the shaping clamping block (45); The slide cylinder (47) is used to drive the opening and closing action of the shaping clamp (45); The tail swing cylinder (48) is used to drive the fixed base plate (42) to rotate based on the mounting base plate (41); The position-limiting buffer (410) is installed on the fixed base plate (42) and is used to achieve buffering between the fixed base plate (42) and the installation base plate (41).

7. The wire harness squaring device based on machine vision assistance according to claim 6, characterized in that: The number of shaping clamps (45) provided in the shaping mechanism (4) is determined and configured according to needs, so as to meet the requirements of wire harness products of different specifications.

8. The machine vision-assisted wire harness squaring device according to claim 6, characterized in that: The number of shaping clamps (45) provided in the shaping mechanism (4) is determined and configured according to needs, so as to meet the requirements of wire harness products of different specifications.

9. The wire harness squaring device based on machine vision assistance according to claim 2, characterized in that: The wire opening machine (2) comprises a wire harness guide tube (21) and a guide slide plate (22); The wire harness guide tube (21) is used to guide the wire harness to be output from the wire opening machine (2); The guide slide plate (22) is used to smoothly transport the wire harness from the wire harness guide tube (21) to the shaping mechanism (4).

Images