An insertion device for terminal wiring and a wiring system

Abstract

The application discloses an insertion device for terminal wiring and a wiring system, and belongs to the technical field of electrical connector equipment. The device is used for inserting into a wiring terminal hole and comprises a wiring thimble used for electrical connection with an equipment wiring terminal, at least two insertion clamping arms which are opened and closed relative to the wiring thimble, two insertion clamping arms which are rotationally connected with the wiring thimble through a same rotating shaft, and an opening and closing opening formed by the two insertion clamping arms and provided with the wiring thimble. A telescopic spring assembly is located in the opening and closing opening formed by the two insertion clamping arms, is compressed between the two insertion clamping arms, is connected with the insertion clamping arms, and is used for keeping the two insertion clamping arms away from each other. Since the insertion clamping arms are abutted against the inner wall of the terminal hole, the device can be applied to equipment terminal holes with different hole diameters, different insertion devices do not need to be configured for different equipment wiring terminals, and the problem that the same insertion device cannot be adapted to terminal holes with different hole diameters is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electrical connector equipment, in particular to an insertion device for terminal wiring and a wiring system. BACKGROUND

[0002] When performing automatic wiring of robots, many device terminals need to be manually loosened for wiring. The traditional method is to use a fixed thimble. However, the wiring terminal holes of different devices in a substation are of different sizes. For example, the terminal hole diameter of a commonly used substation is 5 mm, but the hole diameter of some terminals is 4 mm or 6 mm or even larger. Therefore, different thimble plates need to be used for wiring terminals of different diameters, and therefore a plurality of insertion devices are required for the installation of thimbles, which is very inconvenient for the development of production work. SUMMARY

[0003] The present application provides an insertion device for terminal wiring and a wiring system, which aims to solve the problem that the same insertion device cannot adapt to wiring terminal holes of different diameters in the prior art.

[0004] The first aspect of the present application provides an insertion device for terminal wiring, which is used for inserting into a wiring terminal hole, comprising:

[0005] A wiring thimble is used for electrical connection with the wiring terminal.

[0006] At least two insertion clamping arms are opened and closed relative to the wiring thimble. The two insertion clamping arms are rotatably connected to the wiring thimble through the same rotating shaft. The wiring thimble is arranged in the opening and closing opening formed by the two insertion clamping arms.

[0007] A telescopic spring assembly is arranged in the opening and closing opening formed by the two insertion clamping arms. The telescopic spring assembly is compressed between the two insertion clamping arms. The telescopic spring assembly is connected to the two insertion clamping arms. The telescopic spring assembly is used to maintain the moving trend of the two insertion clamping arms away from each other, so as to maintain the opening trend of the opening and closing opening provided with the wiring thimble.

[0008] In some embodiments of the first aspect, the insertion clamping arm comprises an insertion part for inserting into the terminal hole and a free part for being clamped.

[0009] The insertion part and the free part are arranged at opposite ends of the insertion clamping arm.

[0010] A first opening and closing opening is formed between the two insertion parts. The sharp end of the wiring thimble is arranged adjacent to the first opening and closing opening.

[0011] Two free parts are arranged between the first opening and the second opening, and the telescopic spring assembly is arranged in the second opening. The two free parts are arranged to be close to or away from each other to control the opening and closing of the first opening and the second opening.

[0012] In some embodiments of the first aspect, when the first opening is closed, the two insertion parts form a columnar body, and an outer diameter of the columnar body is less than or equal to a terminal hole of the insertion device.

[0013] In some embodiments of the first aspect, an inner wall of the insertion part is provided with a receiving groove, and when inner wall surfaces of the two insertion arms are attached to each other, a cavity surrounded by adjacent receiving grooves is matched with the shape of the terminal contact pin.

[0014] In some embodiments of the first aspect, an outer wall of the insertion part is provided with an anti-skid part.

[0015] In some embodiments of the first aspect, the free part includes an arc-shaped guide protrusion and two centering plates.

[0016] A long axis direction of the arc-shaped guide protrusion is the same as a line direction of two ends of the insertion arm.

[0017] The two centering plates are arranged on opposite sides of the arc-shaped guide protrusion, and the centering plates are fixedly connected with the arc-shaped guide protrusion. Inner side surfaces of the centering plates are flush with an inner side surface of the arc-shaped guide protrusion.

[0018] In some embodiments of the first aspect, the arc-shaped guide protrusion includes two quarter spheres and a semi-arc columnar body.

[0019] The two quarter spheres are fixedly connected with two ends of the semi-arc columnar body respectively, and surfaces of the quarter spheres are smoothly connected with a surface of the semi-arc columnar body.

[0020] In some embodiments of the first aspect, the telescopic spring assembly includes a first spring and a second spring.

[0021] The first spring is compressed between the terminal contact pin and the insertion arm, and the second spring is compressed between the terminal contact pin and the other insertion arm.

[0022] In some embodiments of the first aspect, one of the insertion arms is a first insertion arm, and the other insertion arm is a second insertion arm.

[0023] The first insertion arm is provided with a first inclined through hole and a first horizontal through hole, the second insertion arm is provided with a second inclined through hole and a second horizontal through hole, and the terminal contact pin is provided with a third horizontal through hole.

[0024] The first insertion clamp arm is inserted into the second insertion clamp arm through the second inclined hole;

[0025] The wiring pin is inserted into the first insertion clamp arm and the second insertion clamp arm through the first inclined hole and the second inclined hole;

[0026] The rotation shaft is arranged in the first horizontal hole, the second horizontal hole and the third horizontal hole, and both ends of the rotation shaft extend out of the insertion clamp arm, and both ends of the rotation shaft are connected with a limiting piece for limiting the movement of the rotation shaft.

[0027] The second aspect of the present application provides a wiring system, comprising:

[0028] The insertion device of the first aspect;

[0029] An image recognition device is arranged for recognizing the terminal hole to be inserted;

[0030] A robot is arranged, comprising a three-axis moving component and a clamping component arranged on the three-axis moving component, and the clamping component is arranged for clamping or releasing the insertion device;

[0031] A control device is arranged in signal connection with the image recognition device and the robot, and the control device is arranged for receiving the signal of the image recognition device and outputting an instruction to the three-axis moving component to move the clamping component into or out of the terminal hole, and outputting an instruction to the clamping component to clamp or release the insertion device.

[0032] From the above technical solutions, the present application has the following advantages:

[0033] The insertion device for terminal wiring provided in the embodiment has the following advantages: the two sides of the wiring pin are provided with openable and closable insertion clamp arms, when the terminal is wired, the user clamps the insertion clamp arms, and makes the two insertion clamp arms and the wiring pin inserted into the terminal hole of the equipment, after the user releases the insertion clamp arms, the two insertion clamp arms are expanded and abut against the inner wall of the terminal hole under the action of the telescopic spring assembly, so that the wiring pin is prevented from sliding out of the terminal hole, and the wiring pin is fastened in the terminal hole; and since the insertion clamp arms abut against the inner wall of the terminal hole, the insertion clamp arms can be applied to terminal holes of equipment with different hole diameters, and different insertion devices are not needed for wiring terminals of different equipment, and the problem that the same insertion device cannot be adapted to terminal holes with different hole diameters in the prior art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0035] Figure 1 The overall structure schematic diagram of the insertion device for terminal wiring provided by the embodiment of the present application;

[0036] Figure 2 The structure schematic diagram of the first insertion clamping arm provided by the embodiment of the present application;

[0037] Figure 3 The structure schematic diagram of the second insertion clamping arm provided by the embodiment of the present application;

[0038] Figure 4 The structure schematic diagram of the terminal contact pin provided by the embodiment of the present application;

[0039] Figure 5 The wiring process schematic diagram of the insertion device for terminal wiring provided by the embodiment of the present application Figure 1 ;

[0040] Figure 6 The wiring process schematic diagram of the insertion device for terminal wiring provided by the embodiment of the present application Figure 2 ;

[0041] Figure 7 The wiring process schematic diagram of the insertion device for terminal wiring provided by the embodiment of the present application Figure 3 .

[0042] Reference signs:

[0043] 1, terminal contact pin; 10, third horizontal perforation;

[0044] 2, insertion clamping arm; 20, insertion part; 200, first opening and closing opening; 201, accommodating groove; 202, anti-skid part; 21, free part; 210, second opening and closing opening; 211, arc-shaped guide protrusion; 2110, quarter sphere; 2111, half-arc column body; 212, centering flat plate; 213, accommodating groove; 22, first insertion clamping arm; 220, first inclined perforation; 221, first horizontal perforation; 23, second insertion clamping arm; 230, second inclined perforation; 231, second horizontal perforation; 24, pivot; 25, limiting piece;

[0045] 3, telescopic spring assembly; 30, first spring; 31, second spring;

[0046] 4, terminal hole. DETAILED DESCRIPTION

[0047] The terminal insertion device and the terminal insertion system are used for solving the problem that the same insertion device cannot be adapted to terminal holes with different diameters in the prior art.

[0048] In order to make the invention purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings. Obviously, the following described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0049] Please refer to Figures 1 to 7 The terminal insertion device is used for being inserted into a terminal hole 4, and comprises:

[0050] The terminal insertion device is used for being inserted into a terminal hole 4, and comprises:

[0051] The terminal insertion device is used for being inserted into a terminal hole 4, and comprises:

[0052] The terminal insertion device is used for being inserted into a terminal hole 4, and comprises:

[0053] It should be pointed out that the insertion device is inserted into the terminal hole 4, that is, the terminal insertion device and the insertion arm 2 are inserted into the terminal hole 4, that is, the outer diameter of the insertion end of the two insertion arms 2 in the closed state is less than or equal to the inner diameter of the terminal hole 4, so as to ensure that the insertion device can be inserted into the terminal hole 4.

[0054] In the application process of the embodiment, the user clamps the two insertion arms 2 to make them close to the terminal insertion device 1, and at the same time, the telescopic spring assembly 3 is compressed, and then the closed insertion arms 2 are inserted into the terminal hole 4 of the device; after the terminal insertion device 1 is electrically connected with the terminal of the device, the user releases the two insertion arms 2, and the elastic force of the telescopic spring assembly 3 expands the two insertion arms 2 away from the terminal insertion device 1, and the expanded insertion arms 2 abut against the inner wall of the terminal hole 4, so as to tightly install the terminal insertion device 1 in the terminal hole 4 of the device.

[0055] From the above process, it can be known that the two insertion clamping arms 2 are inserted into the terminal hole 4 together with the wiring terminal pin 1, when the wiring terminal pin 1 is electrically connected with the terminal, the two insertion clamping arms 2 are loosened, and the spring will abut the two insertion clamping arms 2 against the inner wall of the terminal hole 4. No matter the terminal hole 4 is too large or too small, the insertion clamping arms 2 can abut against the inner wall of the terminal hole 4 and tightly install the wiring terminal pin 1 in the equipment terminal hole 4.

[0056] Compared with the prior art, the embodiment has the following advantages: first, the wiring terminal pin 1 is tightly installed in the terminal hole 4 of different equipment with different hole diameters. Compared with the prior art, the installation of the terminal pin does not need to use multiple insertion devices, and only one insertion device for terminal wiring can realize the tight installation of different hole diameters, which is convenient for production work; second, the fixing process of the wiring terminal pin 1 will not affect other terminal wiring. In the prior art, the clip is usually clamped on the outer wall of the terminal hole or the side of the wire row. Such a device is large in size and blocks the connection and installation of other terminal holes 4. In the embodiment, the insertion clamping arms 2 are used to fix the wiring terminal pin 1 by the friction force with the inner wall of the terminal hole 4, which avoids affecting other terminal wiring and the device is small in size and can be normally used for the adjacent terminals.

[0057] In a specific embodiment, as shown in Figures 1 to 3 The insertion clamping arms 2 further include an insertion part 20 for inserting into the terminal hole 4 and a free part 21 for being clamped; the insertion part 20 and the free part 21 are arranged at opposite ends of the insertion clamping arm 2; the insertion part 20 of the two insertion clamping arms 2 forms a first opening and closing opening 200 that can be opened and closed, and the sharp end of the wiring terminal pin 1 is arranged adjacent to the first opening and closing opening 200; the free part 21 of the two insertion clamping arms 2 forms a second opening and closing opening 210 that can be opened and closed, and the telescopic spring assembly 3 is arranged in the second opening and closing opening 210; the mutual approach or mutual departure of the two free parts 21 is used to control the opening and closing of the first opening and closing opening 200 and the second opening and closing opening 210. In specific implementation, the user or the robot clamp can clamp the two free parts 21. When the two free parts 21 are clamped, the mutual approach of the two free parts 21 controls the closing of the first opening and closing opening 200 and the second opening and closing opening 210. At this time, at the first opening and closing opening 200, part of the column body of the wiring terminal pin 1 is wrapped by the two insertion parts 20, and at the second opening and closing opening 210, the telescopic spring assembly 3 is clamped and compressed by the two insertion parts 20. When the two free parts 21 are loosened, the mutual departure of the two free parts 21 controls the opening of the first opening and closing opening 200 and the second opening and closing opening 210. At this time, at the second opening and closing opening 210, the telescopic spring assembly 3 is elongated to drive the two free parts 21 to expand, and at the first opening and closing opening 200, the two insertion parts 20 abut against the inner wall of the terminal hole 4 after expansion, thereby realizing the fixation of the wiring terminal pin 1 in the terminal hole 4.

[0058] In an embodiment, as shown in Figure 6 In order to prevent the insertion part 20 or the wiring pin 1 from slipping out of the terminal hole 4, when the first opening 200 is closed, the two insertion parts 20 form a columnar body, and the outer diameter of the columnar body is less than or equal to the insertion device terminal hole 4. In actual implementation, when the two free parts 21 are clamped, that is, when the first opening 200 is closed, the columnar body can ensure that the insertion part 20 and the wiring pin 1 are inserted into the terminal hole 4 to a sufficient depth, thereby avoiding the problem that the insertion depth of the insertion part 20 is insufficient, resulting in that the wiring pin 1 cannot achieve electrical connection, or the insertion part 20 cannot be tightly abutted against the inner wall of the hole and thus slips out.

[0059] In the embodiment, the outer diameter of the formed columnar body is 3-4mm, that is, the distance from the outer wall of the insertion part 20 to the inner wall of the insertion part 20 is 1.5-2mm. In actual implementation, the two insertion parts 20 that are closed can be smoothly inserted into the terminal hole 4 with a hole diameter of 4mm-6mm or even larger in the existing transformer substation.

[0060] It should be pointed out that the shape of the columnar body can be a cylinder or a regular polygonal prism such as a triangular prism, a quadrangular prism, a pentagonal prism, a hexagonal prism, etc., which can be selected by those skilled in the art according to actual needs.

[0061] In an embodiment, as shown in Figure 3 In order to make the arrangement structure of the insertion part 20 and the wiring pin 1 more compact, the inner wall of the insertion part 20 is provided with a containing groove 201, the groove axis direction of the containing groove 201 is the same as the direction of the line connecting the two ends of the insertion clamp arm 2, and when the inner wall surfaces of the two insertion clamp arms 2 are abutted, the cavity enclosed by the adjacent containing grooves 201 matches the shape of the wiring pin 1, that is, the containing groove 201 is a semicylindrical structure. In actual implementation, when the insertion parts 20 of the two insertion clamp arms 2 are abutted, the wiring pin 1 will be located in the cavity enclosed by the two containing grooves 201 as a whole, and the wiring pin 1 will abut against the inner wall of the containing groove 201. After the two insertion clamp arms 2 are abutted, the whole structure is more compact, and can be applied to terminal holes 4 with different hole diameters.

[0062] In the embodiment, the anti-skid part 202 is a plurality of anti-skid spikes, which are arranged in an array on the outer wall of the insertion part 20. When the anti-skid part 202 of the insertion part 20 abuts against the inner wall of the terminal hole 4, the anti-skid spikes can increase the friction with the inner wall of the terminal hole 4, prevent the insertion part 20 from slipping, and ensure that the wiring pin 1 is installed stably. Of course, the anti-skid part 202 can also be a layer of anti-skid layer formed by anti-skid rubber or anti-skid plastic in addition to the anti-skid spikes.

[0063] In an embodiment, as shown in Figures 1 to 3As shown, in order to improve the accuracy of clamping, the free part 21 comprises an arc-shaped guide protrusion 211 and two centering plates 212; the long axis direction of the arc-shaped guide protrusion 211 is the same as the direction of the line connecting the two ends of the insertion clamp arm 2; the two centering plates 212 are arranged on the opposite sides of the arc-shaped guide protrusion 211, and the centering plate 212 is fixedly connected with the arc-shaped guide protrusion 211, and the inner side surface of the centering plate 212 is flush with the inner side surface of the arc-shaped guide protrusion 211; in specific implementation, when the robot clamp or the ordinary clamp clamps the free part 21 of the insertion clamp arm 2, in the case that the robot clamp clamping centering is incorrect or slightly deviated, the arc-shaped guide protrusion 211 of a specific shape can be fine-tuned in the clamp, the horizontal component force of the arc-shaped guide protrusion 211 can be counteracted or limited within a certain range, and the vertical component force can promote the clamp arm to move in the vertical direction, so as to realize the vertical guidance of the clamp arm; and in the case that the robot clamp clamping angle deviates, when the free part 21 of the insertion clamp arm 2 deviates to the reference surface, the plane of the centering plate 212 can ensure that the insertion clamp arm 2 has a correct deviation angle after being clamped, that is, in the case that the robot clamp clamping centering is incorrect or slightly deviated, the arc-shaped guide protrusion 211 realizes correct vertical position, the centering plate 212 realizes correct deviation angle, and thus automatic cooperation centering is realized.

[0064] In the embodiment, as shown in Figure 3 The arc-shaped guide protrusion 211 comprises two quarter spheres 2110 and a semicircular column 2111; the two ends of the semicircular column 2111 are fixedly connected with the quarter spheres 2110, and the surface of the quarter sphere 2110 is smoothly connected with the surface of the semicircular column 2111; in specific implementation, the two quarter spheres 2110 and the semicircular column 2111 at the two ends form a structure with arc surfaces on the circumferential side, which can realize omnidirectional guidance; and in the process that the insertion clamp arm 2 approaches the workpiece, when the structure transitions from the sphere part to the semicircular column 2111 part, there will be no jamming or deviation due to the sudden change of the structure, so that the guiding force can continuously and uniformly act on the clamp arm, ensuring that the clamp arm stably approaches the workpiece along the predetermined trajectory, which is conducive to realizing accurate clamping operation.

[0065] In an embodiment, as shown in Figure 2 The inner wall of the free part 21 is also provided with a containing groove 213, and the cavity surrounded by the two containing grooves 213 can match the shape of the wiring contact pin 1 after the two free parts 21 are attached; the containing groove 213 is also provided with a spring mounting hole for mounting the spring, and the first spring 30 or the second spring 31 is mounted on the insertion clamp arm 2 through the spring mounting hole.

[0066] In a specific embodiment, as shown in Figures 1 to 3As shown, further provided are two realizable matching modes of the insertion clamping arms 2, one of the insertion clamping arms 2 is a first insertion clamping arm 22, and the other is a second insertion clamping arm 23; the first insertion clamping arm 22 is provided with a first inclined through hole 220 and a first horizontal through hole 221; the second insertion clamping arm 23 is provided with a second inclined through hole 230 and a second horizontal through hole 231; the wiring contact pin 1 is provided with a third horizontal through hole 10; the first insertion clamping arm 22 is inserted into the second insertion clamping arm 23 through the second inclined through hole 230 to form an "X"-shaped insertion structure; the wiring contact pin 1 is inserted into the first insertion clamping arm 22 and the second insertion clamping arm 23 through the first inclined through hole 220 and the second inclined through hole 230; the first horizontal through hole 221, the second horizontal through hole 231 and the third horizontal through hole 10 are provided with a rotating shaft 24, both ends of the rotating shaft 24 extend out of the insertion clamping arms 2, and both ends of the rotating shaft 24 are connected with a limiting piece 25 for limiting the movement of the rotating shaft 24, the limiting piece 25 is a nut for fixing both ends of the rotating shaft 24; in specific implementation, the two insertion clamping arms 2 can be opened and closed on the wiring contact pin 1 by rotating around the rotating shaft 24, and the insertion structure of the insertion clamping arms 2 can make the structure of the two insertion clamping arms 2 and the wiring contact pin 1 more compact, and the structure strength of the insertion structure is higher.

[0067] It should be pointed out that the first insertion clamping arm 22 and the second insertion clamping arm 23 each include an upper arm body and a lower arm body, both of which are semi-cylinders; the end of the upper arm body is provided with a first recessed through slot to form a recessed end structure, and the end of the lower arm body is provided with a second recessed through slot to form a recessed end structure; the end of the upper arm body provided with the first recessed through slot is adjacent to the lower arm body, and the end of the lower arm body provided with the second recessed through slot is adjacent to the upper arm body; the first recessed through slot and the second recessed through slot are communicated to form an inclined through hole, that is, the structures of the first insertion clamping arm 22 and the second insertion clamping arm 23 are basically the same, except that the size of the first inclined through hole 220 is larger than the arm diameter of the second insertion clamping arm 23 to realize the insertion matching structure of the first insertion clamping arm 22 and the second insertion clamping arm 23.

[0068] In a specific embodiment, as shown in Figure 1 the further provided is a realizable structure of the telescopic spring assembly 3, which includes a first spring 30 and a second spring 31; the first spring 30 is compressed between the wiring contact pin 1 and the insertion clamping arm 2, and the second spring 31 is compressed between the wiring contact pin 1 and the other insertion clamping arm 2; the first spring 30 and the second spring 31 are coaxially arranged; in specific implementation, when the two insertion clamping arms 2 are clamped, the first spring 30 and the second spring 31 are compressed, and the arrangement of the two springs can make the adjustment of the clamping force more flexible, for example, when one insertion clamping arm 2 is damaged, the elastic coefficient of a certain spring needs to be replaced so that the two insertion clamping arms 2 can be better clamped.

[0069] It should be pointed out that in some possible embodiments, the telescopic spring assembly 3 is composed of a complete single spring compressed between the two insertion clamping arms 2; in particular, the single spring can also achieve the movement tendency of keeping the two insertion clamping arms 2 away from each other.

[0070] In a specific embodiment, as shown in Figure 4 Further, a structure of the wiring contact pin 1 is provided, which is a telescopic contact pin; in particular, when the wiring contact pin 1 is inserted and abuts against the bottom of the terminal hole 4, the wiring contact pin 1 will be telescopic, preventing wear and damage caused by excessive extrusion.

[0071] In an embodiment, the wiring contact pin 1 comprises a wiring rod, a telescopic rod, a telescopic spring and a plurality of connecting needle bodies, one end of the wiring rod is connected and fixed with one end of the telescopic rod, the other end of the telescopic rod is fixed with the plurality of connecting needle bodies, the telescopic rod is hollow inside, and the telescopic spring is arranged in the hollow inside of the telescopic rod; in particular, after the connecting needle bodies touch the bottom, the wiring rod continues to move downward to extrude the telescopic spring, and the telescopic spring in contraction can keep a moderate pressure on the connecting needle bodies.

[0072] The embodiment provides a wiring system, which comprises:

[0073] An insertion device for terminal wiring;

[0074] An image recognition device, which is used to recognize the terminal hole 4 to be inserted;

[0075] A robot, which comprises a three-axis moving component and a clamping component arranged on the three-axis moving component, and the clamping component is used to clamp or release the insertion device for terminal wiring;

[0076] A control device, which is in signal connection with the image recognition device and the robot, and is used to receive the signal of the image recognition device and output an instruction to the three-axis moving component to move the clamping component into or out of the terminal hole 4, and output an instruction to the clamping component to clamp or release the insertion device for terminal wiring.

[0077] In the terminal wiring process of the embodiment, the clamping component of the robot clamps the insertion device for terminal wiring to make the two insertion clamping arms 2 close; the image recognition device recognizes the position of the terminal hole 4 to be installed, the image recognition device transmits the recognized information to the control device, the control device analyzes the movement track and outputs a movement command to the three-axis moving component to move the insertion device for terminal wiring into the terminal hole 4, when the insertion device for terminal wiring is inserted into the terminal hole 4, the clamping component of the robot releases the insertion device for terminal wiring, the two insertion clamping arms 2 are opened and abut against the inner wall of the terminal hole 4, and automatic fastening in the terminal hole 4 is achieved; at this time, the robot can perform wiring of other wiring holes, of course, the steps of moving the insertion device for terminal wiring out of the terminal hole 4 are opposite to the above process, which will not be described herein.

[0078] From the above process, the robot can combine image recognition technology and terminal wiring insertion device technology. After the robot recognizes the position of the terminal hole 4, it can automatically clamp the terminal wiring insertion device in the terminal hole 4 to realize automatic wiring after visual positioning of the robot.

[0079] Compared with the prior art, the following advantages are obtained: first, the terminal wiring is automatically installed, avoiding the need for repeated manual installation as in the prior art; second, the terminal wiring is convenient and accurate. In the prior art, in addition to determining the position of the terminal hole 4, the robot also needs to determine whether there is a clamping position outside. However, it is more difficult to determine whether there is a clamping position outside. In the present scheme, only the image recognition of the terminal hole 4 is needed, and then the terminal wiring insertion device is inserted and released to achieve terminal fastening and wiring; third, accurate centering and offset positioning of the robot clamp can be achieved. The free part 21 of the terminal wiring insertion device is optimized for robot clamping, which can ensure normal clamping when there is an angle and position deviation in the clamp position.

[0080] In a specific embodiment, the implementable structure of the image recognition device is further provided. The image recognition device includes an image acquisition unit, a light source unit, an image processing unit, and a communication unit. The image acquisition unit and the light source unit cooperate to acquire the image of the terminal hole 4. Then, the image of the terminal hole 4 is transmitted to the image processing unit for positioning analysis to determine whether it is a terminal hole 4. Finally, the result is transmitted to the control device to complete the image recognition and positioning of the terminal hole 4. It should be pointed out that the image recognition device is a common technology, and therefore will not be described in detail here.

[0081] In a specific embodiment, the implementable structure of the robot is further provided. The robot includes a three-axis moving component and a clamping component. The three-axis moving component includes a horizontal moving part for left-right translation, a vertical moving part for forward-backward translation, and a vertical moving part for up-down translation. The horizontal moving part, the vertical moving part, and the vertical moving part cooperate to install the clamping component to realize three-axis movement of the clamping component in the forward-backward, left-right, and up-down directions, so that the robot can move the clamping component to the terminal hole 4 according to the movement command. The clamping component can clamp the terminal wiring insertion device, and clamp or release the terminal wiring insertion device to expand or close it, so as to fasten the terminal wiring insertion device in the terminal hole 4.

[0082] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0083] Finally, it should be noted that, in the description above, relational terms such as first and second, and the like can be used solely to distinguish one from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Claims

1. An insertion device for terminal wiring, characterized in that: For insertion into terminal holes, including: Wiring pin, used for electrical connection with the wiring terminal; At least two insertion clamping arms that open and close relative to the wiring ejector pin, the two insertion clamping arms being rotatably connected to the wiring ejector pin via a common rotating shaft, the wiring ejector pin being disposed within an opening formed by the two insertion clamping arms; a telescopic spring assembly, the telescopic spring assembly being located within the opening and closing opening formed by the two insertion clamping arms, the telescopic spring assembly being compressed between the two insertion clamping arms, the telescopic spring assembly being connected to both the insertion clamping arms, and being used to cause the two insertion clamping arms to maintain a tendency to move away from each other, thereby driving the opening and closing opening provided with the wiring ejector pin to maintain a tendency to open; The insertion clamp arm includes an insertion portion for inserting into the terminal hole and a free portion for being clamped; The insertion portion and the free portion are arranged at opposite ends of the insertion clamp arm; A first opening and closing opening is formed between the two insertion parts, and the pointed end of the wiring thimble is arranged adjacent to the first opening and closing opening; A second opening and closing opening is formed between the two free portions, the telescopic spring assembly is disposed in the second opening and closing opening, and the two free portions move closer to or farther from each other to control the opening and closing of the first opening and closing opening and the second opening and closing opening; When the first opening and closing mouth is closed, the two insertion parts form a columnar body, and the outer diameter of the columnar body is less than or equal to the inner diameter of the terminal hole; The free portion includes an arc-shaped guide protrusion and two centering plates; The long axis direction of the arc-shaped guiding protrusion is the same as the direction of the line connecting the two ends of the insertion clamp arm; The two centering plates are arranged on opposite sides of the arc-shaped guide protrusion, and the centering plates are fixedly connected to the arc-shaped guide protrusion; One of the insertion clamping arms is a first insertion clamping arm, and the other of the insertion clamping arms is a second insertion clamping arm; The first insertion clamp arm is provided with a first inclined through-hole and a first horizontal through-hole; the second insertion clamp arm is provided with a second inclined through-hole and a second horizontal through-hole; the wiring pin is provided with a third horizontal through-hole; The first insertion clamp arm is inserted into the second insertion clamp arm through the second inclined through-hole; The wiring ejector pin is inserted into the first insertion clamp arm and the second insertion clamp arm through the first inclined through hole and the second inclined through hole; The rotating shaft is provided in the first horizontal through hole, the second horizontal through hole and the third horizontal through hole, a first insertion clamping arm and a second insertion clamping arm are extended from both ends of the rotating shaft, and a limiting member for limiting the movement of the rotating shaft is connected to both ends of the rotating shaft; The telescopic spring assembly includes a first spring and a second spring; The first spring is compressed between the connection ejector pin and the insertion clamp arm, and the second spring is compressed between the connection ejector pin and the other insertion clamp arm.

2. The insertion device according to claim 1, characterized in that The inner wall of the insertion portion is provided with an accommodating groove. When the inner wall surfaces of the two insertion clamping arms are in contact with each other, the cavity enclosed by the adjacent accommodating grooves matches the shape of the wiring pin.

3. The insertion device according to claim 1, characterized in that An anti-slip portion is provided on the outer wall of the insertion portion.

4. The insertion device according to claim 1, characterized in that The arc-shaped guiding protrusion includes two quarter spheres and a semi-arc cylinder; The two ends of the semi-arc cylinder are respectively fixedly connected to the quarter sphere, and the surface of the quarter sphere transitions smoothly with the surface of the semi-arc cylinder.

5. A wiring system, characterized in that: include: The insertion device according to any one of claims 1 to 4; An image recognition device, the image recognition device being used to identify a terminal hole to be inserted; A robot comprising a three-axis moving component and a clamping component provided on the three-axis moving component, wherein the clamping component is used to clamp or release the insertion device; A control device is connected to the image recognition device and the robot signal, and is used to receive signals from the image recognition device and output instructions to the three-axis moving component to move the clamping component into or out of the terminal hole, and output instructions to the clamping component to clamp or release the insertion device.

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