Automatic casing pipe cutting and penetrating method and automatic casing pipe cutting and penetrating device

Abstract

The invention relates to an automatic sleeve cutting and penetrating method and an automatic sleeve cutting and penetrating device, the automatic sleeve cutting and penetrating device comprises a sleeve cutting device, a sleeve arranging and fixing device and a threading manipulator equipment group, and the threading manipulator equipment group comprises a cross beam, a length measuring manipulator, a first upper manipulator, a second upper manipulator and a lower wire feeding wheel device; the sleeve arranging and fixing device is arranged below the cross beam in parallel, the sleeve cutting-off device is arranged below one end of the cross beam, the length measuring mechanical arm, the first upper mechanical arm and the second upper mechanical arm can horizontally move along the cross beam, and the end, opposite to the sleeve cutting-off device, of the sleeve arranging and fixing device is a threading preparation area. And the lower wire feeding wheel device is arranged in the threading preparation area. According to the full-automatic casing pipe cutting and penetrating device, full-automatic casing pipe cutting and penetrating operation is achieved, the production efficiency is greatly improved, and the consistency and stability of the production quality are ensured.

Description

Technical Field

[0001] The present invention relates to the field of wire harness processing equipment, and more specifically to an automatic sleeve cutting and threading method and an automatic sleeve cutting and threading device. Background Art

[0002] At present, most of the wire harness processing cutting, pressing and inserting machines on the market are semi-finished products, and manual operations such as PVC sleeve cutting and manual threading and assembly are required in the subsequent processes. In actual production, a wire harness with a plastic buckle at one end needs to be inserted into a hollow PVC sleeve. The existing processing method is manual threading, which is time-consuming and laborious, resulting in low production efficiency.

[0003] Therefore, it is necessary to study a fully automatic device that can measure the length of the sleeve conveyed by the automatic sleeve feeding device, cut the sleeve, and perform automatic sleeve threading operations. However, since the sleeves are supplied in the form of coils, the sleeves pulled out from the sleeve feeding device are hollow and made of soft PVC material, and the middle and the tail will bend. Therefore, it is very difficult to perform automatic threading, and there is currently no automatic production equipment that can fully meet the above requirements. Summary of the Invention

[0004] The technical solution of the present invention is: an automatic sleeve cutting and threading method, including the following steps:

[0005] A. The sleeve conveyed by the automatic sleeve feeding device is connected to the sleeve cutting device;

[0006] B. The sleeve penetrates into the sleeve cutting device, and the second sleeve feeding gripper conveys and penetrates the sleeve through the second sleeve sleeve, the cutting tool device, and the third sleeve sleeve, and is grasped by the length measuring manipulator and moved towards the sleeve arranging and fixing device;

[0007] C. During the process of the length measuring manipulator grasping and moving the sleeve, when the displacement distance reaches the set length, the cutting tool device cuts the sleeve;

[0008] D. The length measuring manipulator places the cut sleeve into the sleeve arranging and fixing device;

[0009] E. The sleeve arranging and fixing device fixes the cut sleeve;

[0010] F. The first upper manipulator and the second upper manipulator move above the transfer mechanism and grasp the wire harness conveyed by the transfer manipulator;

[0011] G. The first upper manipulator moves towards the sleeve arranging and fixing device, and the third mechanical gripper inserts into and expands the end of the sleeve;

[0012] H. The second upper manipulator feeds the front part of the wire harness into the sleeve;

[0013] I. The first upper manipulator gives way, the lower wire feeding wheel device clamps the wire harness, and the wire feeding wheel rolls to feed the wire harness into the sleeve.

[0014] J. The lower wire feeding wheel device does not completely feed the wire harness into the sleeve, leaving a part of the wire harness and the socket head outside the sleeve, and the lower wire feeding wheel device gives way.

[0015] K. The fifth mechanical gripper grabs the socket head and feeds the wire harness completely into the sleeve.

[0016] L. The sorting sleeve fixing device loosens the sleeve, and the second upper manipulator pulls out the sleeved component after threading and lowers it into the transfer manipulator on the transfer mechanism.

[0017] An automatic sleeve cutting and threading device includes a sleeve cutting device, a sorting sleeve fixing device, and a wire threading manipulator equipment group. The wire threading manipulator equipment group includes a cross beam, a length measuring manipulator, a first upper manipulator, a second upper manipulator, and a lower wire feeding wheel device. The sorting sleeve fixing device is arranged parallel to the lower part of the cross beam. The sleeve cutting device is arranged under one end of the cross beam. The length measuring manipulator, the first upper manipulator, and the second upper manipulator can move horizontally along the cross beam. One end of the sorting sleeve fixing device opposite to the sleeve cutting device is a wire threading preparation area, and the lower wire feeding wheel device is arranged in the wire threading preparation area.

[0018] Preferably, the sleeve cutting device includes a sleeve cutting base, a first sleeve feeding gripper, a second sleeve feeding gripper, a cutting tool device, a sleeve feeding cylinder, and a cutting tool cylinder. One end of the sleeve cutting base is a feeding end, and the other end is a cutting end. A sleeve feeding guide rail is arranged on the sleeve cutting base. A first sleeve sleeve is arranged at the feeding end of the sleeve cutting base, and a second sleeve sleeve and a third sleeve sleeve are arranged at the cutting end. The cutting tool device is arranged between the second sleeve sleeve and the third sleeve sleeve. The cutting tool device includes a fixed tool and a movable tool, and the movable tool is driven up and down by the cutting tool cylinder fixed on the sleeve cutting base to realize the cutting action of the sleeve. The first sleeve feeding gripper and the second sleeve feeding gripper are arranged between the first sleeve sleeve and the second sleeve sleeve. The first sleeve feeding gripper is fixed on the right side of the first sleeve sleeve. The second sleeve feeding gripper is driven by the sleeve feeding cylinder to move back and forth between the first sleeve sleeve and the second sleeve sleeve along the sleeve feeding guide rail. The first sleeve feeding gripper and the second sleeve feeding gripper respectively realize the grasping and loosening actions by the action cylinders of the pipe feeding manipulator.

[0019] Preferably, the casing arranging and fixing device includes a casing arranging base, a casing arranging table, a casing end fixing clamp, a first clamping plate, and a second clamping plate. The casing arranging table is arranged above the casing arranging base. The first clamping plate and the second clamping plate are arranged above the casing arranging table. The first clamping plate and the second clamping plate are arranged oppositely, and a casing accommodating position is formed between them. Both ends of the first clamping plate are connected with a first clamping plate driving cylinder, and both ends of the second clamping plate are connected with a second clamping plate driving cylinder. The first clamping plate driving cylinder and the second clamping plate driving cylinder respectively drive the first clamping plate and the second clamping plate to approach or separate from each other. The output end of the casing arranging table is provided with a casing end fixing clamp, and this casing end fixing clamp makes an action of gripping or loosening the casing driven by a casing end action cylinder.

[0020] As a further preference, it further includes a lifting upper pressing plate device. This lifting upper pressing plate device includes an upper pressing plate, an upper pressing plate fixing seat, an upper pressing plate connecting seat, and an upper pressing plate lifting cylinder. The upper pressing plate is arranged inside the second clamping plate. The upper pressing plate fixing seat is fixedly connected with the outer edge of the second clamping plate. The upper pressing plate connecting seat is arranged on the outside of the upper pressing plate fixing seat in a liftable manner. The cylinder body of the upper pressing plate lifting cylinder is fixedly connected with the upper pressing plate fixing seat, and the output end drives the upper pressing plate connecting seat to lift. The upper pressing plate is fixedly connected with the upper pressing plate connecting seat. The height difference between the lower edge of the upper pressing plate and the lower edge of the second clamping plate is the diameter of a casing.

[0021] Preferably, the lower wire feeding wheel device includes two groups of wire feeding wheel assemblies. The two groups of wire feeding wheel assemblies are arranged oppositely on both sides of the wire threading preparation area, and the wire feeding wheel assemblies can approach or move away from the wire threading preparation area; each wire feeding wheel assembly includes a wire feeding wheel, a wire feeding wheel fixing seat, a wire feeding wheel clamping cylinder, a wire feeding wheel lifting seat, and a wire feeding wheel lifting cylinder; the wire feeding wheel lifting cylinder is arranged vertically, the wire feeding wheel lifting seat is driven by the output end of the wire feeding wheel lifting cylinder to lift, the wire feeding wheel fixing seat is slidably arranged above the wire feeding wheel lifting seat, and the wire feeding wheel fixing seat is driven by the wire feeding wheel clamping cylinder to slide close to or away from the wire threading preparation area, and the wire feeding wheel is arranged on the wire feeding wheel fixing seat; one of the wire feeding wheels is in transmission connection with a wire feeding wheel rolling motor, and the two wire feeding wheels clamp the wire harness, and the wire feeding wheel is driven by the wire feeding wheel rolling motor to rotate to convey the wire harness to move.

[0022] Preferably, a stator is arranged on the cross beam, and a plurality of slidable rotors are arranged on the stator. A manipulator mounting seat is arranged on each rotor, and the length measuring manipulator, the first upper manipulator, and the second upper manipulator are respectively mounted on the manipulator mounting seat and can move independently.

[0023] Preferably, the length measuring manipulator includes a length measuring lifting cylinder, a length measuring lifting seat, a length measuring gripper cylinder, a length measuring gripper, and an inner sleeve. The length measuring lifting seat is connected to the output end of the length measuring lifting cylinder. The cylinder body of the length measuring gripper cylinder is fixed to the lower end of the length measuring lifting seat. The length measuring gripper is arranged at the output end of the length measuring gripper cylinder. An inner sleeve is arranged inside the length measuring gripper, with the length measuring gripper on the outside and the inner sleeve on the inside.

[0024] Preferably, the first upper manipulator includes a first upper manipulator lifting cylinder, a first upper manipulator lifting seat, a third mechanical gripper, and a fourth mechanical gripper. The first upper manipulator lifting seat is connected to the output end of the first upper manipulator lifting cylinder. The third mechanical gripper and the fourth mechanical gripper are arranged at the lower end of the first upper manipulator lifting seat. The third mechanical gripper is driven by a third mechanical gripper action cylinder to perform a gripping or releasing action. The fourth mechanical gripper is driven by a fourth mechanical gripper action cylinder to perform a gripping or releasing action. A spreading sleeve nozzle is arranged on the side of the third mechanical gripper.

[0025] Preferably, the second upper manipulator includes a second upper manipulator lifting cylinder, a second upper manipulator lifting seat, a second upper manipulator translation cylinder, a second upper manipulator translation seat, a fifth mechanical gripper, and a sixth mechanical gripper. The second upper manipulator lifting seat is connected to the output end of the second upper manipulator lifting cylinder. The second upper manipulator translation cylinder is fixed to the second upper manipulator lifting seat. The second upper manipulator translation seat is connected to the output end of the second upper manipulator translation cylinder. The fifth mechanical gripper and the sixth mechanical gripper are arranged at the lower end of the second upper manipulator translation seat. The fifth mechanical gripper is driven by a fifth mechanical gripper action cylinder to perform a gripping or releasing action. The sixth mechanical gripper is driven by a sixth mechanical gripper action cylinder to perform a gripping or releasing action. A terminal positioning clip is arranged on the side of the fifth mechanical gripper.

[0026] The beneficial effects of the present invention are as follows: The present invention uses a manipulator to grasp and convey the sleeve, uses a sleeve sorting and fixing device to straighten and fix the sleeve in all directions, and uses a form of mutual cooperation between the manipulator and the lower wire feeding wheel device to completely insert the wire harness into the sleeve, and finally realizes the fully automated operation of cutting the sleeve and threading the tube, greatly improving the production efficiency and ensuring the consistency and stability of the production quality. Description of the Drawings

[0027] Figure 1 It is a schematic perspective view structure diagram of the present invention.

[0028] Figure 2 It is the front view of the present invention.

[0029] Figure 3 It is the top view of the present invention.

[0030] Figure 4 This is the right view of the present invention.

[0031] Figure 5 This is a schematic structural view of the length measuring manipulator of the present invention when it is located beside the casing cutting device.

[0032] Figure 6 This is a schematic structural view of the length measuring manipulator of the present invention when it sends the casing to the casing sorting and fixing device.

[0033] Figure 7 This is one of the position matching relationship diagrams of the present invention with the transfer mechanism.

[0034] Figure 8 This is the second of the position matching relationship diagrams of the present invention with the transfer mechanism.

[0035] Figure 9 This is a top view of the position matching relationship of the present invention with the automatic casing feeding device.

[0036] Figure 10 This is a schematic structural view of the casing cutting device of the present invention.

[0037] Figure 11 This is a schematic structural view of the casing sorting and fixing device of the present invention.

[0038] Figure 12 This is a top view of the casing sorting and fixing device of the present invention.

[0039] Figure 13 This is a rear view of the casing sorting and fixing device of the present invention.

[0040] Figure 14 This is a schematic structural view of the casing sorting and fixing device of the present invention in the loosened state.

[0041] Figure 15 This is a schematic structural view of the casing sorting and fixing device of the present invention in the state where the upper pressing plate is lifted.

[0042] Figure 16 This is a schematic structural view of the casing sorting and fixing device of the present invention in the clamped state.

[0043] Figure 17 This is a schematic structural view of the cooperation state of the casing sorting and fixing device of the present invention with the lower wire feeding wheel device.

[0044] Figure 18 This is a schematic structural view of the lower wire feeding wheel device of the present invention.

[0045] Figure 19 This is a schematic structural view of the length measuring manipulator of the present invention.

[0046] Figure 20It is a diagram showing the positional relationship between the length measuring gripper and the inner sleeve in the length measuring manipulator of the present invention.

[0047] Figure 21 It is a schematic structural diagram of the first manipulator of the present invention.

[0048] Figure 22 It is a schematic structural diagram of the second manipulator of the present invention.

[0049] Label Explanation

[0050] 1: Sleeve cutting device; 11: Sleeve feeding cylinder; 12: Manipulator action cylinder for feeding the tube; 13: Sleeve feeding guide rail; 14: Movable knife; 15: Third sleeve; 16: Fixed knife; 17: Knife cutting cylinder; 18: Second sleeve; 19: Sleeve cutting base; 110: Second sleeve feeding gripper; 111: First sleeve feeding gripper; 112: First sleeve.

[0051] 2: Length measuring manipulator; 21: Length measuring lifting cylinder; 22: Length measuring lifting seat; 23: Length measuring gripper cylinder; 24: Length measuring gripper; 25: Inner sleeve.

[0052] 3: Cross beam;

[0053] 4: First upper manipulator; 41: First upper manipulator lifting cylinder; 42: First upper manipulator lifting seat; 43: Fourth mechanical gripper action cylinder; 44: Third mechanical gripper action cylinder; 45: Fourth mechanical gripper; 46: Third mechanical gripper; 47: Sleeve expanding nozzle.

[0054] 5: Second upper manipulator; 51: Second upper manipulator lifting cylinder; 52: Second upper manipulator lifting seat; 53: Second upper manipulator translation cylinder; 54: Sixth mechanical gripper action cylinder; 55: Sixth mechanical gripper; 56: Fifth mechanical gripper; 57: Terminal positioning clamp; 58: Fifth mechanical gripper action cylinder; 59: Second upper manipulator translation seat.

[0055] 6: Lower wire feeding wheel device; 61: Wire feeding wheel; 62: Wire feeding wheel fixing seat; 63: Wire feeding wheel clamping cylinder; 64: Wire feeding wheel lifting seat; 65: Wire feeding wheel lifting cylinder; 66: Wire feeding wheel rolling motor.

[0056] 7: Sleeve arranging and fixing device; 71: No. 2 clamping plate; 72: Upper pressing plate; 73: Sleeve end fixing clamp; 74: Sleeve end action cylinder; 75: No. 1 clamping plate; 76: Upper pressing plate lifting cylinder; 77: Upper pressing plate connecting seat; 78: Upper pressing plate fixing seat; 79: Sleeve arranging table; 710: No. 2 clamping plate driving cylinder; 711: No. 1 clamping plate driving cylinder; 712: Sleeve arranging base.

[0057] 81: Transfer mechanism; 82: Transfer manipulator; 83: Automatic sleeve feeding device; 84: Sleeve. Detailed implementation mode

[0058] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0059] As Figures 1 - 22 shown, an automatic sleeve cutting and threading method includes the following steps:

[0060] A. The sleeve 84 conveyed by the automatic sleeve feeding device 83 is connected to the sleeve cutting device 1, as Figure 19 shown;

[0061] B. The sleeve 84 penetrates into the sleeve cutting device 1, and the second sleeve feeding gripper 110 conveys and penetrates the sleeve 84 through the second sleeve sleeve 18, the cutter device, and the third sleeve sleeve 15, and is grasped by the length measuring manipulator 2 and moves towards the sleeve arranging and fixing device 7;

[0062] C. During the process of the length measuring manipulator 2 grasping and moving the sleeve 84, when the displacement distance reaches the set length, the cutter device cuts off the sleeve 84;

[0063] D. The length measuring manipulator 2 lowers the cut sleeve 84 into the sleeve arranging and fixing device 7;

[0064] E. The sleeve arranging and fixing device 7 fixes the cut sleeve, as Figure 16 shown;

[0065] F. The first upper manipulator 4 and the second upper manipulator 5 move above the transfer mechanism 81 and grasp the wire harness conveyed by the transfer manipulator 82, as Figure 7 or Figure 8 shown;

[0066] G. The first upper manipulator 4 moves towards the sleeve arranging and fixing device 7, and the third mechanical gripper 46 inserts into and expands the end of the sleeve 84;

[0067] H. The second upper manipulator 5 feeds the front part of the wire harness into the sleeve 84;

[0068] I. The first upper manipulator 4 gives way, the lower wire feeding wheel device 6 clamps the wire harness, and the wire feeding wheel 61 rolls to feed the wire harness into the sleeve 84, as Figure 17 shown;

[0069] J. The lower wire feeding wheel device 6 does not completely feed the wire harness into the sleeve 84, leaving a part of the wire harness and the socket head outside the sleeve, and the lower wire feeding wheel device 6 gives way;

[0070] K. The fifth mechanical gripper 56 grasps the socket head and feeds the wire harness completely into the sleeve 84;

[0071] L. The sorting sleeve fixing device 7 releases the sleeve 84. The second upper manipulator 5 pulls out the sleeve component after threading and lowers it into the transfer manipulator 82 on the transfer mechanism 81.

[0072] An automatic sleeve cutting and threading device includes a sleeve cutting device 1, a sorting sleeve fixing device 7, and a threading manipulator equipment group. The threading manipulator equipment group includes a cross beam 3, a length measuring manipulator 2, a first upper manipulator 4, a second upper manipulator 5, and a lower wire feeding wheel device 6. The sorting sleeve fixing device 7 is arranged parallel to the lower part of the cross beam 3. The sleeve cutting device 1 is arranged below one end of the cross beam 3. The length measuring manipulator 2, the first upper manipulator 4, and the second upper manipulator 5 can move horizontally along the cross beam 3. One end of the sorting sleeve fixing device 7 opposite to the sleeve cutting device 1 is a threading preparation area, and the lower wire feeding wheel device 6 is arranged in the threading preparation area.

[0073] As Figure 10 shown, in this embodiment, the sleeve cutting device 1 includes a sleeve cutting base 19, a first sleeve feeding gripper 111, a second sleeve feeding gripper 110, a cutter device, a sleeve feeding cylinder 11, and a cutter cylinder 17. One end of the sleeve cutting base 19 is a feeding end, and the other end is a cutting end. A sleeve feeding guide rail 13 is arranged on the sleeve cutting base 19. A first sleeve sleeve 112 is arranged at the feeding end of the sleeve cutting base 19, and a second sleeve sleeve 18 and a third sleeve sleeve 15 are arranged at the cutting end. The cutter device is arranged between the second sleeve sleeve 18 and the third sleeve sleeve 15. The cutter device includes a fixed cutter 16 and a movable cutter 14. The movable cutter 14 is driven up and down by the cutter cylinder 17 fixed on the sleeve cutting base 19 to realize the cutting action of the sleeve 84. The first sleeve feeding gripper 111 and the second sleeve feeding gripper 110 are arranged between the first sleeve sleeve 112 and the second sleeve sleeve 18. The first sleeve feeding gripper 111 is fixed on the right side of the first sleeve sleeve 112. The second sleeve feeding gripper 110 is driven by the sleeve feeding cylinder 11 and moves back and forth between the first sleeve sleeve 112 and the second sleeve sleeve 18 along the sleeve feeding guide rail 13. The first sleeve feeding gripper 111 and the second sleeve feeding gripper 110 are respectively driven by the tube feeding manipulator action cylinder 12 to realize the gripping and releasing actions.

[0074] During the production process, the length measuring manipulator 2 is located on the right side of the sleeve cutting device 1, as Figure 5As shown, the sleeve sequentially passes through the first sleeve socket 112, the second sleeve socket 18, and the third sleeve socket 15, and abuts against the inner sleeve 25 of the length measuring manipulator 2. The sleeve is grasped by the length measuring gripper 24. To prevent the sleeve from deforming when the head of the sleeve is clamped, which may affect the next wire threading process, a stainless steel inner sleeve 25 is installed on the length measuring gripper 24. The length measuring gripper 24 clamps outside the sleeve, the inner sleeve 25 is inside the sleeve, and the sleeve is between the length measuring gripper 24 and the inner sleeve 25. Then, the length measuring gripper 24 pulls out the required length forward, and the cutting device cuts the sleeve 84 and sends it to the wire threading preparation area, as Figure 6 shown.

[0075] In this embodiment, as Figures 2 - 17 shown, the sleeve sorting and fixing device 7 includes a sleeve sorting base 712, a sleeve sorting table 79, a sleeve end fixing clamp 73, a first clamping plate 75, and a second clamping plate 71. The sleeve sorting table 79 is arranged above the sleeve sorting base 712. The first clamping plate 75 and the second clamping plate 71 are arranged above the sleeve sorting table 79. The first clamping plate 75 and the second clamping plate 71 are arranged oppositely, and the sleeve accommodation position is between them. The two ends of the first clamping plate 75 are connected with a first clamping plate driving cylinder 711, and the two ends of the second clamping plate 71 are connected with a second clamping plate driving cylinder 710. The first clamping plate driving cylinder 711 and the second clamping plate driving cylinder 710 respectively drive the first clamping plate 75 and the second clamping plate 71 to approach or separate from each other. The output end of the sleeve sorting table 79 is provided with a sleeve end fixing clamp 73, and the sleeve end fixing clamp 73 is driven by a sleeve end action cylinder 74 to perform the action of grasping or loosening the sleeve.

[0076] In this embodiment, it further includes a lifting upper pressing plate device. The lifting upper pressing plate device includes an upper pressing plate 72, an upper pressing plate fixing seat 78, an upper pressing plate connecting seat 77, and an upper pressing plate lifting cylinder 76. The upper pressing plate 72 is arranged inside the second clamping plate 71. The upper pressing plate fixing seat 78 is fixedly connected with the outer edge of the second clamping plate 71. The upper pressing plate connecting seat 77 is arranged on the outside of the upper pressing plate fixing seat 78 in a liftable manner. The cylinder body of the upper pressing plate lifting cylinder 76 is fixedly connected with the upper pressing plate fixing seat 78, and the output end drives the upper pressing plate connecting seat 77 to lift. The upper pressing plate 72 is fixedly connected with the upper pressing plate connecting seat 77. The height difference between the lower edge of the upper pressing plate 72 and the lower edge of the second clamping plate 71 is the diameter of a sleeve. Since the PVC hose is soft and may bend, in the structure of the present invention, the first clamping plate 75 and the second clamping plate 71 are used to clamp the sleeve and the upper pressing plate 72 is arranged above to straighten and fix the sleeve.

[0077] During the production process, after the length measuring manipulator 2 places the cut sleeve into the wire threading preparation area, the sleeve end fixing clamp 73 clamps the head of the sleeve, as Figures 11 - 14As shown. Then, the first clamping plate 75 and the second clamping plate 71 approach each other, and the upper pressing plate 72 is lifted, as Figure 15 shown. Finally, the first clamping plate 75 and the second clamping plate 71 are clamped, the casing is straightened and clamped in the horizontal direction, the upper pressing plate 72 is pressed down, and the casing is straightened and clamped in the vertical direction, so that the whole casing is kept in a straightened and clamped state, as Figure 16 shown.

[0078] In this embodiment, a stator is provided on the cross beam 3, and a plurality of slidable rotors are provided on the stator. A manipulator mounting seat is provided on each rotor, and the length measuring manipulator 2, the first upper manipulator 4 and the second upper manipulator 5 are respectively mounted on the manipulator mounting seats and can move independently.

[0079] In this embodiment, as Figure 19 shown, the length measuring manipulator 2 includes a length measuring lifting cylinder 21, a length measuring lifting seat 22, a length measuring gripper cylinder 23, a length measuring gripper 24, and an inner sleeve 25. The length measuring lifting seat 22 is connected to the output end of the length measuring lifting cylinder 21. The cylinder body of the length measuring gripper cylinder 23 is fixed to the lower end of the length measuring lifting seat 22. The length measuring gripper 24 is provided at the output end of the length measuring gripper cylinder 23. An inner sleeve 25 is provided inside the length measuring gripper 24, with the length measuring gripper 24 on the outside and the inner sleeve 25 on the inside. The length measuring lifting cylinder 21 makes the length measuring gripper 24 lift and lower, and the length measuring gripper cylinder 23 makes the length measuring gripper 24 perform the gripping or releasing action.

[0080] In this embodiment, as Figure 21 shown, the first upper manipulator 4 includes a first upper manipulator lifting cylinder 41, a first upper manipulator lifting seat 42, a third mechanical gripper 46, and a fourth mechanical gripper 45. The first upper manipulator lifting seat 42 is connected to the output end of the first upper manipulator lifting cylinder 41. The third mechanical gripper 46 and the fourth mechanical gripper 45 are provided at the lower end of the first upper manipulator lifting seat 42. The third mechanical gripper 46 is driven by a third mechanical gripper action cylinder 44 to perform the gripping or releasing action, and the fourth mechanical gripper 45 is driven by a fourth mechanical gripper action cylinder 43 to perform the gripping or releasing action. A casing expanding nozzle 47 is provided on the side of the third mechanical gripper 46. The first upper manipulator lifting cylinder 41 realizes the lifting of the third mechanical gripper 46 and the fourth mechanical gripper 45. The third mechanical gripper action cylinder 44 and the fourth mechanical gripper action cylinder 43 realize the gripping and releasing actions of the third mechanical gripper 46 and the fourth mechanical gripper 45. The casing expanding nozzle 47 on the side of the third mechanical gripper 46 is inserted into the casing during pipe threading to expand the end of the casing, facilitating wire threading.

[0081] In this embodiment, as Figure 22As shown in the figure, the second upper manipulator 5 includes a second upper manipulator lifting cylinder 51, a second upper manipulator lifting seat 52, a second upper manipulator translation cylinder 53, a second upper manipulator translation seat 59, a fifth mechanical gripper 56, and a sixth mechanical gripper 55. The second upper manipulator lifting seat 52 is connected to the output end of the second upper manipulator lifting cylinder 51. The second upper manipulator translation cylinder 53 is fixed on the second upper manipulator lifting seat 52. The second upper manipulator translation seat 59 is connected to the output end of the second upper manipulator translation cylinder 53. The fifth mechanical gripper 56 and the sixth mechanical gripper 55 are arranged at the lower end of the second upper manipulator translation seat 59. The fifth mechanical gripper 56 is driven by a fifth mechanical gripper action cylinder 58 to perform a gripping or releasing action. The sixth mechanical gripper 55 is driven by a sixth mechanical gripper action cylinder 54 to perform a gripping or releasing action. A terminal positioning clamp 57 is arranged on the side of the fifth mechanical gripper 56. The second upper manipulator lifting cylinder 51 realizes the lifting of the fifth mechanical gripper 56 and the sixth mechanical gripper 55. The second upper manipulator translation cylinder 53 realizes the translation of the fifth mechanical gripper 56 and the sixth mechanical gripper 55. The fifth mechanical gripper action cylinder 58 and the sixth gripper action cylinder realize the gripping and releasing actions of the fifth mechanical gripper 56 and the sixth mechanical gripper 55. The terminal positioning clamp 57 on the side of the fifth mechanical gripper 56 is provided because one end of the wire harness is a socket. If the wire feeding wheel 61 keeps feeding the wire, the end with the socket will be damaged by the wire feeding wheel 61. Therefore, a part of the wire needs to be reserved outside and clamped by the terminal positioning clamp 57 on the side of the fifth mechanical gripper 56 so that the socket can be completely inserted into the sleeve.

[0082] In this embodiment, as Figure 18As shown, the lower wire feeding wheel device 6 includes two sets of wire feeding wheel assemblies, which are relatively arranged on both sides of the wire threading preparation area. The wire feeding wheel assemblies can approach or move away from the wire threading preparation area; each wire feeding wheel assembly includes a wire feeding wheel 61, a wire feeding wheel fixing seat 62, a wire feeding wheel clamping cylinder 63, a wire feeding wheel lifting seat 64, and a wire feeding wheel lifting cylinder 65; the wire feeding wheel lifting cylinder 65 is vertically arranged, and the wire feeding wheel lifting seat 64 is driven by the output end of the wire feeding wheel lifting cylinder 65 to move up and down. The wire feeding wheel fixing seat 62 is slidably arranged above the wire feeding wheel lifting seat 64, and the wire feeding wheel fixing seat 62 is driven by the wire feeding wheel clamping cylinder 63 to slide close to or away from the wire threading preparation area. The wire feeding wheel 61 is arranged on the wire feeding wheel fixing seat 62; one of the wire feeding wheels 61 is in transmission connection with the wire feeding wheel rolling motor 66. The two wire feeding wheels 61 clamp the wire harness, and the wire feeding wheel rolling motor 66 drives the wire feeding wheel 61 to rotate to convey the wire harness to move. With the setting of the lower wire feeding wheel device 6, the wire feeding wheel 61 can rise at an appropriate time to clamp the wire harness, and the wire feeding wheel 61 rolls to feed the wire. Compared with the way of a single manipulator feeding back and forth, this wire feeding method is reliable in stroke and fast in speed. If only the manipulator is used for feeding, there are too many back-and-forth movements, the overall speed is slow, the efficiency is low, and the service life of the manipulator is also reduced.

[0083] In actual production, the first upper manipulator 4 and the second upper manipulator 5 move above the transfer mechanism 81 and grab the wire harness conveyed by the transfer manipulator 82.

[0084] The first upper manipulator 4 moves towards the finishing sleeve fixing device 7, and the third mechanical gripper 46 inserts into and expands the end of the sleeve.

[0085] The second upper manipulator 5 feeds the front part of the wire harness into the sleeve, then the fifth mechanical gripper 56 remains clamped, and the sixth mechanical gripper 55 opens and retreats. When the fifth mechanical gripper 56 remains clamped, it does not completely grip the wire harness tightly, and the wire harness can move within the fifth mechanical gripper 56. In this way, during the backward movement of the second upper manipulator 5, the wire harness that has not been inserted into the sleeve is lifted up to prevent it from falling onto the transplanting mechanism. The sixth mechanical gripper 55 clamps the rear part of the wire harness again, and the second upper manipulator 5 moves towards the wire threading preparation area, and the sixth mechanical gripper 55 inserts the front part of the wire harness into the sleeve. After feeding, it retreats above the transfer mechanism 81 and waits.

[0086] The first upper manipulator 4 makes way, the lower wire feeding wheel device 6 rises and clamps the wire harness, and the wire feeding wheel 61 rolls to feed the wire harness into the sleeve.

[0087] The lower wire feeding wheel device 6 does not completely input the wire harness into the sleeve, leaving a part of the wire harness and the socket outside the sleeve, and the lower wire feeding wheel device 6 makes way.

[0088] The second upper manipulator 5 approaches the wire threading preparation area, and the terminal positioning clamp 57 of the fifth mechanical gripper 56 grabs the socket head to completely feed the wire harness into the sleeve.

[0089] The sleeve fixing device 7 releases the sleeve. The second upper manipulator 5 pulls out the sleeve component that has completed the pipe threading and lowers it into the transfer manipulator 82 on the transfer mechanism 81. During the pulling out process, the third mechanical gripper 46, the fourth mechanical gripper 45, the fifth mechanical gripper 56, and the sleeve end fixing clamp 73 are loosened. The sixth mechanical gripper 55 grabs the sleeve and retreats. After retreating in place, the sleeve end fixing clamp 73 clamps the sleeve. The sixth mechanical gripper 55 opens and moves to the side of the sleeve end fixing part to clamp the sleeve. The sleeve end fixing clamp 73 releases the sleeve. The sixth mechanical gripper 55 grabs the sleeve and retreats. This process is repeated until the sleeve is completely pulled out.

[0090] In the description of the specification of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "one end", "the other end", "below", "right side", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0091] In the present invention, unless otherwise clearly specified and defined, terms such as "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic casing cutting and pipe threading method, characterized in that The steps include: A. The casing (84) delivered by the automatic casing placing device (83) is connected to the casing cutting device (1); B. The casing (84) passes through the casing cutting device (1), and the casing (84) is transported by the second casing feeding gripper (110) and passes through the second casing sleeve (18), the cutting device, and the third casing sleeve (15), and is grasped by the length measuring manipulator (2) and moved toward the casing fixing device (7); C. When the length measuring manipulator (2) grasps the sleeve (84) and moves, when the displacement distance reaches a set length, the sleeve (84) is cut by the cutting device; D. The length measuring manipulator (2) lowers the cut casing (84) into the casing arrangement fixing device (7); E. The casing fixing device (7) fixes the cut casing (84); F. The first upper manipulator (4) and the second upper manipulator (5) move to the upper part of the transfer mechanism (81) to grab the wire harness delivered by the transfer manipulator (82); G. The first upper manipulator (4) moves toward the sleeve fixing device (7) for arranging the sleeves, and the third mechanical gripper (46) is inserted into and opens the end of the sleeve (84); H. The second upper manipulator (5) feeds the front part of the wire harness into the sleeve (84); I. The first upper manipulator (4) gives way, the lower wire feeding wheel device 6 clamps the wire harness, and the wire feeding wheel (61) rolls to feed the wire harness into the sleeve (84); J. The lower wire feeding wheel device 6 does not completely feed the wire harness into the casing (84), leaving a portion of the wire harness and the socket head outside the casing (84), and the lower wire feeding wheel device 6 gives way; K, the fifth mechanical gripper (56) grasps the socket head and completely feeds the wiring harness into the sleeve (84); L. Arrange the sleeve fixing device (7) to loosen the sleeve (84), and the second upper manipulator (5) pulls out the sleeve component that has been threaded, and lowers it into the transfer manipulator (82) on the transfer mechanism (81).

2. An automatic casing cutting and pipe threading device, characterized in that The invention comprises a casing cutting device (1), a casing fixing device (7) for arranging casings and a threading robot device group, wherein the threading robot device group comprises a crossbeam (3), a length measuring robot (2), a first upper robot (4), a second upper robot (5) and a lower wire feeding wheel device (6); the casing fixing device (7) for arranging casings is arranged parallel to the lower part of the crossbeam (3); the casing cutting device (1) is arranged below one end of the crossbeam (3); the length measuring robot (2), the first upper robot (4) and the second upper robot (5) can move horizontally along the crossbeam (3); the end of the casing fixing device (7) opposite to the casing cutting device (1) is a threading preparation area; and the lower wire feeding wheel device 6 is arranged in the threading preparation area.

3. The automatic casing cutting and pipe threading device according to claim 2 is characterized in that The casing cutting device (1) comprises a casing cutting base (19), a first casing feeding gripper (111), a second casing feeding gripper (110), a cutter device, a casing feeding cylinder (11), and a cutter cylinder (17). One end of the casing cutting base (19) is a material receiving end, and the other end is a cutting end. The casing cutting base (19) is provided with a casing feeding guide rail (13). The material receiving end of the casing cutting base (19) is provided with a first casing sleeve (112), and the cutting end is provided with a second casing sleeve (18) and a third casing sleeve (15). The cutter device is arranged between the second casing sleeve (18) and the third casing sleeve (15). The cutter device comprises a fixed knife (16) and a movable knife (14). The cutter device is fixed to the casing cutting base (19). The cutter cylinder (17) on the sleeve (19) drives the movable knife (14) up and down to realize the cutting action of the sleeve; the first sleeve feeding grasping clamp (111) and the second sleeve feeding grasping clamp (110) are arranged between the first sleeve sleeve (112) and the second sleeve sleeve (18), the first sleeve feeding grasping clamp (111) is fixed to the right side of the first sleeve sleeve (112), the second sleeve feeding grasping clamp (110) is driven by the sleeve feeding cylinder (11), and moves back and forth between the first sleeve sleeve (112) and the second sleeve sleeve (18) along the sleeve feeding guide rail (13), and the first sleeve feeding grasping clamp (111) and the second sleeve feeding grasping clamp (110) are respectively driven by the sleeve feeding manipulator action cylinder (12) to realize the grasping and releasing actions.

4. The automatic casing cutting and pipe threading device according to claim 2 is characterized in that The sleeve fixing device (7) comprises a sleeve fixing base (712), a sleeve fixing table (79), a sleeve end fixing clamp (73), a first clamp (75), and a second clamp (71). The sleeve fixing table (79) is arranged above the sleeve fixing base (712). The first clamp (75) and the second clamp (71) are arranged above the sleeve fixing table (79). The first clamp (75) and the second clamp (71) are arranged opposite to each other, and a sleeve accommodating position is provided between the two. The first clamp (75) and the second clamp (71) are arranged opposite to each other. ) is connected to a No. 1 clamping plate driving cylinder (711) at both ends, and a No. 2 clamping plate driving cylinder (710) is connected to both ends of the No. 2 clamping plate (71). The No. 1 clamping plate driving cylinder (711) and the No. 2 clamping plate driving cylinder (710) respectively drive the No. 1 clamping plate (75) and the No. 2 clamping plate (71) to move closer to or away from each other. The output end of the sleeve arranging table (79) is provided with a sleeve end fixing clamp (73), and the sleeve end fixing clamp (73) is driven by the sleeve end actuating cylinder (74) to tighten or loosen the sleeve.

5. The automatic casing cutting and pipe threading device according to claim 4 is characterized in that It also includes a device for lifting an upper pressure plate (72), which includes an upper pressure plate (72), an upper pressure plate fixing seat (78), an upper pressure plate connecting seat (77), and an upper pressure plate lifting cylinder (76). The upper pressure plate (72) is arranged on the inner side of the second clamping plate (71), the upper pressure plate fixing seat (78) is fixedly connected to the outer edge of the second clamping plate (71), and the upper pressure plate connecting seat (77) is liftable and arranged on the outer side of the upper pressure plate fixing seat (78). The cylinder body of the upper pressure plate lifting cylinder (76) is fixedly connected to the upper pressure plate fixing seat (78), and the output end drives the upper pressure plate connecting seat (77) to lift and lower. The upper pressure plate (72) is fixedly connected to the upper pressure plate connecting seat (77), and the height difference between the lower edge of the upper pressure plate (72) and the lower edge of the second clamping plate (71) is the diameter of a sleeve.

6. The automatic casing cutting and pipe threading device according to claim 2 is characterized in that The lower wire feeding wheel device (6) comprises two sets of wire feeding wheel assemblies, which are arranged on both sides of the threading preparation area relative to each other, and the wire feeding wheel assemblies can be close to or far away from the threading preparation area; each wire feeding wheel assembly comprises a wire feeding wheel (61), a wire feeding wheel fixing seat (62), a wire feeding wheel clamping cylinder (63), a wire feeding wheel lifting seat (64), and a wire feeding wheel lifting cylinder (65); the wire feeding wheel lifting cylinder (65) is arranged vertically, and the wire feeding wheel lifting seat (64) is driven by the output end of the wire feeding wheel lifting cylinder (65). The wire feeding wheel fixing seat (62) is slidably arranged above the wire feeding wheel lifting seat (64), and the wire feeding wheel clamping cylinder (63) drives the wire feeding wheel fixing seat (62) to slide close to or away from the threading preparation area. The wire feeding wheel (61) is arranged on the wire feeding wheel fixing seat (62); one of the wire feeding wheels (61) is connected to the wire feeding wheel rolling motor (66) by transmission, and the two wire feeding wheels (61) clamp the wire harness, and the wire feeding wheel rolling motor (66) drives the wire feeding wheel (61) to rotate, so that the wire harness moves.

7. The automatic casing cutting and pipe threading device according to claim 2 is characterized in that The crossbeam (3) is provided with a stator, the stator is provided with a plurality of slidable movers, each mover is provided with a manipulator mounting seat, the length measuring manipulator (2), the first upper manipulator (4) and the second upper manipulator (5) are respectively mounted on the manipulator mounting seats and can move independently.

8. The automatic casing cutting and pipe threading device according to claim 2 is characterized in that The length measuring manipulator (2) comprises a length measuring lifting cylinder (21), a length measuring lifting seat (22), a length measuring gripper cylinder (23), a length measuring gripper (24), and an inner sleeve (25); the length measuring lifting seat (22) is connected to the output end of the length measuring lifting cylinder (21); the cylinder body of the length measuring gripper cylinder (23) is fixed to the lower end of the length measuring lifting seat (22); the length measuring gripper (24) is arranged at the output end of the length measuring gripper cylinder (23); an inner sleeve (25) is arranged inside the length measuring gripper (24); the length measuring gripper (24) is outside and the inner sleeve (25) is inside.

9. The automatic casing cutting and pipe threading device according to claim 2 is characterized in that The first upper manipulator (4) comprises a first upper manipulator lifting cylinder (41), a first upper manipulator lifting seat (42), a third mechanical gripper (46), and a fourth mechanical gripper (45). The first upper manipulator lifting seat (42) is connected to the output end of the first upper manipulator lifting cylinder (41). The third mechanical gripper (46) and the fourth mechanical gripper (45) are arranged at the lower end of the first upper manipulator lifting seat (42). The third mechanical gripper (46) is driven by the third mechanical gripper action cylinder (44) to perform a gripping or releasing action. The fourth mechanical gripper (45) is driven by the fourth mechanical gripper action cylinder (43) to perform a gripping or releasing action. The side of the third mechanical gripper (46) is provided with a sleeve opening protrusion (47).

10. The automatic casing cutting and pipe threading device according to claim 2, characterized in that The second upper manipulator (5) comprises a second upper manipulator lifting cylinder (51), a second upper manipulator lifting seat (52), a second upper manipulator translation cylinder (53), a second upper manipulator translation seat (59), a fifth mechanical gripper (56), and a sixth mechanical gripper (55). The second upper manipulator lifting seat (52) is connected to the output end of the second upper manipulator lifting cylinder (51), the second upper manipulator translation cylinder (53) is fixed on the second upper manipulator lifting seat (52), and the second upper manipulator translation cylinder (53) is fixed on the second upper manipulator lifting seat (52). The shift seat (59) is connected to the output end of the second upper manipulator translation cylinder (53); the fifth mechanical gripper (56) and the sixth mechanical gripper (55) are arranged at the lower end of the second upper manipulator translation seat (59); the fifth mechanical gripper (56) is driven by the fifth mechanical gripper action cylinder (58) to perform a gripping or releasing action; the sixth mechanical gripper (55) is driven by the sixth mechanical gripper action cylinder (54) to perform a gripping or releasing action; a terminal positioning clamp (57) is arranged on the side of the fifth mechanical gripper (56).

Images