Full-automatic wire harness sleeve processing method and full-automatic wire harness sleeve processing equipment

Abstract

According to the full-automatic wire harness sleeve machining method and the full-automatic wire harness sleeve machining equipment, material supporting plates are arranged above the rear portion of a front-way moving and transferring device and above the front portion of a rear-way moving and transferring device, and gaps are formed between the material supporting plates and a wire harness front-way machining device or between the material supporting plates and a wire harness rear-way machining device; the front-way transferring manipulator or the rear-way transferring manipulator is positioned in the gap; the front-way transferring manipulators comprise a front-way first transferring manipulator, a front-way second transferring manipulator and a front-way third transferring manipulator, and the front-way transferring manipulators can translate along the front-way transferring track; and the rear transfer manipulators comprise a rear first transfer manipulator, a rear second transfer manipulator, a rear third transfer manipulator and a rear fourth transfer manipulator, and the rear transfer manipulators can translate along the rear transfer track. According to the full-automatic sleeve wire harness machining device, a full-automatic machining mode of sleeve wire harnesses is achieved, original low-efficiency machining modes such as manual sleeve and semi-automatic terminal crimping are replaced, the production quality of products is guaranteed, the production efficiency is improved, and the production cost is greatly reduced.

Description

Technical Field

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

[0002] Most of the wire harness processing cutting, pressing and inserting machine products on the market are semi-finished products at present. After that, manual PVC sleeve cutting and then manual pipe threading and assembly are required for the subsequent processes. Sometimes when encountering special terminals, only one end can be processed by the existing machines on the market, and the other end needs to be processed by a semi-automatic pressing machine again. Both time and labor are greatly increased, which also significantly increases the product cost and reduces the market competitiveness. Moreover, with this semi-automatic and semi-manual production method, the product quality cannot be guaranteed, and the defective rate is high.

[0003] Therefore, there is an urgent need to develop an equipment that can realize the full-automatic production of wire harness sleeve products with terminals. Summary of the Invention

[0004] The technical solution of the present invention is: a fully automatic wire harness sleeve processing method, including the following steps:

[0005] A. The wire harness pre-feeding device transports the wire harness to the cutting and stripping device;

[0006] B. The cutting and stripping device strips the wire harness, and is transported by the wire harness transportation device to the front moving and transferring device. During the movement, the sleeve is cut to a fixed length;

[0007] C. The front No. 1 transfer manipulator takes over the wire harness and sends it to the front pressing device for the front terminal pressing work of the wire harness;

[0008] D. It is transported to the front vision detection device for the detection of the front terminal, and then sent to the transfer equal-position manipulator for transfer. The front No. 1 transfer manipulator returns to the original position to pick up the next batch of wire materials;

[0009] E. The double-channel feeding device feeds the socket, and is clamped by the socket transfer manipulator and placed into the clamping socket manipulator and moved to the waiting insertion area;

[0010] F. The front No. 2 transfer manipulator takes over the wire material in the transfer equal-position manipulator, moves to the waiting insertion area, and the terminal inserting manipulator performs the terminal inserting work;

[0011] G. The front No. 3 transfer manipulator takes over the wire harness with the socket inserted, straightens and arranges the wires at the wire arranging device, and sends it to the rear transfer track. The front No. 2 transfer manipulator returns;

[0012] H. The rear No. 4 transfer manipulator sends the wire harness to the pipe threading device;

[0013] I. The automatic sleeve feeding device feeds the sleeve to the tube threading device, the sleeve is cut off, and the wire harness is threaded into the sleeve by the tube threading device;

[0014] J. The post-stage No. 1 transfer manipulator clamps the wire after tube threading and translates it along the post-stage transfer track to the wire twisting device for wire twisting;

[0015] K. The post-stage No. 2 transfer manipulator moves to the wire twisting device to clamp the wire after wire twisting and moves to the tail wire stripping device for stripping the tail of the wire;

[0016] L. After the tail wire stripping is completed, the post-stage No. 2 transfer manipulator moves the wire harness to the post-stage crimping device for post-stage terminal crimping;

[0017] M. The post-stage No. 2 transfer manipulator holds the wire harness and withdraws it from the post-stage crimping device, and continues to move to the wire splitting device to separate the ends of the wire harness that were originally together;

[0018] N. The post-stage No. 3 transfer manipulator clamps the wire harness after wire splitting and transports it to the post-stage vision inspection device for inspection;

[0019] O. According to the result of step N, good products are discharged or defective products are discharged respectively;

[0020] P. If soldering work is required, first perform soldering work, then pass through the post-stage vision inspection, and then discharge, omitting step L.

[0021] A fully automatic wire harness sleeve processing device, including a wire harness pre-feeding device, an automatic sleeve feeding device, a front-stage moving transfer device, a post-stage moving transfer device, a front-stage wire harness processing device, a post-stage wire harness processing device and a discharging device. The front-stage moving transfer device includes a front-stage transfer track and several front-stage transfer manipulators; the post-stage moving transfer device includes a post-stage transfer track and several post-stage transfer manipulators; the front-stage transfer track and the post-stage transfer track are arranged in parallel on the workbench. The front-stage wire harness processing device is arranged behind the front-stage transfer track and is used for processing the front end of the wire harness. The post-stage wire harness processing device is arranged in front of the post-stage moving transfer device and is used for threading the sleeve on the wire harness and processing the rear end of the wire harness. The front-stage wire harness processing device includes a cutting, stripping and conveying device, a front-stage crimping device, a front-stage vision inspection device, a transfer equal-position manipulator, a terminal insertion device and a wire arranging device, which are arranged beside the front-stage transfer track in sequence from the input end to the output end of the front-stage transfer track; the post-stage wire harness processing device includes a tube threading device, a wire twisting device, a tail wire stripping device, a post-stage crimping device, a wire splitting device and a post-stage vision inspection device, which are arranged beside the post-stage transfer track in sequence from the input end to the output end of the transfer track. The discharging device is arranged at the output end of the post-stage transfer track.

[0022] Preferably, a supporting plate is provided on the upper rear part of the front-channel moving and transferring device and on the upper front part of the back-channel moving and transferring device, a gap is provided between the supporting plate and the wire harness front-channel processing device or the wire harness back-channel processing device, and the front-channel transferring robot or the back-channel transferring robot is located in the gap; the front-channel transferring robot includes front-channel No. 1 transferring robot, front-channel No. 2 transferring robot and front-channel No. 3 transferring robot, which can be translated along the front-channel transferring track; the back-channel transferring robot includes back-channel No. 1 transferring robot, back-channel No. 2 transferring robot, back-channel No. 3 transferring robot and back-channel No. 4 transferring robot, which can be translated along the back-channel transferring track.

[0023] Preferably, the cutting and stripping conveying device includes a cutting and stripping device and a wire harness transporting device, the output end of the wire harness transporting device is arranged at the input end of the front-end mobile transfer device, the cutting and stripping device is arranged at the input end of the wire harness transporting device, and the wire harness to be processed is provided to the input end of the cutting and stripping device by the wire harness pre-transporting device; the cutting and stripping device includes a wire feeding roller group, a cutting platform, and a cutting base, the cutting platform can be translated relative to the cutting base under the drive of a servo motor, a wire feeding pressure foot and a wire harness cutting positioning clamp are arranged on the cutting platform, and the cutting A wire harness cutting head is arranged on the right side of the cutting platform; the wire harness transport device comprises a wire harness transport guide rail, a wire harness transport robot, a wire harness head clamping robot, and a wire harness pushing robot. The wire harness transport robot can be translated along the wire harness transport guide rail to the input end of the front-channel mobile transfer device, the wire harness pushing robot and the wire harness head clamping robot can be raised and lowered on the wire harness transport robot, the wire harness head clamping robot faces the cutting and stripping device, and the wire harness pushing robot is arranged on the side of the wire harness head clamping robot close to the cutting and stripping device.

[0024] Preferably, the front-end crimping device and the rear-end crimping device have the same structure, including a terminal material tray, a terminal conveying pipe, and a terminal-punching manipulator, the terminal material strip on the terminal material tray is conveyed to the bottom of the terminal-punching manipulator through the terminal conveying pipe, and the terminal-punching manipulator is driven by the terminal-punching cylinder to perform the action of crimping the terminals up and down, one end of the terminal-punching manipulator is connected to the terminal-punching cylinder and is also provided with a connecting column, which is located in the terminal-punching linkage groove of the terminal-punching linkage block, the upper end of the terminal-punching linkage block is fixed, and the lower end is a free end, and is provided with a terminal material shifting claw, and a wire pressing synchronous hammer is provided in front of the terminal-punching manipulator. When the terminal-punching cylinder extends downward, the terminal-punching manipulator is driven to crimp the terminal and the wire together, and at the same time drives the wire pressing synchronous hammer to press down on the front-end transferring manipulator or the rear-end transferring manipulator to realize the crimping action of the wire terminal, and at the same time drives the terminal-punching linkage block to swing, and the terminal material shifting claw shifts the material strip toward the terminal-punching manipulator.

[0025] Preferably, the terminal insertion device includes a dual-channel feeding device and a multi-station terminal insertion device. The dual-channel feeding device includes a socket transfer manipulator, two socket feeding channels, and a socket vibrating disk connected to the two socket feeding channels. The socket transfer manipulator is disposed beside the end of the socket feeding channel for selecting the sockets in the socket feeding channel. The multi-station terminal insertion device is disposed beside the dual-channel feeding device and includes a socket clamping transfer guide rail, a socket clamping manipulator, a three-axis driving device, a terminal insertion seat, and a terminal inserting manipulator. The socket clamping manipulator can be translated along the socket clamping transfer guide rail to the lower part of the multi-station terminal insertion device. The three-axis driving device includes an X-axis displacement device, a Y-axis displacement device, and a Z-axis displacement device for driving the terminal insertion seat to move along the three directions of the X-axis, Y-axis, and Z-axis. The terminal inserting manipulator is disposed in the terminal insertion seat.

[0026] As a further preference, there is a distance between the front transfer track and the rear transfer track. The input end of the wire arranging device is located at the end of the front transfer track, and the output end of the wire arranging device is located at the input end of the rear transfer track. The wire arranging device includes a wire arranging guide rail, a first wire arranging transfer mechanism, and a second wire arranging transfer mechanism. The two wire arranging transfer mechanisms can move horizontally along the wire arranging guide rail. A liftable first wire arranging manipulator and a second wire arranging manipulator are disposed on the first wire arranging transfer mechanism, and a third wire arranging manipulator is disposed on the second wire arranging transfer mechanism.

[0027] Preferably, the pipe threading device includes a casing cutting device, a casing arranging and 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 casing arranging and fixing device is arranged parallel to the lower part of the cross beam. The casing 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 casing arranging and fixing device opposite to the casing cutting device is a wire threading preparation area, and the lower wire feeding wheel device is arranged in the wire threading preparation area. The casing cutting device includes a casing cutting base, a first casing feeding gripper, a second casing feeding gripper, and a cutting tool device. One end of the casing cutting base is a feeding end, and the automatic casing feeding device transports the casing to this feeding end. The other end is a cutting end. The feeding end of the casing cutting base is provided with a casing sleeve, and the cutting end is provided with two casing sleeves. The cutting tool device is arranged between the two casing sleeves. The casing arranging and fixing device includes a first clamping plate, a second clamping plate, a lifting upper pressing plate, and a casing arranging table. The first clamping plate and the second clamping plate are arranged oppositely, and the space between them is a casing accommodating position. The first clamping plate and the second clamping plate are respectively driven by a driving device to move closer to or away from each other. The output end of the casing arranging table is provided with a casing end fixing clamp. The lifting upper pressing plate is arranged inside the second clamping plate and is driven by a driving device to lift and lower. The first clamping plate, the second clamping plate, and the lifting upper pressing plate clamp and straighten the casing. 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, an X-axis driving mechanism, and a Z-axis driving mechanism, which are respectively used to drive the wire feeding wheel to lift or translate. The length measuring manipulator, the first upper manipulator, and the second upper manipulator are arranged on the cross beam and can move separately along the cross beam. The length measuring manipulator includes a lifting device and a length measuring gripper, and an inner sleeve is arranged inside the length measuring gripper. The first upper manipulator includes a lifting device, a third mechanical gripper, and a fourth mechanical gripper. A casing expanding nozzle is arranged on the side of the third mechanical gripper. The second upper manipulator includes a lifting device, a fifth mechanical gripper, and a sixth mechanical gripper. A terminal positioning clamp is arranged on the side of the fifth mechanical gripper.

[0028] Preferably, the wire twisting device includes a lower wire twisting base, an upper wire twisting base, a first wire twisting manipulator, a second wire twisting manipulator, a third wire twisting manipulator, and a wire twisting alignment push plate. The upper wire twisting base is arranged above the lower wire twisting base and can move relative to the lower wire twisting base closer to the subsequent transfer device. The first wire twisting manipulator, the second wire twisting manipulator, the third wire twisting manipulator, and the wire twisting alignment push plate are all arranged at one end of the upper wire twisting base facing the subsequent transfer track. The second wire twisting manipulator includes a second floating wire twisting part and a second fixed wire twisting part, and their ends are connected by a wire twisting manipulator linkage device, so as to realize the mutual approach or separation of the second floating wire twisting part and the second fixed wire twisting part in the vertical direction. The third wire twisting manipulator is sleeved outside the second fixed wire twisting part. The first wire twisting manipulator is arranged in front of the third wire twisting manipulator, and a wire twisting wire limiting clip is arranged on the first wire twisting manipulator. The wire twisting alignment push plate is arranged behind the second wire twisting manipulator.

[0029] Preferably, the tail wire stripping device includes a lower tail wire stripping base, an upper tail wire stripping base, a wire stripping positioning clip, a skin cutting knife, and a wire stripping clip. The upper tail wire stripping base is arranged on the upper part of the lower tail wire stripping base and can move relative to the lower tail wire stripping base closer to the subsequent transfer device. The wire stripping positioning clip, the skin cutting knife, and the wire stripping clip are all arranged at one end of the upper tail wire stripping base facing the subsequent transfer track. The skin cutting knife is arranged behind the wire stripping positioning clip, and the wire stripping clip is arranged behind the skin cutting knife.

[0030] Preferably, the wire separating device is located below the subsequent vision inspection device. The wire separating device includes a wire separating lifting mechanism, a wire separating longitudinal clamping mechanism, and a wire separating transverse clamping mechanism. The wire separating lifting mechanism includes a wire separating lifting seat and a wire separating lifting cylinder. The wire separating longitudinal clamping mechanism includes an upper wire separating clamping seat, a lower wire separating clamping seat, and a wire separating longitudinal clamping cylinder. The wire separating longitudinal clamping cylinder is fixed on the wire separating lifting seat, and the wire separating longitudinal clamping cylinder drives the upper wire separating clamping seat and the lower wire separating clamping seat to approach or separate from each other. The wire separating transverse clamping mechanism includes an upper wire separating transverse clamping manipulator, an upper wire separating transverse clamping cylinder, a lower wire separating transverse clamping manipulator, and a lower wire separating transverse clamping cylinder. The upper wire separating transverse clamping cylinder and the lower wire separating transverse clamping cylinder are respectively fixed on the upper wire separating clamping seat and the lower wire separating clamping seat. The upper wire separating transverse clamping cylinder drives the upper wire separating transverse clamping manipulator to clamp or release, and the lower wire separating transverse clamping cylinder drives the lower wire separating transverse clamping manipulator to clamp or release. A rubber band is arranged inside the upper wire separating transverse clamping manipulator, and a rubber band is also arranged inside the lower wire separating transverse clamping manipulator. The two rubber bands are arranged in parallel.

[0031] Preferably, a soldering device is also provided upstream of the discharging device.

[0032] The beneficial effects of the present invention are as follows: The present invention realizes the fully automated processing method for the sheathed wire harness, replaces the original low-efficiency processing methods such as manual sheathing and semi-automatic terminal crimping, ensures the product production quality, improves the production efficiency, and greatly reduces the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the front view of the present invention.

[0034] Figure 2 This is the top view of the present invention.

[0035] Figure 3 This is the right view of the present invention.

[0036] Figure 4 This is the three-dimensional view of the front wire harness processing device of the present invention.

[0037] Figure 5 This is the structural schematic diagram of the cutting, stripping and conveying device of the present invention.

[0038] Figure 6 This is the structural schematic diagram of the cutting and stripping device of the present invention.

[0039] Figure 7 This is the wire harness transportation device of the present invention.

[0040] Figure 8 This is the front view of the front wire harness processing device of the present invention.

[0041] Figure 9 This is the top view of the front wire harness processing device of the present invention.

[0042] Figure 10 This is the structural schematic diagram of the front moving and transferring device of the present invention.

[0043] Figure 11 This is the structural schematic diagram of the rear moving and transferring device of the present invention.

[0044] Figure 12 This is the structural schematic diagram of the terminal insertion device of the present invention.

[0045] Figure 13 This is the structural schematic diagram of the dual-channel feeding device of the present invention.

[0046] Figure 14 This is the structural schematic diagram of the multi-station terminal insertion device of the present invention.

[0047] Figure 15 This is the structural schematic diagram of the wire arranging device of the present invention.

[0048] Figure 16 This is the structural schematic diagram of the rear wire harness processing device of the present invention.

[0049] Figure 17 It is the front view of the post - process wire harness processing device of the present invention.

[0050] Figure 18 It is the top view of the post - process wire harness processing device of the present invention.

[0051] Figure 19 It is one of the structural schematic diagrams of the wire twisting device of the present invention.

[0052] Figure 20 It is the second structural schematic diagram of the wire twisting device of the present invention.

[0053] Figure 21 It is one of the structural schematic diagrams of the tail wire stripping device of the present invention.

[0054] Figure 22 It is the second structural schematic diagram of the tail wire stripping device of the present invention.

[0055] Figure 23 It is the structural schematic diagram of the wire splitting device of the present invention.

[0056] Figure 24 It is the structural schematic diagram of the front - process crimping device or the post - process crimping device of the present invention.

[0057] Figure 25 It is the structural schematic diagram of the lower wire feeding wheel device of the present invention.

[0058] Figure 26 It is the structural schematic diagram of the pipe threading mechanism of the present invention.

[0059] Figure 27 It is the structural schematic diagram of the sleeve cutting device of the present invention.

[0060] Figure 28 It is the front view of the pipe threading mechanism of the present invention.

[0061] Figure 29 It is the structural schematic diagram of the finishing sleeve fixing device of the present invention.

[0062] Reference numeral description

[0063] 1: Cutting, stripping and conveying device; 101: Cutting and stripping device; 102: Wire harness transportation device; 103: Wire harness cutting tool head;

[0064] 104: Wire harness cutting positioning clamp; 105: Wire feeding pressure foot; 106: Wire feeding roller group; 107: Cutting platform; 108: Cutting base; 109: Wire harness transportation guide rail; 1010: Wire harness transportation manipulator; 1011: Wire harness pushing manipulator; 1012: Wire

[0065] harness head clamping manipulator;

[0066] 201: Front crimping device; 202: Rear crimping device; 203: Terminal stock tray; 204: Terminal conveying pipeline; 205: Terminal crimping cylinder; 206: Crimping synchronization hammer; 207: Terminal crimping manipulator; 208: Terminal feeding claw; 209: Terminal crimping linkage groove; 210: Terminal crimping linkage block;

[0067] 3: Terminal insertion device; 31: Socket vibrating bowl; 32: Socket feeding channel; 33: Socket transfer manipulator; 34: Multi-station terminal insertion device; 35: Socket clamping manipulator; 36: Socket clamping transfer guide rail; 37: X-axis displacement device;

[0068] 38: Z-axis displacement device; 39: Y-axis displacement device; 310: Terminal insertion seat; 311: Terminal inserting manipulator;

[0069] 4: Wire arranging device; 41: First wire arranging transfer mechanism; 42: Wire arranging guide rail; 43: Second wire arranging transfer mechanism; 44:

[0070] First wire arranging manipulator; 45: Second wire arranging manipulator; 46: Third wire arranging manipulator;

[0071] 5: Pipe threading device; 51: Sleeve cutting device; 52: Length measuring manipulator; 521: Length measuring gripper; 53: Cross beam; 54:

[0072] First upper manipulator; 541: Third mechanical gripper; 542: Fourth mechanical gripper; 55: Second upper manipulator; 551: Fifth mechanical gripper; 552: Sixth mechanical gripper; 56: Lower wire feeding wheel device; 561: Wire feeding wheel; 562: Wire feeding wheel fixing seat; 563: X-axis drive mechanism; 564: Z-axis drive mechanism; 57: Finishing sleeve fixing device; 571: Second clamping plate;

[0073] 572: Upper pressure plate; 573: Sleeve end fixing clamp; 574: First clamping plate; 511: Sleeve sleeve; 512: First sleeve

[0074] Feeding gripper; 513: Second sleeve feeding gripper; 514: Sleeve cutting base; 515: Cutter device;

[0075] 6: Wire twisting device; 61: Second fixed wire twisting part; 62: Third wire twisting manipulator; 63: Wire twisting wire positioning clamp; 64:

[0076] First wire twisting manipulator; 65: Second floating wire twisting part; 66: Wire twisting alignment push plate; 67: Upper wire twisting base; 68:

[0077] Lower wire twisting base; 69: Manipulator linkage device;

[0078] 7: Tail wire stripping device; 71: Lower base of tail wire stripping; 72: Upper base of tail wire stripping; 73: Wire stripping positioning clamp; 74:

[0079] Skin cutting knife; 75: Wire stripping clamp;

[0080] 8: Front moving transfer device; 81: First front transfer manipulator; 82: Second front transfer manipulator; 83:

[0081] Third front transfer manipulator; 84: Front transfer track;

[0082] 9: Rear moving transfer device; 91: First rear transfer manipulator; 92: Second rear transfer manipulator; 93: Third rear transfer manipulator; 94: Fourth rear transfer manipulator; 95: Rear transfer track; 800: Wire harness pre - feeding device; 801: Automatic sleeve - placing device; 802: Soldering device; 803: Rear vision inspection device; 804: Front vision inspection

[0083] device; 805: Transfer equal - position manipulator; 806: Material - supporting plate;

[0084] 900: Discharging device; 901: Discharging conveyor belt; 902: Qualified product discharging manipulator; 903: Unqualified product discharging manipulator;

[0085] 904: Discharging ramp;

[0086] 10: Wire splitting device; 1001: Lower horizontal clamping manipulator; 1002: Rubber band; 1003: Upper horizontal clamping manipulator;

[0087] 1004: Upper horizontal clamping cylinder for wire splitting; 1005: Upper clamping seat for wire splitting; 1006: Lifting cylinder for wire splitting; 1007: Longitudinal clamping cylinder for wire splitting; 1008: Lifting seat for wire splitting; 1009: Lower clamping seat for wire splitting; 1013: Lower horizontal clamping cylinder for wire splitting; Detailed implementation mode

[0088] The present invention will be further described below in conjunction with the drawings and embodiments.

[0089] As Figure 1-22 shown, a full - automatic wire harness sleeve processing method includes the following steps:

[0090] A. The wire harness pre - feeding device 800 transports the wire harness to the cutting and wire stripping device 101;

[0091] B. The cutting and wire stripping device 101 strips the wire harness, and is transported by the wire harness transportation device 102 to the front moving transfer device 8. During the movement, the sleeve is cut to a fixed length;

[0092] C. The front-end No. 1 transfer manipulator 81 picks up the wire harness and sends it to the front-end crimping device 201 for the front-end terminal crimping operation of the wire harness.

[0093] D. It is conveyed to the front-end vision inspection device 804 for inspection of the front-end terminals, and then sent to the transfer and equal-positioning manipulator 805 for transfer. The front-end No. 1 transfer manipulator 81 returns to its original position to pick up the next batch of wire materials.

[0094] E. The dual-channel feeding device feeds the sockets, and the socket transfer manipulator 33 picks them up and places them into the clamping socket manipulator 35, which moves them to the area to be inserted.

[0095] F. The front-end No. 2 transfer manipulator 82 picks up the wire materials in the transfer and equal-positioning manipulator 805, moves to the area to be inserted, and the terminal insertion manipulator 311 performs the terminal insertion operation.

[0096] G. The front-end No. 3 transfer manipulator 83 picks up the wire harness with the socket inserted, straightens and arranges the wires at the wire arranging device 4, and sends it to the rear-end transfer track 95. The front-end No. 2 transfer manipulator 82 returns.

[0097] H. The rear-end No. 4 transfer manipulator 94 sends the wire harness to the pipe threading device 5.

[0098] I. The automatic sleeve feeding device 801 feeds the sleeves to the pipe threading device 5, cuts the sleeves, and the pipe threading device 5 threads the wire harness into the sleeves.

[0099] J. The rear-end No. 1 transfer manipulator 91 clamps the wire materials after pipe threading and translates them along the rear-end transfer track 95 to the wire twisting device 6 for wire twisting.

[0100] K. The rear-end No. 2 transfer manipulator 92 moves to the wire twisting device 6, picks up the wire materials after wire twisting, and moves them to the tail wire stripping device 7 for wire stripping at the tail of the wire materials.

[0101] L. After the wire stripping at the tail is completed, the rear-end No. 2 transfer manipulator 92 moves the wire harness to the rear-end crimping device 202 for the rear-end terminal crimping operation.

[0102] M. The rear-end No. 2 transfer manipulator 92 clamps the wire harness and withdraws it from the rear-end crimping device 202, and continues to move to the wire splitting device 10 to separate the end parts of the wire harness that were originally together.

[0103] N. The rear-end No. 3 transfer manipulator 93 clamps the wire harness after wire splitting and conveys it to the rear-end vision inspection device 803 for inspection.

[0104] O. According to the result of step N, good products are discharged or defective products are discharged respectively.

[0105] P. If soldering work is required, the soldering work is carried out first, followed by rear-end vision inspection, and then discharging, omitting step L.

[0106] A fully automatic wire harness sleeve processing device, comprising a wire harness pre-conveying device 800, an automatic sleeve feeding device 801, a front-stage moving and transferring device 8, a rear-stage moving and transferring device 9, a front-stage wire harness processing device, a rear-stage wire harness processing device and a discharging device 900. The front-stage moving and transferring device 8 includes a front-stage transfer track 84 and a plurality of front-stage transfer manipulators; the rear-stage moving and transferring device 9 includes a rear-stage transfer track 95 and a plurality of rear-stage transfer manipulators; the front-stage transfer track 84 and the rear-stage transfer track 95 are arranged in parallel on the workbench. The front-stage wire harness processing device is arranged at the rear side of the front-stage transfer track 84 for processing the front end of the wire harness. The rear-stage wire harness processing device is arranged at the front side of the rear-stage moving and transferring device 9 for threading the wire harness with a sleeve and processing the rear end of the wire harness. The front-stage wire harness processing device includes a cutting, stripping and conveying device 1, a front-stage crimping device 201, a front-stage vision detection device 804, a transfer equal-position manipulator 805, and a terminal insertion device 3, and a wire arranging device 4, which are sequentially arranged beside the front-stage transfer track 84 from the input end to the output end of the front-stage transfer track 84; the rear-stage wire harness processing device includes a tube threading device 5, a wire twisting device 6, a tail stripping device 7, a rear-stage crimping device 202, a wire separating device 10, and a rear-stage vision detection device 803, which are sequentially arranged beside the rear-stage transfer track 95 from the input end to the output end of the transfer track. The discharging device 900 is arranged at the output end of the rear-stage transfer track 95.

[0107] As Figure 4 and 16 shown, in this embodiment, a supporting plate 806 is provided above the rear part of the front-stage moving and transferring device 8 and above the front part of the rear-stage moving and transferring device 9. There is a gap between the supporting plate 806 and the front-stage wire harness processing device or the rear-stage wire harness processing device. The front-stage transfer manipulator or the rear-stage transfer manipulator is located in this gap; as Figure 10-11 shown, the front-stage transfer manipulator includes a front-stage No. 1 transfer manipulator 81, a front-stage No. 2 transfer manipulator 82, and a front-stage No. 3 transfer manipulator 83. These front-stage transfer manipulators can translate along the front-stage transfer track 84; the rear-stage transfer manipulator includes a rear-stage No. 1 transfer manipulator 91, a rear-stage No. 2 transfer manipulator 92, a rear-stage No. 3 transfer manipulator 93, and a rear-stage No. 4 transfer manipulator 94. These rear-stage transfer manipulators can translate along the rear-stage transfer track 95.

[0108] In this embodiment, as Figure 5-7As shown in the figure, the cutting, stripping and conveying device 1 includes a cutting and stripping device 101 and a wire harness conveying device 102. The output end of the wire harness conveying device 102 is arranged at the input end of the previous moving and transferring device 8, and the cutting and stripping device 101 is arranged at the input end of the wire harness conveying device 102. A wire harness to be processed is provided to the input end of the cutting and stripping device 101 by a wire harness pre-conveying device 800. The cutting and stripping device 101 includes a wire feeding roller group 106, a cutting platform 107 and a cutting base 108. The cutting platform 107 can be translated relative to the cutting base 108 under the drive of a servo motor. A wire feeding pressure foot 105 and a wire harness cutting positioning clamp 104 are arranged on the cutting platform 107. A wire harness cutting tool head 103 is arranged on the right side of the cutting platform 107. The wire harness conveying device 102 includes a wire harness conveying guide rail 109, a wire harness conveying manipulator 1010, a wire harness head clamping manipulator 1012 and a wire harness pushing manipulator 1011. The wire harness conveying manipulator 1010 can be translated along the wire harness conveying guide rail 109 to the input end of the previous moving and transferring device 8. The wire harness pushing manipulator 1011 and the wire harness head clamping manipulator 1012 are arranged on the wire harness conveying manipulator 1010 in a liftable manner. The wire harness head clamping manipulator 1012 faces the cutting and stripping device 101, and the wire harness pushing manipulator 1011 is arranged on one side of the wire harness head clamping manipulator 1012 close to the cutting and stripping device 101. The wire harness to be processed is fed by the wire feeding roller group 106, passes through the wire feeding pressure foot 105, the wire harness cutting positioning clamp 104 and the wire harness cutting tool head. The wire feeding pressure foot 105 presses down to fix the wire harness. The wire harness cutting tool head 103 presses down to cut through the wire harness skin. The cutting platform 107 retracts, and the wire is stripped under the action of the wire harness cutting tool head 103. The wire harness cutting tool head 103 is released, and the wire feeding pressure foot 105 is released. The wire harness conveying manipulator 1010 approaches the wire harness. The wire harness head clamping manipulator 1012 clamps the stripped wire harness and moves along the wire harness conveying guide rail 109 to the input end of the previous moving and transferring device 8. During the conveying process, when the length of the wire harness reaches the specified value, the wire harness cutting tool head 103 presses down to cut off, forming a wire harness with a fixed length.

[0109] In this embodiment, as Figure 24As shown in the figure, the structures of the front crimping device 201 and the rear crimping device 202 are the same, including a terminal coil 203, a terminal conveying pipeline 204, and a terminal crimping manipulator 207. The terminal strip on the terminal coil 203 is conveyed through the terminal conveying pipeline 204 to the lower part of the terminal crimping manipulator 207. The terminal crimping manipulator 207 is driven by a terminal crimping cylinder 205 to perform the up and down terminal crimping action. One end of the terminal crimping manipulator 207 is connected to the terminal crimping cylinder 205 and is also provided with a connecting column, which is located in the terminal crimping linkage groove 209 of the terminal crimping linkage block 210. The upper end of the terminal crimping linkage block 210 is fixed, and the lower end is a free end, provided with a terminal dialing claw 208. A wire crimping synchronous hammer 206 is arranged in front of the terminal crimping manipulator 207. When the terminal crimping cylinder 205 extends downward, it drives the terminal crimping manipulator 207 to crimp the terminal and the wire together, and at the same time drives the wire crimping synchronous hammer 206 to press down on the front transfer manipulator or the rear transfer manipulator, realizing the wire terminal crimping action, and at the same time driving the terminal crimping linkage block 210 to swing, and the terminal dialing claw 208 dials the strip towards the terminal crimping manipulator 207. After each terminal is crimped, the transfer manipulator moves one wire working position along the working assembly line, and the above actions are cycled to realize the continuous terminal crimping action.

[0110] In this embodiment, as Figure 12-14 shown, the terminal inserting device 3 includes a dual-channel feeding device and a multi-station terminal inserting device 34. The dual-channel feeding device includes a socket transfer manipulator 33, two socket feeding channels 32, and a socket vibrating disk 31 connected to the two socket feeding channels 32. The socket transfer manipulator 33 is arranged beside the end of the socket feeding channel 32 for selecting the socket in the socket feeding channel 32. The multi-station terminal inserting device 34 is arranged beside the dual-channel feeding device and includes a clamping socket transfer guide rail 36, a clamping socket manipulator 35, a three-axis driving device, a terminal inserting seat 310, and a terminal inserting manipulator 311. The clamping socket manipulator 35 can be translated along the clamping socket transfer guide rail 36 to the lower part of the multi-station terminal inserting device 34. The three-axis driving device includes an X-axis displacement device 37, a Y-axis displacement device 39, and a Z-axis displacement device 38, which drive the terminal inserting seat 310 to move along the X-axis, Y-axis, and Z-axis directions. The terminal inserting manipulator 311 is arranged in the terminal inserting seat 310.

[0111] During the actual production process, two socket vibrating bowls 31 can be used to convey two types of plastic sockets. When sockets are conveyed through the socket feeding channel 32, the socket transfer manipulator 33 grabs a suitable socket and places it into the socket clamping manipulator 35, and then moves to the area to be inserted. The three-axis driving device drives the terminal inserting manipulator 311 to extract the wire harness from the previous second transfer manipulator 82 and insert it into the socket in the socket clamping manipulator 35, repeating this process until the wiring is completed.

[0112] In this embodiment, as Figure 15 shown, there is a distance between the previous transfer track 84 and the subsequent transfer track 95. The input end of the wire arranging device 4 is located at the end of the previous transfer track 84, and the output end of the wire arranging device 4 is located at the input end of the subsequent transfer track 95; the wire arranging device 4 includes a wire arranging guide rail 42, a first wire arranging transfer mechanism 41, and a second wire arranging transfer mechanism 43. These two wire arranging transfer mechanisms can move horizontally along the wire arranging guide rail 42. The first wire arranging transfer mechanism 41 is provided with a liftable first wire arranging manipulator 44 and a second wire arranging manipulator 45, and the second wire arranging transfer mechanism 43 is provided with a third wire arranging manipulator 46.

[0113] During the actual production process, when the previous third transfer manipulator 83 conveys the wire harness with terminals inserted, both the first wire arranging transfer mechanism 41 and the second wire arranging transfer mechanism 43 are located at the end of the previous transfer track 84. The first wire arranging manipulator 44, the second wire arranging manipulator 45, and the third wire arranging manipulator 46 simultaneously grab the wire harness; the second wire arranging manipulator 45 releases, and the third wire arranging manipulator 46 grabs the wire harness and moves towards the input end of the subsequent transfer track 95. The first wire arranging manipulator 44 remains stationary and straightens the wire. During the straightening process, for shorter wires, it is straightened once, and for longer wires, it needs to be straightened multiple times until the entire wire harness is straightened. Finally, the first wire arranging manipulator 44 remains clamped and moves towards the end of the subsequent transfer track 95 to feed the wire, and the wire harness is conveyed above the subsequent transfer track 95.

[0114] In this embodiment, as Figure 25-29As shown in the figure, the pipe threading device 5 includes a sleeve cutting device 51, a sleeve arranging and fixing device 57, and a wire threading manipulator equipment group. The wire threading manipulator equipment group includes a cross beam 53, a length measuring manipulator 52, a first upper manipulator 54, a second upper manipulator 55, and a lower wire feeding wheel device 56. The sleeve arranging and fixing device 57 is arranged parallel to the lower part of the cross beam 53. The sleeve cutting device 51 is arranged under one end of the cross beam 53. The length measuring manipulator 52, the first upper manipulator 54, and the second upper manipulator 55 can move horizontally along the cross beam 53. One end of the sleeve arranging and fixing device 57 opposite to the sleeve cutting device 51 is a wire threading preparation area, and the lower wire feeding wheel device 56 is arranged in the wire threading preparation area. The sleeve cutting device 51 includes a sleeve cutting base 514, a first sleeve feeding gripper 512, a second sleeve feeding gripper 513, and a cutter device 515. One end of the sleeve cutting base 514 is a material incoming end, and the automatic sleeve feeding device 801 conveys the sleeve to this material incoming end. The other end is a cutting end. The material incoming end of the sleeve cutting base 514 is provided with a sleeve socket 511, and the cutting end is provided with two sleeve sockets 511. The cutter device 515 is arranged between the two sleeve sockets 511. The sleeve arranging and fixing device 57 includes a first clamping plate 574, a second clamping plate 571, a lifting upper pressing plate 572, and a sleeve arranging table. The first clamping plate 574 and the second clamping plate 571 are arranged oppositely, and the sleeve accommodating position is between them. The first clamping plate 574 and the second clamping plate 571 are respectively driven by a driving device to move closer to or away from each other. The output end of the sleeve arranging table is provided with a sleeve end fixing clip 573. The lifting upper pressing plate 572 is arranged inside the second clamping plate 571 and is driven by a driving device to lift and lower. The first clamping plate 574, the second clamping plate 571, and the lifting upper pressing plate 572 clamp and straighten the sleeve. The lower wire feeding wheel device 56 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 561, a wire feeding wheel fixing seat 562, an X-axis driving mechanism 563, and a Z-axis driving mechanism 564, which respectively drive the wire feeding wheel 561 to lift or translate. The length measuring manipulator 52, the first upper manipulator 54, and the second upper manipulator 55 are arranged on the cross beam 53 and can move separately along the cross beam 53. The length measuring manipulator 52 includes a lifting device and a length measuring gripper 521. An inner sleeve is arranged inside the length measuring gripper 521. The first upper manipulator 54 includes a lifting device, a third mechanical gripper 541, and a fourth mechanical gripper 542. A sleeve expanding nozzle is arranged on the side of the third mechanical gripper 541. The second upper manipulator 55 includes a lifting device, a fifth mechanical gripper 551, and a sixth mechanical gripper 552. A terminal positioning clip is arranged on the side of the fifth mechanical gripper 551.

[0115] The process of threading is relatively complicated, and mainly includes the following steps: In actual production, the first upper manipulator 54 and the second upper manipulator 55 move to the top of the rear-stage moving transfer device 9 to grab the wire harness delivered by the rear-stage fourth transfer manipulator;

[0116] The first upper manipulator 54 moves toward the sleeve fixing device 57, and the third mechanical gripper 541 is inserted into and opens the end of the sleeve;

[0117] The second upper manipulator 55 delivers the front part of the wire harness into the sleeve, and then the fifth mechanical gripper 551 remains clamped, and the sixth mechanical gripper 552 opens and retreats. When the fifth mechanical gripper 551 remains clamped, it does not completely grasp the wire harness, and the wire harness can be moved inside the fifth mechanical gripper 551. In this way, during the retreat of the second upper manipulator 55, the wire harness that has not been inserted into the sleeve is lifted up to prevent it from falling onto the rear-stage moving and transplanting mechanism 9. The sixth mechanical gripper 552 clamps the rear part of the wire harness again, and the second upper manipulator 55 moves to the threading preparation area, and the sixth mechanical gripper 552 extends the front part of the wire harness into the sleeve. After delivery, retreat to the top of the rear-stage moving and transferring device 9 to wait.

[0118] The first upper manipulator 54 gives way, the lower wire feeding wheel device 56 rises and clamps the wire harness, and the wire feeding wheel 561 is driven by the power device to roll and feed the wire harness into the casing;

[0119] The lower wire feeding wheel device 56 does not completely feed the wire harness into the casing, leaving a portion of the wire harness and the socket outside the casing, and the lower wire feeding wheel device 56 gives way;

[0120] The second upper manipulator 55 approaches the threading preparation area, and the terminal positioning clamp of the fifth mechanical gripper 551 grasps the socket head to completely feed the wire harness into the casing;

[0121] The sleeve fixing device 57 releases the sleeve, and the second upper manipulator 55 pulls out the sleeve component that has been threaded, and lowers it into the transfer manipulator on the rear mobile transfer device 9. During the pulling out process, the third mechanical gripper 541, the fourth mechanical gripper 542, the fifth mechanical gripper 551, and the sleeve end fixing clamp 573 are released, and the sixth mechanical gripper 552 grabs the sleeve and retreats. After retreating to the right position, the sleeve end fixing clamp 573 clamps the sleeve, and the sixth mechanical gripper 552 opens and moves to the side of the sleeve end fixing part to clamp the sleeve, and the sleeve end fixing clamp 573 releases the sleeve, and the sixth mechanical gripper 552 grabs the sleeve and retreats, and the cycle is repeated, and the sleeve is finally completely pulled out.

[0122] In this embodiment, Figure 19-20As shown in the figure, the wire twisting device 6 includes a lower wire twisting base 68, an upper wire twisting base 67, a first wire twisting manipulator 64, a second wire twisting manipulator, a third wire twisting manipulator 62, and a wire twisting alignment push plate 66. The upper wire twisting base 67 is arranged above the lower wire twisting base 68 and can move relative to the lower wire twisting base 68 closer to the subsequent transfer device 9. The first wire twisting manipulator 64, the second wire twisting manipulator, the third wire twisting manipulator 62, and the wire twisting alignment push plate 66 are all arranged at one end of the upper wire twisting base 67 facing the subsequent transfer track 95. The second wire twisting manipulator includes a second floating wire twisting part 65 and a second fixed wire twisting part 61, and their ends are connected by a wire twisting manipulator linkage device 69, so as to realize the mutual approach or separation of the second floating wire twisting part 65 and the second fixed wire twisting part 61 in the vertical direction. The third wire twisting manipulator 62 is sleeved outside the second fixed wire twisting part 61. The first wire twisting manipulator 64 is arranged in front of the third wire twisting manipulator 62, and a wire twisting wire limiting clamp 63 is arranged on the first wire twisting manipulator 64. The wire twisting alignment push plate 66 is arranged behind the second wire twisting manipulator. In this embodiment, the subsequent first transfer manipulator 91 moves to the pipe threading device 5, and the transfer gripper of the subsequent first transfer manipulator 91 clamps the wire and translates along the subsequent transfer track 95 to the wire twisting device 6. At this time, the first wire twisting manipulator 64 is in an open state. The second floating wire twisting part 65 in the second wire twisting manipulator descends onto the wire to limit the up and down displacement of the wire. The third wire twisting manipulator 62 moves closer to the middle. At the same time, the wire twisting propulsion servo motor works to drive the upper wire twisting base 67 to move back and forth to realize the wire aligning action and straighten the end of the wire. The first wire twisting manipulator 64 moves closer, grabs the wire, and neatly clamps the wire in the wire twisting wire limiting clamp 63. At this time, the first wire twisting manipulator 64 does not completely clamp the wire but loosens it with a certain margin. The sleeve wire twisting alignment push plate 66 moves back and forth towards the third wire twisting manipulator 62 to push the end of the wire flat and aligned. At this time, the subsequent first transfer manipulator 91 releases the wire and retreats to the pipe threading device 5 to grab the next sleeve.

[0123] In this embodiment, as Figure 21-22As shown, the tail wire stripping device 7 includes a tail wire stripping lower base 71, a tail wire stripping upper base 72, a wire stripping positioning clamp 73, a skin cutting knife 74, and a wire stripping clamp 75; the tail wire stripping upper base 72 is disposed above the tail wire stripping lower base 71 and can move relative to the tail wire stripping lower base 71 closer to the subsequent transfer device 9; the wire stripping positioning clamp 73, the skin cutting knife 74, and the wire stripping clamp 75 are all disposed at one end of the tail wire stripping upper base 72 facing the subsequent transfer track 95; the skin cutting knife 74 is disposed behind the wire stripping positioning clamp 73, and the wire stripping clamp 75 is disposed behind the skin cutting knife 74. During tail wire stripping, the wire stripping lifting positioning clamp descends, clamps the wire, and fixes the wire in the wire stripping fixing buckle. The skin cutting knife 74 lifts and lowers for the first time to cut the wire skin. When lifting and lowering for the second time, the wire stripping clamp 75 lifts and lowers simultaneously behind the skin cutting knife 74 to clamp the cut wire skin. The tail wire stripping propulsion servo motor operates to drive the wire stripping clamp 75 to move backward to complete the tail wire stripping work of the wire. During the wire stripping process, the subsequent second transfer manipulator 92 maintains a clamping action, and a wire slot is provided on the transfer gripper of the subsequent second transfer manipulator 92 to ensure that each wire is clamped in place.

[0124] In this embodiment, as Figure 23As shown, the wire splitting device 10 is located below the subsequent vision inspection device 803. The wire splitting device 10 includes a wire splitting lifting mechanism, a wire splitting longitudinal clamping mechanism, and a wire splitting transverse clamping mechanism. The wire splitting lifting mechanism includes a wire splitting lifting seat 1008 and a wire splitting lifting cylinder 1006; the wire splitting longitudinal clamping mechanism includes an upper wire splitting clamping seat 1005, a lower wire splitting clamping seat 1009, and a wire splitting longitudinal clamping cylinder 1007. The wire splitting longitudinal clamping cylinder 1007 is fixed on the wire splitting lifting seat 1008, and the wire splitting longitudinal clamping cylinder 1007 drives the upper wire splitting clamping seat 1005 and the lower wire splitting clamping seat 1009 to approach or move away from each other; the wire splitting transverse clamping mechanism includes an upper wire splitting transverse clamping manipulator 1003, an upper wire splitting transverse clamping cylinder 1004, a lower wire splitting transverse clamping manipulator 1001, and a lower wire splitting transverse clamping cylinder 1013. The upper wire splitting transverse clamping cylinder 1004 and the lower wire splitting transverse clamping cylinder 1013 are respectively fixed on the upper wire splitting clamping seat 1005 and the lower wire splitting clamping seat 1009. The upper wire splitting transverse clamping cylinder 1004 drives the upper wire splitting transverse clamping manipulator 1003 to clamp or release, and the lower wire splitting transverse clamping cylinder 1013 drives the lower wire splitting transverse clamping manipulator 1001 to clamp or release. A rubber band 1002 is provided inside the upper wire splitting transverse clamping manipulator 1003, and a rubber band 1002 is also provided inside the lower wire splitting transverse clamping manipulator 1001. The two rubber bands 1002 are arranged in parallel. The rubber band 1002 is elastic. During the stretching process, it can ensure that the wire is clamped in the vertical direction and can also separate the distance between the wires in the left and right directions, playing a role in wire splitting. Then, the vision inspection device takes a photo for inspection, solving the problem that the original vision photo inspection cannot be carried out because the wires are stacked together. The rubber band 1002 here can also be replaced by a flexible silicone material or other materials with stretching functions. When the wire splitting longitudinal clamping cylinder 1007 of the wire splitting device 10 works, the wire delivered by the subsequent second transfer manipulator 92 is clamped in the vertical direction. The subsequent second transfer manipulator 92 releases the wire, and the wire splitting lifting cylinder 1006 drives the wire splitting lifting seat 1008 to rise to make way for the subsequent second transfer manipulator 92. The subsequent second transfer manipulator 92 returns to the wire twisting device 6 to clamp the next wire that has been twisted; the upper wire splitting transverse clamping cylinder 1004 and the lower wire splitting transverse clamping cylinder 1013 work simultaneously to drive the upper wire splitting transverse clamping manipulator 1003 and the lower wire splitting transverse clamping manipulator 1001 to expand, stretching the rubber band 1002 and separating the wires at the same time; the wire splitting lifting seat 1008 descends. At this time, the subsequent third transfer manipulator 93 comes to clamp the separated wires. When the transfer gripper of the subsequent third transfer manipulator 93 clamps the wires, the wires remain in a separated state and are transported to the subsequent vision inspection device 803 for inspection.

[0125] In this embodiment, a soldering device 802 is further provided upstream of the discharging device 900. The soldering device 802 is not necessary. When some products do not require subsequent crimping, the products that need soldering use the soldering device 802.

[0126] In this embodiment, according to the results of visual inspection, when the inspection shows a good product, the good product discharging manipulator 902 grabs it and discharges it from the discharging conveyor belt 901 via the discharging ramp 904. When the inspection shows a defective product, the defective product discharging manipulator 903 grabs it and sends it to the defective product area. The two inspection results are discharged in separate areas, which is convenient for distinction and packaging.

[0127] 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, and therefore should not be construed as a limitation of the present invention.

[0128] In the present invention, terms such as "first", "second", etc. are only used for descriptive purposes, used to distinguish structures with similar structures or similar functions, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.

[0129] In the present invention, unless otherwise clearly specified and limited, 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.

[0130] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than 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 recorded 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. A fully automatic wire harness casing processing method, characterized in that The steps include: A. The wire harness pre-conveying device conveys the wire harness to the wire cutting and stripping device; B. The wire cutting and stripping device strips the wire harness and transports it to the front-end mobile transfer device by the wire harness transport device. During the movement, the casing is cut to a fixed length; C. The No. 1 transfer robot in the front process takes over the wire harness and sends it to the front process crimping device for front process terminal work; D. Transport to the front-end visual inspection device for front-end terminal inspection, and then send to the transfer robot for transfer. The front-end No. 1 transfer robot returns to its original position to receive the next batch of wires; E. The dual-channel feeding device feeds the sockets, and the socket transfer manipulator grabs and puts them into the socket clamping manipulator and moves them to the area to be inserted; F. The No. 2 transfer robot in the front channel takes over the wire from the transfer robot and moves it to the waiting area for insertion, where the terminal insertion robot inserts the terminal; G. The No. 3 transfer robot in the front lane takes over the wire harness that has been plugged into the socket, straightens it at the wire management device, and sends it to the transfer track in the rear lane, and the No. 2 transfer robot in the front lane returns; H. The No. 4 transfer robot in the back channel delivers the wire harness to the pipe threading device; I. The automatic casing placing device places the casing to the pipe threading device, the casing is cut off, and the pipe threading device inserts the wire harness into the casing; J. The No. 1 transfer robot in the back channel clamps the wire after passing through the tube, and moves horizontally along the back channel transfer track to the wire twisting device for twisting; K. The second transfer robot in the back-end moves to the wire twisting device to clamp the wire that has been twisted, and moves to the tail stripping device to strip the tail of the wire; L. After the tail stripping is completed, the No. 2 transfer robot moves the wire harness to the post-process crimping device for post-process terminal work; M. The No. 2 transfer robot of the back-end clamps the wire harness and withdraws it from the back-end crimping device, and continues to move to the wire separation device to separate the ends of the wire harness that were originally connected together; N. The No. 3 transfer robot in the back-end clamps the wire harness after the wiring is separated and transports it to the back-end visual inspection device for inspection; O. Discharge good products or defective products according to the result of step N; P. If soldering work is required, do the soldering work first, then go through the post-process visual inspection and then discharge the material, omitting step L.

2. A fully automatic wire harness casing processing equipment, characterized in that The invention comprises a wire harness pre-transport device, an automatic casing placing device, a front-end moving and transferring device, a back-end moving and transferring device, a front-end wire harness processing device, a back-end wire harness processing device and a discharging device, wherein the front-end moving and transferring device comprises a front-end transfer track and a plurality of front-end transfer manipulators; the back-end moving and transferring device comprises a back-end transfer track and a plurality of back-end transfer manipulators; the front-end transfer track and the back-end transfer track are arranged in parallel on the workbench, the front-end wire harness processing device is arranged at the rear side of the front-end transfer track for processing the front end of the wire harness, and the back-end wire harness processing device is arranged at the back-end moving and transferring device The front side is used to thread the wire harness through the sleeve and process the rear end of the wire harness; the wire harness front-end processing device includes a cutting and stripping conveying device, a front-end crimping device, a front-end visual inspection device, a transfer equal position robot, a terminal insertion device, and a wire management device, which are arranged next to the front-end transfer track in sequence from the input end to the output end of the front-end transfer track; the wire harness back-end processing device includes a tube threading device, a wire twisting device, a tail wire stripping device, a back-end crimping device, a wire dividing device, and a back-end visual inspection device, which are arranged next to the back-end transfer track in sequence from the input end to the output end of the transfer track, and the discharging device is arranged at the output end of the back-end transfer track.

3. The fully automatic wire harness casing processing equipment according to claim 2 is characterized in that A supporting plate is provided on the upper rear part of the front-end moving and loading device and on the upper front part of the back-end moving and loading device, a gap is provided between the supporting plate and the wire harness front-end processing device or the wire harness back-end processing device, the front-end transferring robot or the back-end transferring robot is located in the gap; the front-end transferring robot includes front-end transferring robot No. 1, front-end transferring robot No. 2 and front-end transferring robot No. 3, which can be translated along the front-end transferring track; the back-end transferring robot includes back-end transferring robot No. 1, back-end transferring robot No. 2, back-end transferring robot No. 3 and back-end transferring robot No. 4, which can be translated along the back-end transferring track.

4. The fully automatic wire harness casing processing equipment according to claim 2 is characterized in that The wire-cutting and stripping conveying device comprises a wire-cutting and stripping device and a wire-bundle transporting device. The output end of the wire-bundle transporting device is arranged at the input end of the front-end moving and loading device. The wire-cutting and stripping device is arranged at the input end of the wire-bundle transporting device. The wire-bundle pre-transporting device provides the wire-bundle to be processed to the input end of the wire-cutting and stripping device. The wire-cutting and stripping device comprises a wire-feeding roller group, a cutting platform and a cutting base. The cutting platform can be translated relative to the cutting base under the drive of a servo motor. A wire-feeding pressure foot and a wire-bundle cutting positioning clamp are arranged on the cutting platform. A wire harness cutting head is arranged on the right side of the platform; the wire harness transport device comprises a wire harness transport guide rail, a wire harness transport robot, a wire harness head clamping robot, and a wire harness pushing robot. The wire harness transport robot can be translated along the wire harness transport guide rail to the input end of the front-end mobile transfer device, the wire harness pushing robot and the wire harness head clamping robot can be raised and lowered on the wire harness transport robot, the wire harness head clamping robot faces the cutting and stripping device, and the wire harness pushing robot is arranged on the side of the wire harness head clamping robot close to the cutting and stripping device.

5. The fully automatic wire harness casing processing equipment according to claim 2 is characterized in that The front-end crimping device and the rear-end crimping device have the same structure, including a terminal material tray, a terminal conveying pipeline, and a terminal-punching manipulator. The terminal material strip on the terminal material tray is conveyed to the bottom of the terminal-punching manipulator through the terminal conveying pipeline, and the terminal-punching manipulator is driven by the terminal-punching cylinder to perform the action of crimping the terminals up and down. One end of the terminal-punching manipulator is connected to the terminal-punching cylinder and is also provided with a connecting column. The connecting column is located in the terminal-punching linkage groove of the terminal-punching linkage block. The upper end of the terminal-punching linkage block is fixed, and the lower end is a free end, and is provided with a terminal material shifting claw. A wire pressing synchronous hammer is provided in front of the terminal-punching manipulator. When the terminal-punching cylinder extends downward, the terminal-punching manipulator is driven to crimp the terminal and the wire together, and at the same time drives the wire pressing synchronous hammer to press down on the front-end transfer manipulator or the rear-end transfer manipulator to realize the crimping action of the wire terminal, and at the same time drives the terminal-punching linkage block to swing, and the terminal material shifting claw shifts the material strip toward the terminal-punching manipulator.

6. The fully automatic wire harness casing processing equipment according to claim 2 is characterized in that The terminal insertion device includes a dual-channel feeding device and a multi-station terminal insertion device, the dual-channel feeding device includes a socket transfer manipulator, two socket feeding channels and a socket vibration plate connected to the two socket feeding channels, the socket transfer manipulator is arranged at the end of the socket feeding channel, and is used to select the socket in the socket feeding channel; The multi-station terminal insertion device is arranged next to the dual-channel feeding device, and includes a clamping socket transfer guide rail, a clamping socket manipulator, a three-axis drive device, a terminal insertion seat and a terminal insertion manipulator; the clamping socket manipulator can be translated along the clamping socket transfer guide rail to the bottom of the multi-station terminal insertion device, the three-axis drive device includes an X-axis displacement device, a Y-axis displacement device and a Z-axis displacement device, driving the terminal insertion seat to move along the three directions of the X-axis, Y-axis and Z-axis, and the terminal insertion manipulator is arranged in the terminal insertion seat.

7. The fully automatic wire harness casing processing equipment according to claim 3 is characterized in that There is a distance between the front transfer track and the rear transfer track, the input end of the wire management device is located at the end of the front transfer track, and the output end of the wire management device is located at the input end of the rear transfer track; the wire management device includes a wire management guide rail, a first wire management transfer mechanism, and a second wire management transfer mechanism, and these two wire management transfer mechanisms can move horizontally along the wire management guide rail. The first wire management transfer mechanism is provided with a first wire management robot and a second wire management robot that can be raised and lowered, and the second wire management transfer mechanism is provided with a third wire management robot.

8. The fully automatic wire harness casing processing equipment according to claim 2 is characterized in that The pipe threading device includes a casing cutting device, a casing arranging and fixing device and a threading robot equipment group, the threading robot equipment group includes a crossbeam, a length measuring robot, a first upper robot, a second upper robot and a lower wire feeding wheel device, the casing arranging and fixing device is arranged parallel to the lower part of the crossbeam, the casing cutting device is arranged below one end of the crossbeam, the length measuring robot, the first upper robot and the second upper robot can move horizontally along the crossbeam, the end of the casing arranging and fixing device opposite to the casing cutting device is a threading preparation area, the lower wire feeding wheel device is arranged in the threading preparation area; the casing cutting device includes a casing cutting base, a first casing feeding gripper, a second casing feeding gripper, and a cutting device; one end of the casing cutting base is a material-incoming end, the automatic casing placing device conveys the casing to the material-incoming end, and the other end is a cutting end; the material-incoming end of the casing cutting base is provided with a casing sleeve, the cutting end is provided with two casing sleeves, and the cutting device is arranged between the two casing sleeves; the casing fixing device for arranging casing includes a No. 1 clamp, a No. 2 clamp, a lifting upper pressure plate, and a casing arranging table; the No. 1 clamp and the No. 2 clamp are arranged oppositely, and there is a casing accommodating portion between the two. The No. 1 clamp and the No. 2 clamp are driven by the driving device to move closer to or away from each other, and the output end of the casing sorting table is provided with a casing end fixing clamp; the lifting upper pressure plate is arranged on the inner side of the No. 2 clamp, and the lifting upper pressure plate is driven by the driving device to lift and lower, and the No. 1 clamp, the No. 2 clamp, and the lifting upper pressure plate clamp the casing and clamp it straight; the lower wire feeding wheel device includes two sets of wire feeding wheel assemblies, and the two sets of wire feeding wheel assemblies are relatively arranged on both sides of the threading preparation area, and the wire feeding wheel assemblies can be close to or away from the threading preparation area; each wire feeding wheel assembly includes a wire feeding wheel, a wire feeding wheel fixing seat, and an X-axis drive Mechanism and Z-axis driving mechanism, thereby driving the wire feeding wheel to rise and fall or translate respectively; the length measuring manipulator, the first upper manipulator and the second upper manipulator are arranged on the crossbeam, and can move independently along the crossbeam respectively; the length measuring manipulator includes a lifting device and a length measuring gripper, and an inner sleeve is arranged in the length measuring gripper; the first upper manipulator includes a lifting device, a third mechanical gripper, and a fourth mechanical gripper, and the side of the third mechanical gripper is provided with a sleeve opening protrusion; the second upper manipulator includes a lifting device, a fifth mechanical gripper, and a sixth mechanical gripper, and the side of the fifth mechanical gripper is provided with a terminal positioning clamp.

9. The fully automatic wire harness casing processing equipment according to claim 2, characterized in that The thread twisting device comprises a thread twisting line lower base, a thread twisting line lower base, a thread twisting manipulator No. 1, a thread twisting manipulator No. 2, a thread twisting manipulator No. 3 and a thread twisting alignment push plate, wherein the thread twisting line lower base is arranged above the thread twisting line lower base and can be close to the back-end mobile transfer device relative to the thread twisting line lower base; the thread twisting manipulator No. 1, the thread twisting manipulator No. 2, the thread twisting manipulator No. 3 and the thread twisting alignment push plate are all arranged on the thread twisting line upper base at one end facing the back-end transfer track; the thread twisting manipulator No. 2 comprises a floating thread twisting part No. 2 and a fixed thread twisting part No. 2, and their ends are connected by a thread twisting manipulator linkage device, so as to realize that the floating thread twisting part No. 2 and the fixed thread twisting part No. 2 are close to or away from each other in the vertical direction; the thread twisting manipulator No. 3 is on the outside of the fixed thread twisting part No. 2; the thread twisting manipulator No. 1 is arranged in front of the thread twisting manipulator No. 3, and the thread twisting wire limiting clamp is provided on the thread twisting manipulator No. 1; the thread twisting alignment push plate is arranged behind the thread twisting manipulator No.

2.

10. The casing post-processing device according to claim 2, characterized in that The tail wire stripping device includes a tail stripping bottom base, a tail stripping bottom base, a wire stripping positioning clamp, a skin cutting knife, and a wire stripping clamp; the tail stripping bottom base is arranged on the upper part of the tail stripping bottom base, and can be close to the rear-stage movable transfer device relative to the tail stripping bottom base; the wire stripping positioning clamp, the skin cutting knife and the wire stripping clamp are all arranged on the tail stripping bottom base at one end facing the rear-stage transfer track; the skin cutting knife is arranged on the rear side of the wire stripping positioning clamp, and the wire stripping clamp is arranged on the rear side of the skin cutting knife.

11. The casing post-processing device according to claim 2, characterized in that The line-dividing device is located below the downstream visual inspection device, and includes a line-dividing lifting mechanism, a line-dividing longitudinal clamping mechanism, and a line-dividing transverse clamping mechanism. The line-dividing lifting mechanism includes a line-dividing lifting seat and a line-dividing lifting cylinder; the line-dividing longitudinal clamping mechanism includes an online clamping seat, an offline clamping seat, and a line-dividing longitudinal clamping cylinder. The line-dividing longitudinal clamping cylinder is fixed on the line-dividing lifting seat, and the line-dividing longitudinal clamping cylinder drives the online clamping seat and the offline clamping seat to move closer to or away from each other; the line-dividing transverse clamping mechanism includes an online and horizontal clamping seat. Towards the clamping manipulator, the horizontal clamping cylinder on the dividing line, the horizontal clamping manipulator below the dividing line, and the horizontal clamping cylinder below the dividing line. The horizontal clamping cylinder on the dividing line and the horizontal clamping cylinder below the dividing line are respectively fixed on the clamping seat on the dividing line and the clamping seat below the dividing line. The horizontal clamping cylinder on the dividing line drives the horizontal clamping manipulator on the dividing line to clamp or release. The horizontal clamping cylinder below the dividing line drives the horizontal clamping manipulator below the dividing line to clamp or release. A rubber band is arranged in the horizontal clamping manipulator on the dividing line, and a rubber band is also arranged in the horizontal clamping manipulator below the dividing line. The two rubber bands are arranged in parallel.

12. The casing post-processing device according to claim 2, characterized in that A soldering device is also provided upstream of the discharging device.

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