A multi-wire harness and terminal assembly apparatus and method

Abstract

This invention relates to the field of automated wire harness processing technology, and more particularly to a multi-wire harness and terminal assembly apparatus and method. The apparatus includes: a frame; a terminal feeding mechanism including a vibratory feeder and a cutting component disposed at the output end of the vibratory feeder; a terminal detection mechanism including a terminal placement component and a terminal transfer component for transferring terminals, the terminal transfer component including a lateral sliding component and a longitudinal sliding component, a visual recognition component for detecting terminal quality, and a rotating component on the terminal placement component; a terminal conveying mechanism including a lateral transmission component and a longitudinal transmission component, and a conveying gripper; a wire harness feeding mechanism including a wire harness gripper and a positioning component for positioning the inner core of the wire harness; and a wire harness insertion mechanism including a core clamping component and a core rotating component, the core clamping component including a core gripper for clamping a single core and a second driving component for driving the core gripper. This invention integrates various processes into a highly efficient and integrated system through a compact frame structure.

Description

Technical Field

[0001] This invention relates to the field of automated wire harness processing technology, and in particular to a multi-wire harness and terminal assembly device and method. Background Technology

[0002] A multi-wire harness is a structure consisting of two or more wires or cables bundled together in a specific arrangement. It is used to centrally transmit and manage multiple signal or power paths in complex electrical systems. It is widely used in automotive manufacturing, industrial control equipment, instrumentation, consumer electronics, and communication systems, especially in vehicle drive-by-wire systems, sensor networks, and complex electronic devices, playing a crucial role in signal and power transmission. In practical applications, multi-wire harnesses need to be connected to multiple metal terminals for subsequent insertion, fixing, or modular integration. By precisely inserting or connecting multiple wires into the corresponding terminal structures, the stability and safety of the electrical connection are ensured.

[0003] In existing technologies, the assembly process of multi-wire harnesses and terminals is typically distributed across multiple independent workstations, with each step relying on manual or mechanical transfer equipment for collaborative operation. The general process includes: first, separating and positioning the individual wires in the harness according to a pre-defined layout; then, pre-processing the wires individually; finally, guiding them into the corresponding terminals; and finally, connecting them through crimping or plugging. This distributed assembly process has many limitations: complex equipment layout, large space occupation, loose process connections, susceptibility to positioning errors and connection deviations, and difficulty in meeting the demands of high-speed, high-precision automated assembly. Especially in customized, multi-model, small-batch production scenarios, existing systems lack flexible integration capabilities.

[0004] Given the shortcomings of existing assembly equipment in terms of precision control, process integration, and automation, there is an urgent need for systematic improvements at the structural level. These improvements enable the efficient and precise matching and secure assembly of multi-wire harnesses and terminals within a compact, integrated device. This not only significantly reduces manual intervention and improves assembly yield but also provides a more stable and efficient solution for electrical connections in complex systems. Therefore, this invention proposes a multi-wire harness and terminal assembly device and method with optimized structure, high functional integration, and strong adaptability, aiming to overcome the limitations of existing technologies and achieve the assembly goals of high automation, high precision, and flexible multi-wire and multi-terminal coordination. Summary of the Invention

[0005] In view of at least one of the above technical problems, the present invention provides a multi-wire harness and terminal assembly apparatus and method.

[0006] According to a first aspect of the present invention, a multi-wire harness and terminal assembly apparatus is provided, comprising: frame; A terminal feeding mechanism includes a vibratory feeder and a cutting assembly disposed at the output end of the vibratory feeder, the cutting assembly separating individual terminals; A terminal inspection mechanism includes a terminal placement assembly, a terminal transfer assembly that transfers terminals from the cutting assembly to the terminal placement assembly, the terminal transfer assembly including a lateral sliding member and a longitudinal sliding member, and a visual recognition assembly for detecting the quality of terminals on the terminal placement assembly, the terminal placement assembly also including a rotating member; The terminal conveying mechanism includes a transverse transmission assembly, a longitudinal transmission assembly connected to the transverse transmission assembly, and a conveying gripper fixed to the longitudinal transmission assembly. The wire harness feeding mechanism includes a wire harness gripper for holding the wire harness and a positioning component for positioning the inner core of the wire harness; The wire harness insertion mechanism includes multiple wire core clamping assemblies and a wire core rotating assembly. The wire core clamping assembly includes a wire core gripper for clamping a single wire core on the positioning assembly, and a second drive member for driving the wire core gripper to move relatively closer to or away from the positioning assembly.

[0007] In some embodiments of the present invention, the cutting assembly includes an output seat connected to the output end of the vibratory feeder, and a first driving member fixedly connected to the output seat. The first driving member drives the output seat to move perpendicular to the extension direction of the vibratory feeder, and the terminal is away from the vibratory feeder.

[0008] In some embodiments of the present invention, the terminal placement assembly includes a receiving seat disposed on the frame for placing a terminal, and a first clamping member disposed on one side of the receiving seat for clamping the terminal. The receiving seat on the frame is movable toward the terminal and the terminal transfer assembly can be relatively close to or away from it.

[0009] In some embodiments of the present invention, the receiving seat further includes an elastic compression member disposed on the frame, one end of the elastic compression member being connected to the receiving seat and the other end being connected to the frame.

[0010] In some embodiments of the present invention, the receiving base and the frame are connected to a rotating component, which is used to rotate the terminal angle on the receiving base.

[0011] In some embodiments of the present invention, the terminal conveying mechanism further includes a slider slidably connected to the transverse transmission assembly, a flipping member rotatably connected to the slider, the longitudinal transmission assembly connected to the other end of the flipping member, and a conveying gripper connected to the other end of the longitudinal transmission assembly.

[0012] In some embodiments of the present invention, the conveying gripper has a plurality of sensor elements that pass through the terminal to the interior of the terminal for contact with the wire core.

[0013] In some embodiments of the present invention, the positioning component includes two opposing toothed blocks, a third driving member that drives the two toothed blocks to move closer or further apart, and two wire harness positioning blocks disposed between the toothed blocks and the wire harness clamp, the wire harness positioning blocks also including a fourth driving member that drives the two wire harness positioning blocks to move closer or further apart.

[0014] In some embodiments of the present invention, the wire core rotating assembly includes a clamping block for clamping the wire core, a turntable for rotating the clamping block by a set angle, and a fifth driving member for driving the clamping block to move relatively closer to or away from the toothed block, the clamping block having at least two wire core fixing slots.

[0015] According to a second aspect of the present invention, a method for assembling a multi-wire harness and terminals is also provided, comprising the following steps: The vibratory feeder delivers the terminals to the cutting assembly, and the cutting mechanism cuts out the terminals one by one. The terminal transfer assembly removes the terminal from the cutting assembly, transfers it to the terminal placement assembly, and presses the terminal to make it fit against the terminal placement assembly; The visual recognition component moves to the terminal placement component to detect the terminal and determine whether it is a defective product. If so, it is picked up and discarded by the terminal conveying mechanism. If not, it determines whether the terminal placement angle is correct. If not, it rotates the terminal angle to the set position. The terminal identified by the visual recognition mechanism is then transported to the position to be penetrated by the terminal conveying mechanism. The wire harness is fixed using the wire harness feeding mechanism, and the inner cores arranged in sequence are positioned using the positioning component; The two middle wires arranged in sequence are clamped and rotated to a set position by the wire core rotating assembly; Each wire core is clamped to a set position using multiple wire core clamping assemblies; The terminal on the terminal conveying mechanism is conveyed to the wire core position, so that the wire core is inserted into the terminal, thus completing the assembly of the multi-wire harness and the terminal.

[0016] The beneficial effects of this invention are as follows: This invention integrates various processes into a highly efficient and unified system through a compact frame structure. First, the terminal feeding mechanism automatically and accurately separates terminals using a vibratory feeder and a cutting assembly, providing a reliable terminal supply for subsequent assembly. The terminal detection mechanism utilizes a vision recognition component and a precise placement device to ensure the quality and accuracy of each terminal, thereby avoiding subsequent problems caused by substandard terminal quality. Unlike traditional devices, this invention introduces high-precision control in terminal transfer, positioning, and detection, ensuring accurate terminal matching. Furthermore, the wire harness feeding mechanism precisely positions the wire harness using wire harness grippers and a positioning component, providing efficient assurance for subsequent wire harness insertion. The wire harness insertion mechanism achieves flexible handling of multiple wire cores through a wire core clamping component and a rotating component. Traditional assembly processes typically require manual intervention or complex mechanical means to adjust the position of each wire core, while the second drive component of this invention can automatically adjust the position of the wire core clamps, making the entire assembly process more automated and precise. By efficiently integrating these functional modules, this invention not only improves assembly accuracy but also reduces errors between processes, avoiding frequent manual intervention and error accumulation in traditional assembly methods. Compared to traditional distributed assembly methods, this device can efficiently complete the precise assembly of multi-wire harnesses and terminals within a compact space, greatly improving the automation level of the production line and reducing labor costs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the wire harness and terminals in the multi-wire harness and terminal assembly device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the multi-wire harness and terminal assembly device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the terminal feeding mechanism in the multi-wire harness and terminal assembly device according to an embodiment of the present invention; Figure 4 This is a side view of the terminal feeding mechanism in the multi-wire harness and terminal assembly device in an embodiment of the present invention; Figure 5 This is a schematic diagram of the terminal detection mechanism in the multi-wire harness and terminal assembly device according to an embodiment of the present invention; Figure 6This is a schematic diagram of the terminal placement component in the multi-wire harness and terminal assembly device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the terminal conveying mechanism in the multi-wire harness and terminal assembly device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the conveying gripper in the multi-wire harness and terminal assembly device of this invention. Figure 9 This is a cross-sectional view of the conveying gripper in the multi-wire harness and terminal assembly device in an embodiment of the present invention; Figure 10 As described in the embodiments of the present invention Figure 9 Enlarged structural diagram at point A; Figure 11 This is a schematic diagram of the wire harness feeding mechanism in the multi-wire harness and terminal assembly device of the present invention. Figure 12 This is a half-sectional view of the positioning component in the multi-wire harness and terminal assembly device in an embodiment of the present invention. Figure 13 This is a schematic diagram of the wire harness insertion mechanism in the multi-wire harness and terminal assembly device of the present invention. Figure 14 This is a schematic diagram of the wire harness clamping assembly in the multi-wire harness and terminal assembly device of the present invention. Figure 15 This is a schematic diagram of the wire harness clamping assembly in the multi-wire harness and terminal assembly device of the present invention from another angle; Figure 16 This is a schematic diagram of the structure of the wire harness rotation assembly in the multi-wire harness and terminal assembly device in an embodiment of the present invention; Figure 17 As described in the embodiments of the present invention Figure 16 Enlarged structural diagram at point B; Figure 18 This is a step diagram of the multi-wire harness and terminal assembly method in an embodiment of the present invention.

[0019] Reference numerals: 01, multi-wire harness; 02, wire core; 03, terminal; 1, frame; 2, terminal feeding mechanism; 21, vibratory feeder; 22, cutting assembly; 22a, output seat; 22b, first driving component; 3, terminal detection mechanism; 31, terminal placement assembly; 31a, rotating component; 31b, receiving seat; 31c, first clamping component; 31d, elastic compression component; 32, terminal transfer assembly; 32a, lateral sliding component; 32b, longitudinal sliding component; 33, vision recognition assembly; 4, terminal Conveying mechanism; 41. Lateral transmission assembly; 42. Longitudinal transmission assembly; 43. Conveying gripper; 43a. Sensor component; 44. Slider; 45. Tilting component; 5. Wire harness feeding mechanism; 51. Wire harness gripper; 52. Positioning assembly; 52a. Toothed block; 52b. Wire harness positioning block; 6. Wire harness shell insertion mechanism; 61. Wire core clamping assembly; 61a. Wire core gripper; 61b. Second driving component; 62. Wire core rotation assembly; 62a. Clamping block; 62b. Turntable; 62c. Wire core fixing groove. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] In the modern automotive manufacturing industry, with the continuous development of vehicle intelligence and electrification, the electronic systems used in automobiles are becoming increasingly complex. Especially in the fields of autonomous driving and electric vehicles, a large number of multi-wire harnesses are required to connect sensors, batteries, control modules, and various electrical devices. Traditional wiring harness and terminal assembly methods often face problems such as insufficient assembly precision, low production efficiency, and frequent manual intervention in this context, failing to meet the demands for high-precision, high-efficiency, and customized production.

[0024] Suppose an automotive manufacturer needs to produce customized electrical wiring harnesses for a new car model. This model is equipped with a complex electrical system, requiring each wire harness to be precisely connected to a specific terminal 03. Furthermore, the length, structure, and terminal 03 pairing of each wire harness need to be adjusted according to the specific vehicle configuration. Traditional production methods typically require multiple workstations and rely heavily on manual labor, which not only increases production time but also easily leads to connection errors or assembly defects.

[0025] In this context, the multi-wire harness 01 and terminal 03 assembly device of the present invention can significantly improve production efficiency and accuracy. First, the terminal 03 feeding mechanism automatically separates and transports the terminals 03 via a vibratory feeder 21 and a cutting assembly 22, avoiding the instability and errors inherent in traditional manual assembly. In the terminal 03 inspection stage, the visual recognition assembly 33 ensures that each terminal 03 meets quality standards, eliminating the possibility of unqualified terminals 03 entering the assembly process, thereby guaranteeing the stability of the electrical connection.

[0026] Next, the wire harness feeding mechanism 5 and the positioning component 52 accurately position the wire harness, providing a precise foundation for the subsequent wire harness insertion operation. The wire harness insertion mechanism 6, through multiple wire core 02 clamping components and combined with the automatic adjustment function of the second drive component 61b, can quickly and accurately guide each wire core 02 to the predetermined position and perform reasonable rotation and adjustment. This process no longer relies on manual labor or complex robotic arms, but is completed through an intelligent control system, making the assembly process more efficient and precise.

[0027] When multi-core 02 wire harnesses are combined with terminal 03, for example, if terminal 03 has four holes, such as... Figure 1 As shown, there are four wire cores 02, and the holes in the terminal 03 are arranged in a circular pattern. However, the wire harness was processed on the same plane in the previous stage. The wire harness needs to be moved to make the positions of the wire cores 02 correspond to the positions of the terminals 03. Therefore, the wire cores 02 need to be clamped and pulled to different positions by the grippers. The present invention provides a device that can realize this assembly.

[0028] like Figures 2 to 17 The multi-wire harness 01 and terminal 03 assembly device shown includes: Rack 1; The terminal 03 feeding mechanism includes a vibratory feeder 21 and a cutting component 22 disposed at the output end of the vibratory feeder 21. The cutting component 22 separates individual terminals 03. In some embodiments of the present invention, some terminals 03 have a serrated structure on their outer periphery. When separating two adjacent terminals 03, if they are moved laterally between them, the serrated mechanism may prevent them from being moved apart. In the embodiments of the present invention, by moving vertically, the cutting mechanism is used to cut the two adjacent terminals 03 apart, so that the problem of them not being able to be moved apart or the two terminals 03 getting stuck will not occur.

[0029] The terminal 03 detection mechanism includes a terminal 03 placement assembly, a terminal 03 transfer assembly that transfers terminals 03 from the cutting assembly 22 to the terminal 03 placement assembly, the terminal 03 transfer assembly including a transverse sliding member 32a and a longitudinal sliding member 32b, and a visual recognition assembly 33 for detecting the quality of terminals 03 on the terminal 03 placement assembly. The terminal 03 placement assembly also includes a rotating member 31a. In some embodiments of the present invention, the terminal 03 has multiple holes with wire cores 02 of the wire harness passing through the middle. The insertion of the wire cores 02 is in a predetermined position, and the direction of the terminal 03 is also predetermined. In order to prevent the position of the terminal 03 from rotating or deviating, the position of the terminal 03 is determined by visual recognition, and then the terminal 03 is rotated by the rotating member 31a to move the terminal 03 to the predetermined position, thereby improving the yield of the wire harness.

[0030] The terminal 03 conveying mechanism includes a transverse transmission assembly 41, a longitudinal transmission assembly 42 connected to the transverse transmission assembly 41, and a conveying gripper 43 fixed on the longitudinal transmission assembly 42; the terminal 03 conveying mechanism transports the terminals 03 in each mechanism to each workstation.

[0031] The wire harness feeding mechanism 5 includes a wire harness gripper 51 for holding the wire harness and a positioning component 52 for positioning the inner core of the wire harness. The wire harness insertion mechanism 6 includes multiple wire core 02 clamping assemblies and wire core 02 rotating assemblies. The wire core 02 clamping assemblies include wire core 02 grippers for clamping individual wire cores 02 on the positioning assembly 52, and a second driving member 61b for driving the wire core 02 grippers to move relatively closer to or further away from the positioning assembly 52. ​​In some embodiments of the present invention, the individual wire cores 02 are gripped by the wire core 02 clamping assemblies and then moved to the position where the terminal 03 is inserted into the housing. During the early processing of the wire harness, all the wire cores 02 may be on the same plane. To achieve a circumferential layout of the wire cores 02, the two middle wire cores 02 can be rotated 90° so that the two wire cores 02 are in opposite positions.

[0032] like Figure 1As shown, this invention integrates various processes into a highly efficient and unified system through a compact frame structure 1. First, the terminal 03 feeding mechanism automatically and precisely separates the terminals 03 using a vibratory feeder 21 and a cutting assembly 22, providing a reliable supply of terminals 03 for subsequent assembly. The terminal 03 detection mechanism utilizes a vision recognition assembly 33 and a precise placement device to ensure the quality and accuracy of each terminal 03, thereby avoiding subsequent problems caused by substandard terminal 03 quality. Unlike traditional devices, this invention introduces high-precision control in the terminal 03 transfer, positioning, and detection stages, ensuring accurate matching of terminals 03. Furthermore, the wire harness feeding mechanism 5 precisely positions the wire harness using wire harness grippers 51 and a positioning assembly 52, providing efficient assurance for subsequent wire harness insertion. The wire harness insertion mechanism 6 achieves flexible handling of multiple wire cores 02 through a wire core 02 clamping assembly and a rotating assembly. Traditional assembly processes typically require manual intervention or complex mechanical means to adjust the position of each wire core 02. However, the second drive component 61b of this invention can automatically adjust the position of the wire core 02 grippers, making the entire assembly process more automated and precise. By efficiently integrating these functional modules, this invention not only improves assembly accuracy but also reduces errors between processes, avoiding frequent manual intervention and error accumulation in traditional assembly methods. Compared to traditional distributed assembly methods, this device can efficiently complete the precise assembly of multi-wire harnesses 01 and terminals 03 within a compact space, greatly improving the automation level of the production line and reducing labor costs.

[0033] refer to Figure 3 , Figure 4 As shown, the cutting assembly 22 includes an output seat 22a connected to the output end of the vibratory feeder 21, and a first drive member 22b fixedly connected to the output seat 22a. The first drive member 22b drives the output seat 22a to move perpendicularly to the extension direction of the vibratory feeder 21, moving the terminal 03 away from the vibratory feeder 21. The cutting assembly 22, through the first drive member 22b, drives the output seat 22a to move in a direction perpendicular to the extension direction of the vibratory feeder 21, ensuring that the terminal 03 can be accurately separated from the vibratory feeder 21 and effectively moved away from it. This design greatly reduces errors during the separation process of the terminal 03 and the problem of the terminals 03 not being able to separate properly, avoiding the situation where the terminal 03 may get stuck or not completely separated in traditional devices. Furthermore, the precise control of the first drive member 22b makes the entire process more automated, reducing reliance on manual labor and improving production efficiency.

[0034] like Figure 5 , Figure 6As shown, the terminal 03 placement assembly includes a receiving seat 31b mounted on the frame 1 for placing the terminal 03, and a first clamping member 31c mounted on one side of the receiving seat 31b for holding the terminal 03. The receiving seat 31b on the frame 1 can move relatively close to or away from the terminal 03 transfer assembly. The terminal 03 placement assembly of this invention utilizes the retractable receiving seat 31b and the lateral clamping structure. The receiving seat 31b is mounted on the frame 1 and can move linearly close to and away from the terminal 03 transfer assembly. When the transfer gripper is in position, the receiving seat 31b actively moves forward to meet it, achieving zero-distance handover between the terminal 03 and the platform, significantly reducing the impact and positional drift of the terminal 03 during drop. Subsequently, the first clamping member 31c located on the side of the receiving seat 31b immediately clamps the terminal 03, achieving rigid positioning and restricting its rotation, achieving higher posture consistency than traditional passive unloading platforms. After the receiving seat 31b retracts to its original position, terminal 03 is taken away with the receiving seat 31b, without occupying the travel time of the transfer component; unnecessary alignment actions are eliminated, cycle time is shortened, and equipment productivity is increased. It should be noted that the receiving seat 31b, which can be relatively close to or away from the terminal 03, can be used to pick up terminal 03, or when terminal 03 is put down, pressing can be used to make terminal 03 fit more closely with the receiving seat 31b.

[0035] Continue to refer to Figure 6 As shown, the receiving seat 31b also includes an elastic compression member 31d disposed on the frame 1. One end of the elastic compression member 31d is connected to the receiving seat 31b, and the other end is connected to the frame 1. When the terminal 03 is placed on the receiving seat 31b, there may be a situation where the terminal 03 and the receiving seat 31b are not in direct contact, there is a gap, or the terminal is not positioned correctly. To reduce the occurrence of this situation, in some embodiments of the present invention, the elastic compression member 31d is used to reduce this situation. When the terminal 03 is put down, the receiving seat 31b is pressed down, and the receiving seat 31b and the terminal 03 are tightly in contact. When the gripper is released, due to the elasticity of the elastic compression member 31d, the receiving seat 31b drives the terminal 03 back to the initial position.

[0036] Continue to refer to Figure 6As shown, a rotating component 31a connects the receiving seat 31b to the frame 1 and is connected to the vision recognition component 33. This component is used to rotate the terminal 03 on the receiving seat 31b. Inaccurate visual orientation of the terminal 03 can lead to docking errors, requiring the robot to re-grab or adjust, increasing cycle time. Furthermore, after the terminal 03 is separated by the vibratory feeder 21 and the cutting component 22, its final posture upon landing on the receiving seat 31b still exhibits angular deviation. For precise pressing or insertion by the grippers, a dedicated flipping station or repeated adjustments by a robotic arm are often necessary, lengthening the cycle time and accumulating errors. To address this issue, this device mounts the receiving seat 31b on the frame 1 via a controllable rotating component 31a, and establishes a real-time closed-loop system with the vision recognition component 33: the vision system first performs high-resolution imaging and angle calculation of the terminal 03's posture on the receiving seat 31b, then the rotating component 31a is controlled to precisely rotate the receiving seat 31b, adjusting the terminal 03 to the standard angle required for the process. In this way, terminal 03 can complete its posture correction on the spot after being seated, eliminating the need for an additional handling and flipping mechanism, and eliminating the cumulative error and surface damage caused by multiple gripping. like Figures 7 to 10 As shown, the terminal 03 conveying mechanism also includes a slider 44 slidably connected to the transverse transmission assembly 41, a flipping member 45 rotatably connected to the slider 44, a longitudinal transmission assembly 42 connected to the other end of the flipping member 45, and a conveying gripper 43 connected to the other end of the longitudinal transmission assembly 42. This invention employs a multi-degree-of-freedom integrated structure in the terminal 03 conveying mechanism: the slider 44 slides linearly along the transverse transmission assembly 41 to achieve precise X-positioning; the flipping member 45, with its rotational hinge with the slider 44 as its center, can complete any angle flipping from 0-180° during movement, smoothly switching the terminal 03 from a horizontal position to a vertical or specified angle; subsequently, the longitudinal transmission assembly 42 at the other end of the flipping member 45 performs a compound lifting and lowering in the Y / Z directions, driving the conveying gripper 43 to accurately deliver the terminal 03 to the crimping or insertion station. Through this coordinated "sliding-flipping-lifting" linkage, the three-axis motion in space is compressed into a compact motion chain, eliminating the need for additional flipping stations. This shortens the transport path, reduces the exposure time of terminal 03 in the air, and avoids surface damage caused by repeated gripping. Compared with traditional serial split mechanisms, this solution significantly improves cycle efficiency and attitude control accuracy, while reducing mechanical complexity and maintenance costs.

[0037] Continue to refer to Figure 9 , Figure 10As shown, the conveying gripper 43 has multiple sensor elements 43a, which pass through the terminal 03 into its interior to contact the wire core 02. In traditional automated assembly of multi-wire harnesses 01, the crimping or insertion of the terminal 03 and the wire core 02 often relies on mechanical limit positions and manual sampling to confirm the insertion force and depth. This makes it impossible to know in real time whether each wire core 02 is truly fully inserted or whether there are hidden problems such as loose strands, bends, or poor connections. This leads to problems such as high contact resistance or intermittent open circuits only being exposed after assembly, resulting in high rework costs and reduced cycle time. This device integrates multiple slender sensor elements 43a on the conveying gripper 43. When the gripper grasps the terminal 03, these sensors can easily penetrate the cavity of the terminal 03 and directly contact the wire core 02 to be assembled. By measuring minute contact pressure, displacement, or conduction signals, it achieves real-time detection of the wire core 02 insertion depth, contact surface state, and conduction reliability, and feeds the data back to the control system. In this way, the assembly process forms a closed loop: once the sensor detects that core 02 does not meet the standard, the equipment can immediately pause crimping or perform a secondary compensation action, ensuring that each assembly is completed within the ideal parameter window. Compared with the traditional "post-assembly sampling inspection, and rework for problems" mode, this "clamp-built-in real-time detection" solution moves the quality control point to the moment of assembly, significantly reducing the defect rate and rework time, while also providing accurate and stable online quality assurance for high-speed, high-mix wire harness production.

[0038] like Figures 12 to 14 As shown, the positioning component 52 includes two opposing toothed blocks 52a, a third driving member that drives the two toothed blocks 52a to move closer or further apart, and two wire harness positioning blocks 52b disposed between the toothed blocks 52a and the wire harness clamping jaws 51. Each wire harness positioning block 52b also includes a fourth driving member that drives the two wire harness positioning blocks 52b to move closer or further apart. This invention introduces two positioning mechanisms—toothing and positioning—into the positioning component 52. The toothed blocks 52a and the third driving member can open or close synchronously, acting like a "comb," to quickly pre-segment the entire wire harness. Then, the two wire harness positioning blocks 52b located between the toothed blocks 52a and the wire harness clamping jaws 51, under the action of the fourth driving member, clamp or release the wire harness, achieving precise correction of the wire harness's center position and roundness. This ensures that the wire harness is automatically shaped and centered before being gripped by the clamping jaws, with each wire core 02 having balanced tension and straight alignment. This provides support for the next step of clamping the wire cores 02 to the designated position.

[0039] like Figure 15 , Figure 16As shown, the wire core 02 rotating assembly includes a clamping block 62a for holding the wire core 02, a turntable 62b for rotating the clamping block 62a by a set angle, and a fifth driving member for driving the clamping block 62a to move closer to or further away from the toothed block 52a. The clamping block 62a has at least two wire core 02 fixing slots. This invention achieves programmable angle rotation by setting a clamping block 62a with at least two wire core 02 fixing slots in the wire core 02 rotating assembly and driving it with the turntable 62b. Simultaneously, the fifth driving member controls the movement of the clamping block 62a closer to or further away from the toothed block 52a. First, the integrated design of the turntable 62b and clamping block 62a allows multiple wire cores 02 to rotate synchronously in the same coordinate system, ensuring consistent wire exit angles and completely eliminating the accumulation of errors from manual adjustment of each wire. Second, the multi-slot structure on the clamping block 62a can lock multiple wire cores 02 at once, ensuring consistent wire core tension and allowing for quick adaptation to different wiring schemes without the need to replace special clamps. By integrating core 02 angle correction, tension balancing, and coaxial synchronization into a single operation, the cycle time is significantly shortened, assembly accuracy is improved, and a truly flexible and automated solution is provided for multi-variety, small-batch production.

[0040] According to a second aspect of the present invention, a method for assembling a multi-wire harness 01 and a terminal 03 is also provided, such as... Figure 18 As shown, the steps include: S10: Vibratory feeder 21 conveys terminal 03 to cutting assembly 22, and cutting mechanism cuts out terminal 03 individually; S20: The terminal 03 transfer assembly takes the terminal 03 out of the cutting assembly 22, transfers it to the terminal 03 placement assembly, and presses the terminal 03 to make the terminal 03 fit against the terminal 03 placement assembly; S30: The visual recognition component 33 moves to the terminal 03 placement component, detects the terminal 03, and determines whether the terminal 03 is a defective product. If so, it is picked up and discarded by the terminal 03 conveying mechanism. If not, it determines whether the placement angle of the terminal 03 is correct. If not, it rotates the terminal 03 to the set position. S40: The terminal 03 identified by the visual recognition mechanism is transported to the position to be penetrated by the terminal 03 conveying mechanism; S50: The wire harness is fixed by the wire harness feeding mechanism 5, and the inner cores arranged in sequence are positioned by the positioning component 52. S60: The middle two wire cores 02 arranged in sequence are clamped and rotated to the set position by the wire core 02 rotating assembly; S70: Each wire core 02 is clamped to a set position using multiple wire core 02 clamping assemblies; S80: The terminal 03 on the terminal 03 conveying mechanism is conveyed to the position of the wire core 02, so that the wire core 02 is inserted into the terminal 03, and the assembly of the multi-wire harness 01 and the terminal 03 is completed.

[0041] The entire assembly process begins with the vibratory feeder 21: the vibratory feeder 21 arranges the terminals 03 in an orderly manner and sends them to the cutting assembly 22. The first drive unit 22b drives the output seat 22a to rise and fall vertically, cutting out a single terminal 03 and raising it back to hold it for pickup. The terminal 03 transfer assembly then moves laterally to the cutting position, and the longitudinal sliding member 32b descends so that the conveying gripper 43 picks up the terminal 03. It then rises and moves at high speed toward the terminal 03 placement assembly. With the buffering cooperation of the receiving seat 31b and the elastic compression member 31d, the terminal 03 is firmly attached to its surface. The vision recognition component 33 rises to directly above to take an image of the terminal 03. If it is detected as a defective product, it instructs the gripper to remove it again and discard it. After the defect filtering is completed, the rotating member 31a is driven to finely adjust the angle of the receiving seat 31b based on visual feedback. The qualified terminal 03 with the correct posture is driven by the transverse transmission component 41 to slide the slider 44. The flipping member 45 completes the horizontal-vertical flipping during the process. The longitudinal transmission component 42 descends to suspend the terminal 03. The wire harness stops at the position to be inserted into the casing. At this time, the wire harness is fixed by the wire harness clamp 51. The toothed block 52a opens to coarsely divide the wire harness under the action of the third driving component. The wire harness positioning block 52b is finely clamped by the fourth driving component to achieve centering and outputs a "wire harness in place" signal. The fifth driving component drives the clamping block 62a to grab the two middle wire cores 02. The turntable 62b rotates them synchronously to the set angle. Then, multiple wire core 02 clamping components extend at the same time, each correcting and straightening all the remaining wire cores 02 so that their center line coincides with the axis of the terminal 03 hole and the tension is balanced. After the controller confirms that the tension data of all wire cores 02 are qualified, the longitudinal transmission component 42 moves down again. The slender sensor on the conveying clamp 43 passes through the terminal 03 cavity to detect the position and conduction status of the wire cores 02 in real time. After confirming that there is no error, the clamp continues to apply pressure to complete the insertion or crimping, and samples the insertion force curve and conduction resistance value in real time to determine the quality. Good products are released and transported to the next process. If the force-electric parameters are abnormal, an alarm is triggered and the product is stopped for rework.

[0042] Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A multi-wire harness and terminal assembly apparatus, characterized by, include: frame; A terminal feeding mechanism includes a vibratory feeder and a cutting assembly disposed at the output end of the vibratory feeder, the cutting assembly separating individual terminals; A terminal detection mechanism includes a terminal placement assembly, a terminal transfer assembly that transfers terminals from the cutting assembly to the terminal placement assembly, the terminal transfer assembly including a lateral sliding member and a longitudinal sliding member, and a visual recognition assembly for detecting the quality of terminals and the placement angle of terminals on the terminal placement assembly, the terminal placement assembly also including a rotating member; The terminal conveying mechanism includes a transverse transmission assembly, a longitudinal transmission assembly connected to the transverse transmission assembly, and a conveying gripper fixed to the longitudinal transmission assembly. The wire harness feeding mechanism includes a wire harness gripper for holding the wire harness and a positioning component for positioning the inner core of the wire harness; The wire harness insertion mechanism includes multiple wire core clamping assemblies and a wire core rotating assembly. The wire core clamping assembly includes a wire core gripper for clamping a single wire core on the positioning assembly, and a second driving member for driving the wire core gripper to move relatively closer to or further away from the positioning assembly. The terminal placement assembly includes a receiving seat disposed on the frame for placing terminals, and a first clamping member disposed on one side of the receiving seat for clamping the terminals. The receiving seat on the frame can be moved toward the terminals, and the terminal transfer assembly can be relatively close to or away from the terminals. The receiving base and the frame are connected by a rotating component, which is connected to the visual recognition component and is used to rotate the terminal angle on the receiving base; The positioning component includes two opposing toothed blocks, a third driving member that drives the two toothed blocks to move closer or further apart, and two wire harness positioning blocks disposed between the toothed blocks and the wire harness clamp. The wire harness positioning blocks also include a fourth driving member that drives the two wire harness positioning blocks to move closer or further apart. The wire core rotating assembly includes a clamping block for holding the wire core, a turntable for rotating the clamping block by a set angle, and a fifth driving member for driving the clamping block to move relatively closer to or away from the toothed block. The clamping block has at least two wire core fixing slots. The wire core rotating assembly clamps and rotates the sequentially arranged intermediate wire cores to a set position.

2. The multi-wire harness and terminal assembly apparatus of claim 1, wherein, The cutting assembly includes an output seat connected to the output end of the vibratory feeder, and a first driving member fixedly connected to the output seat. The first driving member drives the output seat to move perpendicular to the extension direction of the vibratory feeder, and the terminal is away from the vibratory feeder.

3. The multi-wire harness and terminal assembly apparatus of claim 1, wherein, The receiving seat also includes an elastic compression member disposed on the frame, one end of which is connected to the receiving seat and the other end of which is connected to the frame.

4. The multi-wire harness and terminal assembly apparatus of claim 1, wherein, The terminal conveying mechanism further includes a slider slidably connected to the transverse transmission assembly, a flipping member rotatably connected to the slider, the longitudinal transmission assembly connected to the other end of the flipping member, and a conveying gripper connected to the other end of the longitudinal transmission assembly.

5. The multi-wire harness and terminal assembly apparatus of claim 1, wherein, The conveying gripper has multiple sensors that pass through the terminal to the interior of the terminal and are used to contact the wire core.

6. A method of assembling a multi-wire harness with terminals, characterized by, Using the multi-wire harness and terminal assembly apparatus as described in any one of claims 1 to 5, the method includes the following steps: The vibratory feeder delivers the terminals to the cutting assembly, which cuts out the terminals individually. The terminal transfer assembly removes the terminal from the cutting assembly, transfers it to the terminal placement assembly, and presses the terminal to make it fit against the terminal placement assembly; The visual recognition component moves to the terminal placement component to detect the terminal and determine whether it is a defective product. If so, it is picked up and discarded by the terminal conveying mechanism. If not, it determines whether the terminal placement angle is correct. If not, it rotates the terminal angle to the set position. The terminal identified by the visual recognition component is then transported to the position to be penetrated by the terminal conveying mechanism. The wire harness is fixed using the wire harness feeding mechanism, and the inner cores arranged in sequence are positioned using the positioning component; The two middle wires arranged in sequence are clamped and rotated to a set position by the wire core rotation assembly; each wire core is clamped to a set position by multiple wire core clamping assemblies respectively. The terminal on the terminal conveying mechanism is conveyed to the wire core position, so that the wire core is inserted into the terminal, thus completing the assembly of the multi-wire harness and the terminal.

Images