A system and method for vision inspection of the end of a wire harness

Abstract

The application discloses a kind of multi-prism combination's wire harness end visual detection system, including vision camera, optical reflection path constraint unit and prism combination clamp;Optical reflection path constraint unit is between prism combination clamp and vision camera;Prism combination clamp includes wire harness end clamping unit, left-right symmetrical a prism and b prism;The state that wire harness end clamping unit just clamps wire harness, and the wire harness end of wire harness is horizontally centered between a prism and b prism;Optical reflection path constraint unit includes left-right symmetrical c prism and d prism, and the reflecting surface of the side of c prism and d prism to each other is respectively c reflecting surface and d reflecting surface;Make single static vision camera cooperate combined prism structure can also obtain the image of wire harness end upper, left, right four orientations.

Description

Technical Field

[0001] This invention belongs to the field of wire harness testing. Background Technology

[0002] In the quality control process of wire harness production, accurate inspection of the wire harness ends is a crucial step, as it directly affects the reliability and safety of wire harness connections.

[0003] Currently, using visual inspection technology to achieve this automated inspection has become the mainstream method. However, in order to obtain a complete omnidirectional view of the wire harness end (usually including its top, bottom, and left and right side surfaces), multiple industrial cameras must be deployed to work together from different angles. This means that for each inspection station, multiple sets of visual camera systems need to be configured to cooperate and work together. For example, the top camera is used to shoot the top, the bottom camera to shoot the bottom, and the left and right cameras to shoot the sides respectively to meet the requirement of image acquisition from all key directions of the end.

[0004] This multi-camera configuration required to capture information in four directions inevitably increases the overall hardware cost of the vision system. Each additional camera not only incurs its own procurement costs but also involves increased complexity and cost associated with related brackets, light sources, triggering devices, wiring, system integration, calibration, and maintenance. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a visual inspection system and method for wire harness ends with a combination of prisms, so that a single static visual camera can obtain images of the wire harness ends in four directions (up, down, left, and right) by combining the prism structure.

[0006] Technical solution: To achieve the above objectives, the present invention provides a visual inspection system for wire harness ends using a multi-prism combination, comprising a visual camera, an optical reflection path constraint unit, and a prism combination fixture; the optical reflection path constraint unit is located between the prism combination fixture and the visual camera.

[0007] The prism assembly fixture includes a wire harness end clamping unit, and two symmetrical a-prisms and b-prisms. When the wire harness end clamping unit is holding the wire harness, the wire harness end is horizontally centered between the a-prism and the b-prism.

[0008] The optical reflection path constraint unit includes c-prisms and d-prisms symmetrically arranged on the left and right sides. The reflection surfaces of the c-prisms and d-prisms on the side closest to each other are the c-reflection surface and the d-reflection surface, respectively.

[0009] A vertically connected optical path is formed between the c-reflecting surface and the d-reflecting surface, which is narrower at the top and wider at the bottom.

[0010] The lens of the vision camera is located on the upper side of the optical path.

[0011] The reflective surfaces of prisms a and b, which are close to each other, are left-right symmetrical reflective surfaces a and b, respectively. When the bundle end clamping unit just clamps the bundle, reflective surfaces a and b are directly above prisms c and d, respectively.

[0012] Furthermore, with reflective surfaces a and b directly above prisms c and d respectively, the reflected light from the upper side of the wire bundle end passes directly upward through the optical path and enters the center of the field of view of the vision camera lens.

[0013] The reflected light from the left side of the wire harness end is reflected to the left by reflective surface a and then propagates vertically upward. After being reflected by reflective surface c, it is deflected to the right and enters the center-left area of ​​the field of view of the vision camera lens.

[0014] The reflected light from the right side of the wire harness end is reflected to the right by the b-reflector and then propagates vertically upward. After being reflected by the d-reflector, it is deflected to the left and enters the center-right region of the field of view of the vision camera lens.

[0015] Furthermore, reflective surfaces a and b are symmetrical and both form a 45° angle with the horizontal plane; reflective surfaces c and d are symmetrical and both form an 80° angle with the horizontal plane.

[0016] Furthermore, the sides of prism a and prism b that are far apart from each other are fixed to prism a support and prism b support respectively.

[0017] Below prism support a and prism support b is a fixed platform. Prism support a is fixed on the fixed platform, while prism support b moves in conjunction with the fixed platform.

[0018] Furthermore, it also includes a horizontal displacement drive device that can drive the beta prism and the beta prism support to translate left and right.

[0019] Furthermore, the prism assembly fixture also includes a wire harness clamp, b wire harness clamp, a clamp arm, b clamp arm, lifting guide beam, slider, and guide beam support.

[0020] The guide rail beam support is horizontally fixed to one side of the fixed platform. The lifting guide rail beam is parallel to the upper part of the fixed platform. The upper right part of the lifting guide rail beam is provided with a guide groove along the length direction. The slider is at the right end of the guide groove. A thrust spring a is provided in the guide groove to apply an elastic thrust to the right to the slider. The lower end of the a gripper arm is fixedly connected to the left part of the lifting guide rail beam. The lower end of the b gripper arm is fixedly connected to the slider. The a wire harness gripper and the b wire harness gripper are respectively fixedly installed on the upper ends of the a gripper arm and the b gripper arm.

[0021] A slanted raceway is attached to one side edge of the b reflector parallel to the contour. The slanted raceway is fixed to the b prism support. A roller rolls tangentially on the slanted raceway. The roller is mounted on a roller bracket and the roller bracket is fixed to the tail of the b wire harness clamp.

[0022] Both ends of the lifting guide beam are fixed with upward-extending lifting guide rods. Each lifting guide rod has a ball bearing guide sleeve movably fitted at its upper end. The ball bearing guide sleeve is fixedly connected to the guide beam support through the structural arm. Each lifting guide rod is fitted with a b spring, and each b spring applies a downward elastic force to the lifting guide beam.

[0023] Initially, the a-type wire harness clamp and the b-type wire harness clamp are far apart; the wire harness end can pass smoothly between the a-type wire harness clamp and the b-type wire harness clamp.

[0024] Furthermore, based on the initial state, the b-prism and b-prism support shift to the left. The leftward horizontal component of the inclined raceway bar on the roller overcomes the thrust of the a-thrust spring, thereby causing the slider to gradually move to the left. During the leftward movement of the slider, the upward component of the inclined raceway bar on the roller is insufficient to overcome the gravity of the lifting guide beam and the downward thrust of the two b-springs.

[0025] Furthermore, a method for operating a visual inspection system for wire harness ends using a combination of prisms:

[0026] Step 1, in the initial state.

[0027] Step 2: Successfully pass the end of the wire harness to be tested between the wire harness clamps a and b, which are currently far apart.

[0028] Step 3: The horizontal displacement drive device drives the b prism and b prism support to move to the left, and the inclined roller pushes the roller to move to the left, so that the slider moves to the left and carries the b wire harness clamp to gradually approach the a wire harness clamp until the wire harness is clamped between the a wire harness clamp and the b wire harness clamp.

[0029] The lens of the vision camera simultaneously captures images of the upper left and right sides of the wire harness end, thereby enabling simultaneous visual detection of the upper left and right sides of the wire harness end. So far, the lower side of the wire harness end has not yet been captured.

[0030] Step four: The horizontal displacement drive device drives the b prism and b prism support to continue to move to the left, causing the end of the wire harness clamped between the a wire harness clamp and the b wire harness clamp to rise; when the b prism moves to the left until its lower limit contacts the lower end of the a prism, the end of the wire harness also rises to the height of the upper end of the b prism.

[0031] The vision camera obtains an image of the underside of the wire harness end, thereby enabling visual inspection of the underside of the wire harness end.

[0032] Beneficial effects: The structure of the present invention integrates "step three" to "step four", which enables a single static vision camera to obtain images from the top, bottom, left and right sides of the wire harness end in combination with the combined prism structure. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of this solution;

[0034] Figure 2 This is a schematic diagram of the optical path in the "Step 3" state;

[0035] Figure 3 This is a schematic diagram of the optical path in the "Step Four" state;

[0036] Figure 4 This is a three-dimensional schematic diagram of the overall scheme;

[0037] Figure 5 This is a diagram showing the states of "Step 1" and "Step 2";

[0038] Figure 6 This is a schematic diagram showing the states of "Step Three" and "Step Four";

[0039] Figure 7 The lens of the vision camera simultaneously captures specific images of the upper left and right sides of the wire harness end. Detailed Implementation

[0040] The invention will now be further described with reference to the accompanying drawings.

[0041] As attached Figures 1 to 7 The illustrated example is a multi-prism combination wire harness end vision inspection system, such as... Figure 1 and 4 As shown, it includes a downward-facing visual camera 33, an optical reflection path constraint unit 32, and a prism assembly fixture 31; the optical reflection path constraint unit 32 is located between the prism assembly fixture 31 and the visual camera 33; the prism assembly fixture 31 includes a wire harness end clamping unit, and left-right symmetrical a prism 2 and b prism 15; when the wire harness end clamping unit just clamps the wire harness 13, the wire harness end 13b of the wire harness 13 is horizontally centered between the a prism 2 and the b prism 15.

[0042] like Figure 2 The optical reflection path constraint unit 32 includes a vertically connected prism box. A c-prism and a d-prism 36 are symmetrically arranged on the left and right sides inside the prism box. The reflection surfaces of the c-prism and the d-prism 36 on the side closest to each other are the c-reflection surface 37 and the d-reflection surface 38, respectively. A vertically connected optical path channel 34 with a narrow upper surface and a wide lower surface is formed between the c-reflection surface 37 and the d-reflection surface 38. The lens of the vision camera 33 is located directly above the optical path channel 34.

[0043] The reflective surfaces of prism 2 and prism 15, which are close to each other, are symmetrical reflective surface 22 and reflective surface 18, respectively. When the bundle end clamping unit just clamps the wire bundle 13, reflective surface 22 and reflective surface 18 are directly above prism c and prism 36, respectively.

[0044] When reflective surfaces a and b are directly above prisms c and d (36), respectively, as shown... Figure 2 As shown, the reflected light from the upper side of the wire harness end 13b passes directly upward through the optical path channel 34 and enters the center of the field of view of the vision camera 33.

[0045] The reflected light from the left side of the wire harness end 13b is reflected to the left by the a reflective surface 22 and then propagates vertically upward. After being reflected by the c reflective surface 37, it is deflected to the right and enters the center-left area of ​​the field of view of the vision camera 33.

[0046] The reflected light from the right side of the wire harness end 13b is reflected to the right by the b reflector 18 and then propagates vertically upward. After being reflected by the d reflector 38, it is deflected to the left and enters the center-right area of ​​the field of view of the vision camera 33.

[0047] The lens of the vision camera 33 simultaneously captures images of the upper left and right sides of the wire harness end 13b.

[0048] The optically rarer medium for this prism combination is air or vacuum; the optically denser medium is glass; the critical angle C ≈ arcsin(1 / 1.5) ≈ 41.8°

[0049] Refractive index relationship: The interface between the prism glass (n≈1.5-1.8) and air (nair≈1.0) satisfies this condition. Angle requirement: Angle of incidence ≥ critical angle; when the angle of incidence increases to the angle of refraction of 90°, the refracted light disappears, leaving only the reflected light. This angle of incidence is the critical angle C.

[0050] In this design, reflector a22 and reflector b18 are symmetrical and both form a 45° angle with the horizontal plane; reflector c37 and reflector d38 are symmetrical and both form an 80° angle with the horizontal plane. All meet the conditions for total internal reflection.

[0051] like Figure 5 and 6 As shown, the sides of prism a2 and prism b15 that are far apart from each other are fixed on prism a support 1 and prism b support 15 respectively; a fixed platform 24 is located below prism a support 1 and prism b support 17, prism a2 is fixed on fixed platform 24, and prism b support 17 is movably engaged with fixed platform 24; it also includes a horizontal displacement drive device 80 that can drive prism b15 and prism b support 17 to translate left and right.

[0052] The prism assembly fixture 31 also includes a wire harness clamp 7, b wire harness clamp 20, a clamp arm 25, b clamp arm 11, lifting guide beam 27, slider 6, and guide beam support 26.

[0053] The guide rail beam support 26 is horizontally fixed to one side of the fixed platform 24. The lifting guide rail beam 27 is parallel and limited to contact the upper side of the fixed platform 24. The upper right part of the lifting guide rail beam 27 is provided with a guide groove 5 along the length direction. The slider 6 is at the right end of the guide groove 5. The guide groove 5 is provided with a thrust spring 30 that applies an elastic thrust to the right of the slider 6. The lower end of the a gripper arm 25 is fixedly connected to the left part of the lifting guide rail beam 27. The lower end of the b gripper arm 11 is fixedly connected to the slider 6. The a wire harness gripper 7 and the b wire harness gripper 20 are respectively fixedly installed on the upper ends of the a gripper arm 25 and the b gripper arm 11.

[0054] A slanted raceway 19 is attached to one side edge of the b reflector 18 along the contour. The slanted raceway 19 is fixed on the b prism support 17. A roller 16 rolls tangentially on the slanted raceway 19. The roller 16 is rotatably mounted on the roller bracket 10. The roller bracket 10 is fixed to the tail of the b wire harness clamp 20.

[0055] Both ends of the lifting guide beam 27 are fixed with upwardly extending lifting guide rods 29. Each lifting guide rod 29 has a ball bearing guide sleeve 23 movably sleeved on its upper end. The ball bearing guide sleeve 23 is fixedly connected to the guide beam support 26 through the structural arm 4. Each lifting guide rod 29 is sleeved with a b spring 3, and each b spring 3 applies a downward elastic force to the lifting guide beam 27.

[0056] In the initial state, the a-wire harness clamp 7 and the b-wire harness clamp 20 are far apart from each other; the wire harness end 13b of the wire harness 13 can pass smoothly between the a-wire harness clamp 7 and the b-wire harness clamp 20.

[0057] Working principle:

[0058] Step 1: In the initial state, the slider 6 is at the right end of the guide groove 5, and the wire harness clamp 7 and the wire harness clamp 20 are in a state of being far apart from each other.

[0059] Step 2: The wire harness end 13b of the wire harness 13 to be tested is smoothly passed between the wire harness clamp 7 and the wire harness clamp 20, which are in a state of being far apart, by means of a robotic arm or manual operation, so that the wire harness end 13b reaches between the prism 2 and the prism 15.

[0060] Step 3: The horizontal displacement drive device 80 drives the b-prism 15 and b-prism support 17 to move to the left. At this time, the leftward horizontal component of the inclined raceway 19 on the roller 16 is sufficient to overcome the thrust of the a-thrust spring 30, thereby causing the slider 6 to gradually move to the left. During the leftward movement of the slider 6, the upward component of the inclined raceway 19 on the roller 16 is insufficient to overcome the weight of the lifting guide beam 27 and the downward thrust of the two b-springs 3. Therefore, during the leftward movement of the slider 6, the height of the lifting guide beam 27 remains unchanged. During the leftward movement of the slider 6, the b-wire harness clamp... As wire harness 13 gradually moves to the left towards the a-wire harness clamp 7, it is clamped between the a-wire harness clamp 7 and the b-wire harness clamp 20. At this time, the wire harness end 13b of the wire harness 13 is horizontally centered between the a-prism 2 and the b-prism 15, and its height is at the waist position of the a-prism 2 and the b-prism 15. The clamping force between the a-wire harness clamp 7 and the b-wire harness clamp 20 is converted from the gravity of the lifting guide beam 27 and the thrust of the two b-springs 3. Therefore, the clamping force between the a-wire harness clamp 7 and the b-wire harness clamp 20 is non-rigid, thereby avoiding damage to the outer sheath of the wire harness by rigid clamping.

[0061] like Figure 2 As shown, at this time, the reflected light from the upper side of the wire harness end 13b passes directly upward through the optical path channel 34 and enters the center of the field of view of the vision camera 33.

[0062] The reflected light from the left side of the wire harness end 13b is reflected to the left by the a reflective surface 22 and then propagates vertically upward. After being reflected by the c reflective surface 37, it is deflected to the right and enters the center-left area of ​​the field of view of the vision camera 33.

[0063] The reflected light from the right side of the wire harness end 13b is reflected to the right by the b reflector 18 and then propagates vertically upward. After being reflected by the d reflector 38, it is deflected to the left and enters the center-right area of ​​the field of view of the vision camera 33.

[0064] The lens of the vision camera 33 simultaneously captures images from the upper left and right sides of the wire harness end 13b, as shown in the image below. Figure 7 As shown, this enables simultaneous visual inspection of the upper left and right sides of the wire harness end 13b. So far, the lower side of the wire harness end 13b has not been captured.

[0065] Step four: The horizontal displacement drive device 80 drives the b-prism 15 and b-prism support 17 to continue to move to the left. Since the a-wire harness clamp 7 and the b-wire harness clamp 20 have already clamped the wire harness 13, the b-wire harness clamp 20 cannot continue to move to the left. At this time, the upward component of the force of the inclined roller 19 on the roller 16 overcomes the gravity of the lifting guide beam 27 and the downward pushing force of the two b-springs 3, causing the roller 16 to roll upward along the inclined roller 19. As a result, the lifting guide beam 27 rises under the action of the upward component of the force of the inclined roller 19 on the roller 16, thereby causing the wire harness end 13b of the wire harness 13 clamped between the a-wire harness clamp 7 and the b-wire harness clamp 20 to rise. When the b-prism 15 moves to the left until the lower end limit contacts the lower end of the a-prism 2, the wire harness end 13b of the wire harness 13 also rises to the height of the upper end of the b-prism 15. Figure 3 and Figure 6 As shown in the image below;

[0066] like Figure 3 As shown, at this time, the light reflected from the lower side of the wire harness end 13b propagates horizontally to the left after being reflected by the b-reflecting surface 18, then propagates vertically upward after being reflected by the a-reflecting surface 22, and then deflects to the right after being reflected by the c-reflecting surface 37 before entering the center-left area of ​​the field of view of the vision camera 33, as shown. Figure 3 As shown, this enables the vision camera 33 to obtain an image of the lower side of the wire harness end 13b, thereby achieving visual detection of the lower side of the wire harness end 13b.

[0067] The technical objective of combining "Steps 3" to "Steps 4" is to enable a single static vision camera 33 to obtain images from the top, bottom, left, and right directions of the wire harness end 13b.

[0068] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A visual inspection system for wire harness ends using a combination of prisms, characterized in that: It includes a vision camera (33), an optical reflection path constraint unit (32), and a prism assembly fixture (31); the optical reflection path constraint unit (32) is located between the prism assembly fixture (31) and the vision camera (33); The prism assembly fixture (31) includes a wire harness end clamping unit, a prism (2) and a prism (15) symmetrically arranged on the left and right sides; when the wire harness end clamping unit just clamps the wire harness (13), the wire harness end (13b) of the wire harness (13) is horizontally centered between the a prism (2) and the b prism (15). The optical reflection path constraint unit (32) includes a c-prism and a d-prism (36) symmetrically arranged on the left and right sides. The reflection surfaces of the c-prism and the d-prism (36) on the side closest to each other are the c-reflection surface (37) and the d-reflection surface (38), respectively. A vertically connected optical path (34) is formed between the c-reflecting surface (37) and the d-reflecting surface (38), which is narrow at the top and wide at the bottom. The lens of the vision camera (33) is located on the upper side of the optical path channel (34); The reflective surfaces of the a-prism (2) and the b-prism (15) on the side closest to each other are the left-right symmetrical a-reflective surface (22) and b-reflective surface (18); when the wire harness end clamping unit just clamps the wire harness (13), the a-reflective surface (22) and the b-reflective surface (18) are located directly above the c-prism and the d-prism (36), respectively. With reflector a (22) and reflector b (18) positioned directly above prism c and prism d (36), respectively: The reflected light from the upper side of the end (13b) of the wire harness passes directly upward through the optical path channel (34) and then enters the center of the field of view of the lens of the vision camera (33). The reflected light from the left side of the end of the wire harness (13b) is reflected to the left by the a reflective surface (22) and then propagates vertically upward. After being reflected by the c reflective surface (37), it is deflected to the right and enters the central-left area of ​​the field of view of the vision camera (33). The reflected light from the right side of the end of the wire harness (13b) is reflected to the right by the b reflective surface (18) and then propagates vertically upward. After being reflected by the d reflective surface (38), it is deflected to the left and enters the central-right area of ​​the field of view of the vision camera (33). The sides of prism a (2) and prism b (15) that are far apart from each other are fixed on prism a support (1) and prism b support (17) respectively; Below the a-prism support (1) and the b-prism support (17) is a fixed platform (24). The a-prism support (1) is fixed on the fixed platform (24), and the b-prism support (17) is movablely engaged with the fixed platform (24). The prism assembly fixture (31) also includes a wire harness clamp (7), b wire harness clamp (20), a clamp arm (25), b clamp arm (11), lifting guide beam (27), slider (6), and guide beam support (26). The guide rail beam support (26) is horizontally fixed on one side of the fixed platform (24), the lifting guide rail beam (27) is parallel to the upper side of the fixed platform (24), the upper right part of the lifting guide rail beam (27) is provided with a guide groove (5) along the length direction, the slider (6) is located at the right end of the guide groove (5), and a thrust spring (30) is provided in the guide groove (5) to apply an elastic thrust to the slider (6) to the right; the lower end of the a gripper arm (25) is fixedly connected to the left part of the lifting guide rail beam (27), the lower end of the b gripper arm (11) is fixedly connected to the slider (6), and the a wire harness gripper (7) and the b wire harness gripper (20) are respectively fixedly installed on the upper ends of the a gripper arm (25) and the b gripper arm (11); A slanted raceway (19) is attached to one side edge of the b reflector (18) along the contour. The slanted raceway (19) is fixed on the b prism support (17). A roller (16) rolls tangentially on the slanted raceway (19). The roller (16) is rotatably mounted on the roller bracket (10). The roller bracket (10) is fixed at the tail of the b wire harness clamp (20). Both ends of the lifting guide beam (27) are fixed with upwardly extending lifting guide rods (29). Each lifting guide rod (29) is movably fitted with a ball guide sleeve (23) at its upper end. The ball guide sleeve (23) is fixedly connected to the guide beam support (26) through the structural arm (4). Each lifting guide rod (29) is fitted with a b spring (3). Each b spring (3) applies a downward elastic force to the lifting guide beam (27). In the initial state, the a-wire harness clamp (7) and the b-wire harness clamp (20) are far apart from each other; the wire harness end (13b) of the wire harness (13) can pass smoothly between the a-wire harness clamp (7) and the b-wire harness clamp (20).

2. The wire harness end vision inspection system based on a multi-prism combination according to claim 1, characterized in that: Reflecting surfaces a (22) and b (18) are symmetrical and both form an angle of 45° with the horizontal plane; reflecting surfaces c (37) and d (38) are symmetrical and both form an angle of 80° with the horizontal plane.

3. The wire harness end vision inspection system based on a multi-prism combination according to claim 2, characterized in that: It also includes a horizontal displacement drive device (80) that can drive the b-prism (15) and the b-prism support (17) to translate left and right.

4. The wire harness end vision inspection system based on a multi-prism combination according to claim 3, characterized in that: Based on the initial state, the b prism (15) and b prism support (17) are displaced to the left. The horizontal leftward component of the inclined roller bar (19) on the roller (16) overcomes the thrust of the a thrust spring (30), thereby causing the slider (6) to gradually move to the left. During the leftward movement of the slider (6), the upward component of the inclined roller bar (19) on the roller (16) is insufficient to overcome the gravity of the lifting guide beam (27) and the downward thrust of the two b springs (3).

5. The working method of the wire harness end vision inspection system with multi-prism combination according to claim 4, characterized in that: Step 1, in the initial state; Step 2: Pass the end (13b) of the wire harness (13) to be tested smoothly between the wire harness clamp (7) and the wire harness clamp (20) which are in a state of being far apart; Step 3: The horizontal displacement drive device (80) drives the b prism (15) and the b prism support (17) to move to the left, and the inclined roller (19) pushes the roller (16) to the left to move to the left, so that the slider (6) moves to the left and carries the b wire harness clamp (20) to gradually approach the a wire harness clamp (7) to the left until the wire harness (13) is clamped between the a wire harness clamp (7) and the b wire harness clamp (20); The lens of the visual camera (33) simultaneously captures images of the upper left and right sides of the wire harness end (13b), thereby enabling simultaneous visual detection of the upper left and right sides of the wire harness end (13b). So far, the lower side of the wire harness end (13b) has not been captured. Step four, the horizontal displacement drive device (80) drives the b prism (15) and the b prism support (17) to continue to move to the left, so that the wire harness end (13b) of the wire harness (13) clamped between the a wire harness clamp (7) and the b wire harness clamp (20) moves upward; when the b prism (15) moves to the left until the lower end limit contacts the lower end of the a prism (2), the wire harness end (13b) of the wire harness (13) also rises to the height of the upper end of the b prism (15); The visual camera (33) obtains an image of the underside of the wire harness end (13b), thereby enabling visual detection of the underside of the wire harness end (13b).

Images