Wire harness terminal automatic alignment plugging device and method

Abstract

The invention provides an automatic alignment plugging device and method for a wire harness terminal, the automatic alignment plugging device for the wire harness terminal comprises a driving wheel and two follower wheels, the axis position of the driving wheel is fixed, and the driving wheel rotates around the axis of the driving wheel; the axes of the two follower wheels are parallel to the axis of the driving wheel, and the axes of the two follower wheels are adjusted in the radial direction. The wire harness is arranged between the driving wheel and the two follower wheels, and the axis of the wire harness is automatically aligned with the axis of the connector hole site through radial adjustment of the two follower wheels, so that the alignment process can be simplified, and the plugging efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wire harness terminal insertion, in particular to a wire harness terminal automatic alignment insertion device and method. BACKGROUND

[0002] In the wire harness manufacturing process, the accurate insertion of the wire harness terminal and the connector hole position is a key process to ensure the reliability of electrical connection. In the traditional process, the wire harness terminal is usually arranged in the outlet bin by manual, and then grabbed by the mechanical hand and inserted into the corresponding hole position of the connector. However, due to the influence of material elasticity and other factors, the position of the wire harness in the outlet bin is not fixed, which causes the mechanical hand to need additional adjustment of the corresponding pipeline of the terminal and the connection hole after grabbing the wire harness, so as to ensure that the terminal can be accurately inserted into the hole position.

[0003] For example, the outlet bin disclosed in patent document CN105612591B is composed of a plurality of plastic parts arranged along the length direction, and the adjacent plastic parts are used for arranging the wire harness. Although this structure can provide a certain wire harness positioning function, due to the elastic properties of the plastic parts, the position of the wire harness in the outlet bin still exists floating, and the mechanical hand still needs additional alignment adjustment after grabbing the wire harness, which increases the complexity and time cost of the insertion process, and affects the production efficiency. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art, and provide a wire harness terminal automatic alignment insertion device and method, which can simplify the alignment process and improve the insertion efficiency.

[0005] In order to achieve the above purpose, the present application provides the following technical scheme: A wire harness terminal automatic alignment insertion device, comprising: A driving wheel, the axis position of the driving wheel is fixed, and the driving wheel rotates around its axis; Two follow-up wheels, the axes of the two follow-up wheels are parallel to the axis of the driving wheel, and the axes of the two follow-up wheels are adjusted along the radial direction; The wire harness is arranged between the driving wheel and the two follow-up wheels, and the axis of the wire harness is automatically aligned with the axis of the connector hole position through the radial adjustment of the two follow-up wheels.

[0006] As a preferred embodiment, it further comprises: Two adjustment supports, the two adjustment supports are arranged on the upper and lower sides of the driving wheel, the adjustment support rotates around its fixed support point, and the end of the adjustment support is provided with the follow-up wheel; Two elastic elements, the elastic elements are connected with the adjustment support, and are used for providing the elastic force of the follow-up wheel pressing the wire harness.

[0007] As a preferred embodiment, further comprising: a power, which is in driving connection with the driving wheel, for driving the driving wheel to rotate around its axis.

[0008] As a preferred embodiment, the axis of the power is parallel to or coincides with the axis of the driving wheel.

[0009] As a preferred embodiment, the axis of the power is perpendicular to the axis of the driving wheel.

[0010] As a preferred embodiment, further comprising: a main helical gear, which is connected with the power; a slave helical gear, which is connected with the driving wheel, and which is in mesh with the main helical gear.

[0011] As a preferred embodiment, further comprising: a plurality of guide wheels, which are arranged along the conveying direction of the wire harness, and the axis of the guide wheels is perpendicular to the axis of the wire harness; a moving mechanism, which is used to drive the guide wheels to approach or move away from the wire harness, wherein the guide wheels are in close contact with the surface of the wire harness under the driving of the moving mechanism, for limiting the displacement of the wire harness in the axis direction of the connector hole.

[0012] As a preferred embodiment, the plurality of guide wheels are divided into: a first group of guide wheels, which are arranged on one side of the axis of the driving wheel, and which include two guide wheels respectively in close contact with the upper and lower surfaces of the wire harness; a second group of guide wheels, which are arranged on the other side of the axis of the driving wheel, and which include two guide wheels respectively in close contact with the upper and lower surfaces of the wire harness.

[0013] As a preferred embodiment, further comprising: a camera, which is used to take pictures of the wire harness arranged between the driving wheel and the two slave wheels.

[0014] A method for automatic alignment and insertion of wire harness terminals, comprising the following steps: feeding the wire harness into the space between the driving wheel and the two slave wheels; adjusting the radial direction of the slave wheels so that the circumferential surface of the wire harness is in close contact with the surface of the driving wheel and the slave wheels respectively; driving the driving wheel to rotate and bring the wire harness to rotate, so as to realize the automatic alignment of the axis of the wire harness with the connector hole; inserting the aligned wire harness terminals into the connector hole by a mechanical hand.

[0015] Compared with the prior art, the technical scheme has the following advantages: Through cooperation of the driving wheel and the follower wheel, the wire can be automatically aligned with the connector hole position, without additional adjustment by the mechanical hand, greatly shortening the plugging time and improving the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural schematic view of a first embodiment of the wire harness terminal automatic alignment plugging device. Figure 2 It is a structural schematic view of a second embodiment of the wire harness terminal automatic alignment plugging device. Figure 3 It is a structural schematic view of a third embodiment of the wire harness terminal automatic alignment plugging device.

[0017] In the figure: 10 driving wheel, 20 follower wheel, 30 adjustment support, 31 fixed fulcrum, 40 power, 51 main bevel gear, 52 slave bevel gear, 60 guide wheel, 61 first group of guide wheels, 62 second group of guide wheels, 70 camera, 100 wire harness, 200 wire harness terminal. DETAILED DESCRIPTION

[0018] The following description is used to disclose the present application so that those skilled in the art can implement the present application. The preferred embodiments in the following description are only as examples, and other obvious modifications can be thought of by those skilled in the art. The basic principles defined in the following description can be applied to other embodiments, modifications, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present application.

[0019] In the related technical scenario, referring to Figure 2 , at least one end of the wire harness 100 is provided with a wire harness terminal 200, the wire harness terminal 200 is flat, and when the wire harness 100 and the connector hole position are plugged, the axis of the wire harness 100 needs to be aligned with the axis of the connector hole position first, which is the basis for ensuring the smooth progress of subsequent plugging. Then, the angle of the wire harness terminal 200 needs to be adjusted, so that the projection profile of the wire harness terminal 200 in the axial direction completely fits the corresponding cross-sectional profile of the connector hole position. Only in this way can the wire harness terminal 200 be smoothly plugged into the connector hole position.

[0020] However, the prior art uses plastic parts to arrange the wire harness, and in this arrangement, the position of the wire harness in the wire outlet bin still has a floating condition. This results in that the mechanical hand still needs to perform additional alignment adjustment operation after grabbing the wire harness. This additional operation step undoubtedly increases the complexity and time cost of the plugging process, and thus has an adverse effect on the overall production efficiency.

[0021] First embodiment With reference to Figure 1 Embodiments of the present application provide a wire harness terminal automatic alignment and insertion device, aiming to efficiently and accurately complete the insertion of wire harness terminals into connector hole positions, comprising: A driving wheel 10, the axis of the driving wheel 10 is fixed, and the driving wheel 10 rotates around its axis; Two follower wheels 20, the axes of the two follower wheels 20 are parallel to the axis of the driving wheel 10, and the axes of the two follower wheels 20 are adjusted radially; A wire harness 100 is arranged between the driving wheel 10 and the two follower wheels 20, and through the radial adjustment of the two follower wheels 20, the axis of the wire harness is automatically aligned with the axis of the connector hole position.

[0022] The wire harness 100 is sent between the driving wheel 10 and the two follower wheels 20, the radial position of the follower wheel 20 is automatically adjusted according to the position of the wire harness 100, and at the same time the driving wheel 10 drives the wire harness 100 to rotate, so that the axis of the wire harness 100 is aligned with the axis of the connector hole position. Then the mechanical hand grabs the aligned wire harness 100, moves axially to insert the wire harness terminal 200 on the wire harness 100 into the connector hole position, and completes the insertion. Through the cooperation of the driving wheel 10 and the follower wheel 20, the wire harness 100 is automatically aligned with the connector hole position, without additional adjustment of the mechanical hand, improving the insertion efficiency.

[0023] As Figure 1 shown, the axis of the driving wheel 10 and the axis of the connector hole position maintain a predetermined parallel relationship, and in combination with the radial adjustment of the axis of the follower wheel 20, the axis of the wire harness 100 is automatically aligned with the axis of the connector hole position, that is, the wire harness 100 and the connector hole position are coaxially arranged.

[0024] As Figure 1 shown, the driving wheel 10 is located on one side of the wire harness 100 in the radial direction, and the two follower wheels 20 are located on the other side of the wire harness 100 in the radial direction and arranged above and below, so that the wire harness 100 can be clamped between the driving wheel 10 and the two follower wheels 20, while ensuring the stability of clamping the wire harness 100, at this time the alignment of the axis of the wire harness terminal 200 with the axis of the connector hole position is realized.

[0025] When the wire harness 100 is clamped between the driving wheel 10 and the two follower wheels 20, the axis of the wire harness 100 is parallel to the axis of the driving wheel 10 and the axis of the follower wheels 20, so that the driving wheel 10 drives the wire harness 100 to rotate, and the follower wheels 20 rotate following the driving wheel 10, and the wire harness 100 is accurately aligned with the connector hole.

[0026] The driving wheel 10 and the two follower wheels 20 are kept in the same plane, and the clamping force of the driving wheel 10 and the two follower wheels 20 on the wire harness 100 can be uniformly distributed in the circumferential direction of the wire harness 100, and the driving wheel 10 and the follower wheels 20 can be better synchronized, avoiding the wire harness 100 from being twisted, so as to ensure that the axis of the wire harness 100 is aligned with the axis of the connector hole.

[0027] As shown in Figure 1 The wire harness terminal automatic alignment plug-in device further comprises: Two adjusting supports 30, the two adjusting supports 30 are arranged on the upper and lower sides of the driving wheel 10, the adjusting support 30 rotates around the fixed fulcrum 31, and the end of the adjusting support 30 is provided with the follower wheel 20. Two elastic elements, the elastic elements are connected with the adjusting support 30, and are used for providing elastic force for pressing the follower wheel 20 to the wire harness 100.

[0028] The fixed fulcrum 31 of the adjusting support 30 is provided with a rotating shaft, and the rotating shaft is fixed on the base, so that the adjusting support 30 rotates around the fixed fulcrum 31. The ends of the two adjusting supports 30 are located on the other side of the radial direction of the wire harness 100, so that the follower wheels 20 installed at the ends of the adjusting supports 30 are located on the other side of the radial direction of the wire harness 100.

[0029] The elastic element comprises a tension spring, and the two ends of the tension spring are connected with the base and the adjusting support respectively.

[0030] The adjusting support 30 on the upper side rotates downward under the action of the elastic element, so that the follower wheel 20 installed at the end of the adjusting support 30 also moves downward, thereby pressing the wire harness 100. In this way, the follower wheel 20 is adjusted in the axial direction in the radial direction.

[0031] The adjusting support 30 on the lower side rotates upward under the action of the elastic element connected thereto. Correspondingly, the follower wheel 20 installed at the end of the adjusting support 30 also moves upward and presses the wire harness 100.

[0032] The adjustment mechanism composed of the adjustment bracket 30 and the elastic element in the wire harness terminal automatic alignment and insertion device realizes stable clamping and accurate adjustment of the wire harness 100 by the follow-up wheel 20 through ingenious design and reasonable layout, and provides strong support for automatic alignment and insertion of the wire harness terminal 200. Since the follow-up wheel 20 can be adaptively adjusted, it can be applied to wire harnesses of different specifications and models.

[0033] As shown in Figure 1 , the wire harness terminal automatic alignment and insertion device further comprises: a power 40, which is in transmission connection with the driving wheel 10 and is used to drive the driving wheel 10 to rotate around its axis.

[0034] The power 40 can be a motor. The power 40 can be fixed on the base, and the output shaft of the power 40 is connected with the driving wheel 10, so that in the process of driving the driving wheel 10 to rotate by the power 40, the axis position of the driving wheel 10 is fixed, and the driving wheel 10 rotates around its axis.

[0035] The axis of the power 40 coincides with the axis of the driving wheel 10, that is, the output shaft of the power 40 coincides with the center of the power 40, at this time, the driving wheel 10 and the power 40 are arranged on one side of the wire harness 100 in the radial direction, so as not to affect the movement of the wire harness 100 in its axial direction to insert the wire harness terminal 100 of the wire harness 100 into the connector hole. In addition, the axis of the power 40 is parallel to the axis of the driving wheel 10, that is, the output shaft of the power 40 deviates from the center of the power 40, which provides more operation space for the axial movement of the wire harness 100.

[0036] Referring to Figure 1 , the driving wheel 10 is located between the connector and the power 40, the robot hand grasps one end of the wire harness 100 towards the connector, and drives the wire harness 100 to move along its axial direction and complete the insertion with the connector, that is, the wire harness terminal 200 connected at the end of the wire harness 100 is inserted into the connector hole. Since the power 40 is arranged on the side of the driving wheel 10 away from the connector, it will not interfere with the action of the robot hand grasping the wire harness 100.

[0037] In summary, through the cooperation of the driving wheel 10 and the follow-up wheel 20, the wire harness 100 can be automatically aligned with the connector hole without additional adjustment by the robot hand, greatly shortening the insertion time and improving the production efficiency.

[0038] Second embodiment As shown in Figure 2As shown, the automatic alignment and insertion device for wire harness terminals in the second embodiment differs from that in the first embodiment in that the automatic alignment and insertion device for wire harness terminals further includes: Multiple guide wheels 60 are spaced apart along the conveying direction of the wire harness 100, and the axis of the guide wheels 60 is perpendicular to the axis of the wire harness 100. A moving mechanism is provided to drive the guide wheel 60 to move closer to or away from the wire harness 100, wherein the guide wheel 60 is in contact with the surface of the wire harness 100 under the drive of the moving mechanism, thereby limiting the displacement of the wire harness 100 in the axial direction of the connector hole.

[0039] refer to Figure 2 The guide wheel 60 has a circumferential groove on its surface, and the wire harness 100 can be arranged inside the groove. When the robot arm grasps the wire harness 100 and performs the critical operation of inserting the wire harness terminal 200 into the connector hole, the groove can effectively constrain the wire harness 100, preventing the wire harness 100 from deviating during the insertion process. This significantly improves the accuracy and stability of the wire harness terminal 200 insertion, and further enhances the working efficiency and reliability of the entire automatic alignment and insertion device for wire harness terminals.

[0040] The moving mechanism may employ a cylinder, a motor, and a guide rail. The cylinder drives the guide wheel 60 to move closer to or away from the wire harness 100, the guide rail provides guiding support for the movement of the guide wheel 60, and the motor drives the guide wheel 60 to rotate.

[0041] like Figure 2 As shown, the multiple guide wheels are divided into 60 sections: The first set of guide wheels 61 is disposed on one side of the axial direction of the drive wheel 10, including two guide wheels 60 that are respectively attached to the upper and lower surfaces of the wire harness 100; The second set of guide wheels 62 is located on the other side of the axial direction of the drive wheel 10, and includes two guide wheels 60 that are respectively attached to the upper and lower surfaces of the wire harness 100.

[0042] The design of the upper and lower parts fitting together can form a stable clamping force. At the same time, when the drive wheel 10 drives the wire harness 100 to be transported, the first set of guide wheels 61 and the second set of guide wheels 62 play a certain guiding role to ensure that the wire harness 100 moves along the axial direction.

[0043] like Figure 2 As shown, the automatic alignment and insertion device for wire harness terminals further includes: Camera 70 is used to photograph the wire harness 100 arranged between the drive wheel 10 and the two follower wheels 20.

[0044] By analyzing the shape, position, and relative relationship with surrounding components of the wire harness 100, the control system can accurately determine the state of the wire harness 100, and then decide whether to start or pause the rotation of the driving wheel 10, and determine the time node of the movement of the moving mechanism.

[0045] In actual operation, first, the wire harness 100 is placed between the driving wheel 10 and the two driven wheels 20. At this time, the driving wheel 10 starts to rotate under the instruction of the control system. The driving wheel 10 and the driven wheel 20 cooperate with each other to drive the wire harness 100 to move through friction. In this process, the camera 70 continuously shoots images of the wire harness 100, and the control system adjusts the rotation speed and direction of the driving wheel 10 in real time according to the image feedback, to ensure that the axis of the wire harness 100 gradually aligns with the axis of the connector hole. At the same time, through precise control, the projection profile of the wire harness terminal 200 in the axial direction completely matches the cross-sectional profile corresponding to the connector hole, and this process requires very high precision, and the real-time monitoring and feedback of the camera 70 provide reliable guarantee for accurate alignment.

[0046] When the wire harness 100 reaches the ideal alignment state, the control system will issue an instruction to stop the rotation of the driving wheel 10 before the robot is ready to grasp the wire harness 100 and insert the wire harness terminal 200 into the connector hole. This operation is to prevent the rotation of the driving wheel 10 from causing the wire harness 100 to shift position during the robot's grasping and insertion, affecting the accuracy of the insertion.

[0047] Subsequently, the moving mechanism begins to play a role. The moving mechanism accurately controls the movement of the guide wheel 60 according to the parameters preset by the control system and the position information of the wire harness 100 fed back by the camera 70. The guide wheel 60 is slowly and accurately attached to the surface of the wire harness 100 under the drive of the moving mechanism. The attachment of the guide wheel 60 not only provides stable support for the wire harness 100 to prevent it from shifting position due to stress during the insertion process, but also serves as a guide to ensure that the wire harness 100 always maintains the correct position and posture during the robot's grasping and insertion. Finally, the robot grasps the wire harness 100 and accurately inserts the wire harness terminal 200 into the connector hole, completing the entire insertion process.

[0048] Third embodiment As shown in Figure 3 , the wire harness terminal automatic alignment and insertion device of the third embodiment differs from the first embodiment in that the axis of the power 40 is perpendicular to the axis of the driving wheel 10. This can release the space on both sides of the axis of the driving wheel 10, avoiding interference with the robot's action of grasping the wire harness terminal.

[0049] As shown in Figure 3 , the wire harness terminal automatic alignment and insertion device further comprises: a main helical gear 51 connected with the power 40; a slave helical gear 52 connected with the driving wheel 10, the slave helical gear 52 meshes with the main helical gear 51.

[0050] Fourth embodiment The embodiment provides a wire harness terminal automatic alignment and insertion method, which is suitable for the wire harness terminal automatic alignment and insertion device in the first to third embodiments, and the method comprises the following steps: S100, feeding the wire harness 100 between the driving wheel 10 and the two slave wheels 20; S200, adjusting the wire harness 100 in the radial direction so that the circumferential surface of the wire harness 100 is attached to the surface of the driving wheel 10 and the slave wheel 20 respectively; S300, driving the driving wheel 10 to rotate and drive the wire harness 100 to rotate, so as to realize automatic alignment of the axis of the wire harness 100 and the connector hole position; S400, inserting the wire harness terminal 200 in the aligned position into the connector hole position by the mechanical hand.

[0051] The alignment of the axis of the wire harness 100 and the axis of the connector hole position is realized by the cooperation of the driving wheel 10 and the slave wheel 20, the rotation angle of the driving wheel 10 is determined by capturing an image by the camera 70 to complete the automatic alignment, finally the wire harness terminal 200 is inserted into the connector hole position by the mechanical hand grabbing a specific position of the wire harness, and the whole process is realized by the cooperative work of the mechanical structure and the visual system, so that the automatic and accurate insertion of the wire harness terminal is realized.

[0052] In the step S100, the wire harness 100 can be manually placed between the driving wheel 10 and the two slave wheels 20.

[0053] The wire harness 100 is provided with a mark at a distance from the wire harness terminal 200, and in the step S100, the mark needs to be located on the side of the driving wheel 10 facing the connector and exposed. This requirement provides a clear positioning reference for the subsequent grabbing of the mechanical hand, so that the mechanical hand can accurately grab the appropriate position of the wire harness.

[0054] In the step S200, the slave wheel 20 is pressed to the wire harness 100 under the action of the elastic element, so that the axis of the wire harness 100 is adjusted in the radial direction, and then the circumferential surface of the wire harness 100 is attached to the surface of the driving wheel 10 and the slave wheel 20 respectively, so that the axis of the wire harness 100 is aligned with the axis of the connector hole position.

[0055] In the step S300, the camera 70 is used to capture the image of the wire harness terminal 200 and the connector hole position, determine the rotation angle of the driving wheel 10, so that the wire harness terminal 200 is completely fitted with the cross-sectional profile corresponding to the connector hole position on the axial projection profile of the wire harness terminal 200, and then the wire harness 100 axis and the connector hole are automatically aligned, and then the driving wheel 10 stops rotating.

[0056] In the step S400, the moving mechanism drives the guide wheel 60 to be in contact with the wire harness 100, and then the manipulator grabs the mark position of the wire harness 100, drives the wire harness 100 to move along the axial direction, and inserts the wire harness terminal 200 into the connector hole position, and then the manipulator and the moving mechanism are reset for the next operation.

[0057] The above-described embodiments are only used to illustrate the technical ideas and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot be limited to the patent application range of the present application only by the above-described embodiments, that is, any equivalent changes or modifications made according to the disclosed spirit of the present application still fall within the patent scope of the present application.

Claims

1. A harness terminal automatic alignment and insertion apparatus characterized by comprising: Comprising: a driving wheel (10) whose axis position is fixed, the driving wheel (10) rotates around its axis; two driven wheels (20) whose axes are parallel to the axis of the driving wheel (10), the axes of the two driven wheels (20) are adjusted radially; a wire harness (100) is arranged between the driving wheel (10) and the two driven wheels (20), by the radial adjustment of the two driven wheels (20), the wire harness axis is automatically aligned with the axis of the connector hole.

2. The harness terminal automatic alignment and crimping device according to claim 1, wherein Further comprising: two adjustment supports (30) which are respectively arranged on the upper and lower sides of the driving wheel (10), the adjustment support (30) rotates around its fixed fulcrum (31), and the end of the adjustment support (30) is rotatably provided with the driven wheel (20); two elastic elements connected with the adjustment support (30) for providing elastic force for pressing the driven wheel (20) towards the wire harness (100).

3. The harness terminal automatic alignment and crimping device of claim 1, wherein, Further comprising: a power (40) in transmission connection with the driving wheel (10) for driving the driving wheel (10) to rotate around its axis.

4. The harness terminal automatic alignment and crimping device according to claim 3, wherein The axis of the power (40) is parallel or coincides with the axis of the driving wheel (10).

5. The harness terminal automatic alignment and crimping apparatus according to claim 3, wherein The axis of the power (40) is perpendicular to the axis of the driving wheel (10).

6. The harness terminal automatic alignment and crimping apparatus according to claim 5, wherein Further comprising: a main helical gear (51) connected with the power (40); a driven helical gear (52) connected with the driving wheel (10), the driven helical gear (52) is in meshing connection with the main helical gear (51).

7. The harness terminal automatic alignment and crimping apparatus according to claim 1, wherein Further comprising: a plurality of guide wheels (60) which are arranged at intervals along the conveying direction of the wire harness (100), the axis of the guide wheel (60) is perpendicular to the axis of the wire harness (100); a moving mechanism for driving the guide wheel (60) to move close to or away from the wire harness (100), wherein the guide wheel (60) is in close contact with the surface of the wire harness (100) under the driving of the moving mechanism, for limiting the displacement of the wire harness (100) in the axis direction of the connector hole.

8. The harness terminal automatic alignment and crimping apparatus according to claim 7, wherein The plurality of guide wheels (60) are divided into: a first group of guide wheels (61) arranged on one side of the driving wheel (10) in the axial direction, including two guide wheels (60) respectively in close contact with the upper and lower surfaces of the wire harness (100); a second group of guide wheels (62) arranged on the other side of the driving wheel (10) in the axial direction, including two guide wheels (60) respectively in close contact with the upper and lower surfaces of the wire harness (100).

9. The harness terminal automatic alignment and crimping apparatus according to claim 1, wherein Further comprising: a camera (70) for shooting the wire harness (100) arranged between the driving wheel (10) and the two driven wheels (20).

10. A method for automatic alignment and insertion of a wiring harness terminal, characterized by, Comprising the following steps: feeding the wire harness (100) into the driving wheel (10) and the two driven wheels (20); Through the radial adjustment of the follow-up wheel (20), the circumferential surface of the wire harness (100) is respectively attached to the surface of the driving wheel (10) and the follow-up wheel (20); Driving the driving wheel (10) to rotate to drive the wire harness (100) to rotate, so as to realize the automatic alignment of the axis of the wire harness (100) and the connector hole position; Through the mechanical hand, the aligned wire harness terminal (200) is inserted into the connector hole position.

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