Wire core visual sorting and single ram cooperative positioning system and method

Abstract

The application discloses a wire core visual sorting and single-press head cooperative positioning system and method, which comprises a wire conveying line and a wire clamping module, further comprises a wire core front shaping device, which comprises a roller unit, the roller unit is oppositely arranged on the upper and lower sides of the wire core and rolls the surface of the wire core, so that a spread wire core group is formed; a wire sequence identification module, which comprises an image acquisition unit provided with a light source, the image acquisition unit acquires the current color wire sequence of the wire core group, and takes the boundary wire core of the current color wire sequence as an initial wire core; a wire-jumping distance device, which comprises a control unit, a distance setting tooth block and a press head, the press head presses the subsequent wire core towards the distance setting tooth block one by one from the initial wire core, and the control unit controls the movement of the distance setting tooth block according to the color of the current wire core to be pressed; and a wire core rear shaping device, which comprises a comb tooth unit, the comb tooth unit comprises a plurality of tooth portions, and through decoupling and re-cooperation of the press head and the distance setting tooth block, the irregular state of the wire core at the end of the wire is adapted.

Description

Technical Field

[0001] This invention relates to the field of wire processing equipment technology, specifically to a wire core visual sorting and single pressure head collaborative positioning system and method. Background Technology

[0002] Currently, in various cable processing fields, especially in the pretreatment of crimping or welding of multi-core wire terminals, it is necessary to peel off the outer sheath of the wire end to expose multiple parallel wire cores inside, and arrange and position these wire cores in a specified order and spacing so as to accurately connect with the corresponding contacts in the terminal.

[0003] Existing technology, patent CN117819177A, discloses a wire color sorting device. This device features multiple independent wire clamps, each connected to an independent first lifting drive mechanism for clamping and lifting a single sub-wire. It also includes a horizontally movable wire guide plate with multiple slots. During operation, a visual inspection mechanism identifies the wire core color sequence, and a horizontal movement mechanism drives the wire guide plate to move, positioning the target slot below the corresponding colored wire core. The specific wire clamp corresponding to that core then lowers the plate, pressing the core into the slot. While this solution achieves the sorting function, it relies on multiple independent lifting drive mechanisms and wire clamps. For four-core wires, four lifting drive mechanisms are required; for a larger number of cores, even more mechanisms are needed. This results in a complex device structure, high cost, high control precision requirements, and a large footprint. Furthermore, it is difficult for operators to modify the lifting drive mechanisms when the number of cores changes, leading to low adaptability.

[0004] In another prior art, invention patent CN105529589B discloses an automatic wire sorting device. This device employs a wire-splitting clamp movable in the X and Z axes, and a wire-splitting platform with multiple wire core slots, where the number of slots exceeds the number of wire cores to provide operating space. By controlling the wire-splitting clamp to sequentially pick up the wire cores, multiple shifting operations are performed using the extra empty slots to ultimately complete the sorting. While this solution reduces the number of actuators, its core relies on frequent gripping-shifting-placing operations using a single gripper. The sorting process essentially involves multiple repetitive shifting actions, resulting in a complex path, low efficiency, and the risk of multiple frictions and bends to the wire cores during gripping and shifting, potentially leading to wire core damage or inaccurate positioning. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a system and method for visual sorting of wire cores and collaborative positioning of single pressure head.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a wire core visual sorting and single pressure head collaborative positioning system, comprising a linearly arranged wire transport line, and a wire clamping module disposed on the wire transport line, wherein the actuating end of the wire clamping module clamps at least the sheath of the wire and holds and transports the wire, and the wire core extends from the end of the wire, and further comprising:

[0007] The wire core pre-shaping device includes roller units that are movably arranged along the extension direction of the wire core. The roller units are arranged opposite to each other with respect to the upper and lower sides of the wire core and roll the surface of the wire core to make adjacent wire cores spread out on the same plane, thereby forming a spread wire core group from multiple wire cores.

[0008] The line sequence recognition module includes an image acquisition unit configured with a light source. The image acquisition unit acquires the current color line sequence of the line core group and uses the boundary line core of the current color line sequence as the initial line core.

[0009] A jumper spacing device includes a control unit, a spacing tooth block disposed below the wire core, and a pressure head disposed above the wire core. The spacing tooth block and the pressure head are configured to move linearly along the wire core arrangement direction. The pressure head conforms to the current color sequence of the wire core group and presses subsequent wire cores toward the spacing tooth block one by one, starting from the initial wire core. The spacing tooth block is equipped with multiple slots that correspond one-to-one with a predetermined color sequence. The control unit controls the movement of the spacing tooth block according to the color of the current wire core to be pressed, so that the target slot corresponding to the color in the predetermined color sequence moves to below the current wire core to be pressed. During its downward stroke, the pressure head avoids the slots and acts on the wire cores outside the slots.

[0010] The wire core shaping device includes at least one comb unit, the comb unit including a plurality of teeth spaced apart with respect to the wire core arrangement direction, the plurality of teeth being arranged in an expanding trend.

[0011] Furthermore, the wire core shaping device also includes a roller translation module arranged linearly along the wire core, a first clamping cylinder arranged on the roller translation module, and a shaping plate arranged on the front side of the roller unit. The shaping plate and the roller unit are arranged on the actuating end of the first clamping cylinder. The axis of the roller unit is perpendicular to the wire core extension direction. The shaping plate is provided with a shaping groove, and the groove wall of the shaping groove matches the side boundary of the wire core group in the spreading posture.

[0012] Furthermore, the jumper spacing device also includes a front clamp plate disposed on the upper and lower sides of the wire core assembly, and a first flat wire module for driving the front clamp plate to move linearly along the wire core, wherein the front clamp plate is arranged close to the end of the wire.

[0013] Furthermore, the jumper spacing device also includes a rear clamp plate disposed opposite to the upper and lower sides of the wire core assembly, and a second flat wire module that drives the rear clamp plate to move linearly along the wire core. The rear clamp plate is disposed away from the end of the wire. The front clamp plate and the rear clamp plate are configured to move linearly away from each other. The front clamp plate and the rear clamp plate define a straight section of the wire core assembly. The pressure head and the spacing tooth block are disposed between the front clamp plate and the rear clamp plate.

[0014] Furthermore, the pressure head is provided with a receiving groove for accommodating the fixed-distance tooth block, the bottom end of the pressure head is provided with a pressing end, the pressing end is connected to the groove opening of the receiving groove, and the fixed-distance tooth block is provided with a limiting protrusion that is disposed opposite to the pressing end.

[0015] Furthermore, the jumper spacing device also includes a spacing support frame and a first translation screw module mounted on the spacing support frame. The first translation screw module has a vertically arranged pressure head actuation module on its actuating end. The pressure head is connected to the actuating end of the pressure head actuation module. The first translation screw module is arranged about the direction of the wire core arrangement.

[0016] Furthermore, the jumper spacing device also includes a second translation screw module and a lifting screw module arranged below the spacing tooth block. The second translation screw module is arranged along the arrangement direction of the wire core, the lifting screw module is set on the actuating end of the second translation screw module, and the spacing tooth block is connected to the actuating end of the lifting screw module.

[0017] Furthermore, the comb unit includes a first upper comb tooth and a lower comb tooth arranged opposite to each other, and a second upper comb tooth arranged at a distance from the first upper comb tooth. The first upper comb tooth and the second upper comb tooth are configured to slide opposite to each other along the extension direction of the wire core, and the second upper comb tooth moves toward the opening end of the wire.

[0018] Furthermore, the core shaping device includes a comb tooth translation mechanism for driving the comb tooth unit to move linearly, and a second clamping cylinder for driving the first upper comb tooth and the second upper comb tooth to move relative to each other.

[0019] This invention also provides a method for visual sorting of wire cores and collaborative positioning of a single pressure head, applied to a system for visual sorting of wire cores and collaborative positioning of a single pressure head, comprising the following steps:

[0020] S1. Core Shaping: A shaping plate that moves synchronously with the roller unit is configured. The shaping plate has a shaping groove to accommodate the core assembly. The core assembly enters the shaping groove, and the moving end of the wire clamping module holds the core assembly. Then, the roller unit floats against the core assembly until the surface of the core assembly abuts against the bottom of the shaping groove. The roller unit moves along the core extension direction and rolls the core surface, causing adjacent cores to spread out on the same plane, forming a spread core assembly.

[0021] S2, Line Sequence Recognition: The current color line sequence of the core group is obtained by the image acquisition unit of the line sequence recognition module, and the boundary core of the current color line sequence is taken as the initial core;

[0022] S3, Jumper spacing:

[0023] S3.1 Clamping and Positioning: The wire clamping module clamps and positions the wire to the jumper spacing device, and positions the wire core assembly between the front and rear clamping plates;

[0024] S3.2 Tensioning and Leveling: While keeping the wire core group in place at the actuating end of the wire clamping module, the front and rear clamping plates are controlled to clamp the wire core group. Then, the actuating end of the wire clamping module releases the wire core group, and the front and rear clamping plates are controlled to move linearly in opposite directions to tension the wire core group, thus defining a straight section between the front and rear clamping plates.

[0025] S3.3, Cooperative Wire Pressing: Control the pressing head to move along the current color line sequence, starting from the initial wire core, pressing each wire core toward the fixed-distance tooth block one by one; at the same time, according to the color of the current wire core to be pressed, control the fixed-distance tooth block to move, so that the target wire groove corresponding to the specified color sequence moves to below the current wire core to be pressed, and the pressing head avoids the wire groove and acts on the wire core outside the wire groove during the pressing process;

[0026] S4. Post-core shaping: The comb unit of the post-core shaping device combs the spaced core groups, including:

[0027] S4.1, First combing: The spaced toothed block, carrying the core group, is positioned between the first upper comb tooth and the lower comb tooth, controlling the engagement of the first upper comb tooth and the lower comb tooth and inserting it into the gap between the cores, moving along the extension direction to comb the back side of the core group;

[0028] S4.2 Secondary combing: Control the insertion of the second upper comb teeth into the gap of the core, slide away from the first upper comb teeth, and move along the extension direction to comb the front side of the core group.

[0029] Compared with the prior art, the present invention has the following advantages and beneficial effects: Before arranging the wire cores at a fixed distance, the present invention first uses the roller unit of the wire core front shaping device to roll flat multiple wire cores that are out of order, so that multiple wire cores form a flat and spread wire core group, that is, multiple wire cores are close to the same plane. The wire sequence recognition module performs image acquisition on the current wire core group to obtain the current color wire sequence of the wire core group. Taking the wire core on the outermost side of the wire core group as the initial wire core, the pressure head moves to the top of the initial wire core, and the pressure head is only responsible for pressing down according to the current color wire sequence of the wire cores. At this time, the fixed distance tooth block moves below the wire core group and moves the correct wire groove corresponding to the current wire core to the bottom of the current wire core according to the target color wire sequence for receiving, and completes the fixed distance pressing of all wire cores in the wire core group in sequence. Through the decoupling and re-coordination of the pressure head and the fixed distance tooth block, there is no need to forcibly change the original physical arrangement between the wire cores, which can adapt to the irregular state of the wire cores at the end of the wire, such as height difference and slight overlap.

[0030] It is worth mentioning that the present invention simplifies the wire core spacing structure and reduces costs. By using a single horizontally movable pressure head, it replaces the four independent pressure heads and drive system in the prior art, which greatly simplifies the actuator above the equipment. Furthermore, when dealing with changes in the number of wire cores, only the spacing pressure head needs to be replaced, effectively providing processing adaptability. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall layout of the present invention;

[0032] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the wire core shaping device of the present invention;

[0034] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0035] Figure 5 This is a cross-sectional schematic diagram of the shaping plate and roller unit of the present invention;

[0036] Figure 6 This is another cross-sectional schematic diagram of the shaping plate and roller unit of the present invention;

[0037] Figure 7 This is a schematic diagram of the line sequence recognition module of the present invention;

[0038] Figure 8 This is a schematic diagram of the jumper spacing device of the present invention;

[0039] Figure 9 For the present invention Figure 8 Enlarged view of point B in the middle;

[0040] Figure 10 This is a side view of the jumper spacing device of the present invention;

[0041] Figure 11 For the present invention Figure 10 Enlarged view of point C in the middle;

[0042] Figure 12 This is a schematic diagram of the fixed-distance tooth block of the present invention;

[0043] Figure 13 This is a schematic diagram of the structure of the wire core shaping device of the present invention;

[0044] Figure 14 For the present invention Figure 13 Enlarged view of point D in the middle;

[0045] Figure 15 This is a side view of the wire core shaping device of the present invention;

[0046] In the diagram: 1. Wire conveying line; 11. First conveyor line; 12. Second conveyor line; 13. First upper fixing module; 131. First upper clamping unit; 14. First movable module; 141. First lower clamping unit; 142. Second lower clamping unit; 143. Vertical cylinder unit; 144. First mounting frame; 15. Second upper fixing module; 151. Second upper clamping unit; 16. Second movable module; 161. Third lower clamping unit; 162. Second mounting frame; 2. Wire core front shaping device; 21. Roller unit; 22. Roller horizontal movement module; 23. First clamping cylinder; 24. Shaping plate; 241. Shaping groove; 25. First mounting base; 251. Inner cavity; 26. First floating block; 27. First elastic element; 3. Wire sequence recognition module; 31. Image acquisition module unit; 4. Jumper wire spacing device; 41. Control Unit; 42. Fixed-distance tooth block; 421. Wire groove; 422. Second translation screw module; 423. Lifting screw module; 424. Positioning rib; 425. Limiting protrusion; 43. Pressure head; 431. Receiving groove; 432. Wire pressing end; 44. Front clamping plate; 441. First horizontal wire module; 442. Third clamping cylinder; 45. Rear clamping plate; 451. Second horizontal wire module; 452. Fourth clamping cylinder; 45 3. Limiting groove; 46. Fixed-distance upright frame; 461. First translation screw module; 462. Pressure head actuation module; 5. Wire core rear shaping device; 51. First upper comb tooth; 52. Second upper comb tooth; 53. Lower comb tooth; 54. Comb tooth translation mechanism; 541. First comb tooth translation module; 542. Second comb tooth translation module; 543. Comb tooth lifting cylinder; 55. Second clamping cylinder; 10. Wire; 20. Wire core assembly. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be understood that although the terms upper, middle, lower, top, one end, etc., appear in this document to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish the elements from each other for ease of understanding, and are not used to define any directional or sequential restrictions.

[0049] like Figure 1-2 As shown, the wire core visual sorting and single pressure head collaborative positioning system includes a linearly arranged wire transport line 1 and a wire clamping module set on the wire transport line 1. The moving end of the wire clamping module clamps the sheath of the wire 10 and holds and transfers the wire. The wire end extends with a wire core, which is in a straight and extended posture.

[0050] Along the transport direction of the wire transport line 1, there are a wire core pre-shaping device 2, a wire sequence identification module 3, a jumper spacing device 4, and a wire core post-shaping device 5. The wire 10 entering the wire core pre-shaping device 2 has already had its outer sheath peeled off, that is, the wire 10 includes an outer sheath and multiple wire cores arranged in the inner layer. The wire cores extend from the processed end of the wire 10. As an example, the number of wire cores is four. The present invention is used to arrange the wire cores of the current color sequence of the wire 10 at a fixed distance according to the target color sequence.

[0051] The wire core pre-shaping device 2 is used to further process the wire 10 after the outer sheath peeling treatment. The shaping target is four scattered wire cores. The wire core pre-shaping device 2 specifically includes a roller unit 21 that is movable along the extension direction of the wire core. The roller unit 21 is arranged opposite to the upper and lower sides of the wire core and rolls the surface of the wire core to make adjacent wire cores spread out on the same plane, so that multiple wire cores form a spread wire core group 20. At this time, the wire core group 20 is close to the same plane, and multiple wire cores are arranged sequentially with basically consistent spacing.

[0052] The wire sequence recognition module 3 includes an image acquisition unit 31 configured with a light source. The image acquisition unit 31 can be a CCD camera. The image acquisition unit 31 acquires the current color wire sequence of the wire core group 20 and marks each wire core of the current color wire sequence. The marking information is the correct order of the wire cores and the color information of the current wire core.

[0053] like Figure 11As shown, the jumper spacing device 4 includes a control unit 41, a spacing tooth block 42 disposed below the wire core, and a pressure head 43 disposed above the wire core. During the positioning process, the pressure head 43 applies a downward force to the wire core, thereby positioning the wire core on the spacing tooth block 42. The spacing tooth block 42 and the pressure head 43 are configured to move linearly along the wire core arrangement direction. The spacing tooth block 42 is provided with multiple wire grooves 421 that correspond one-to-one with a specified color sequence. The pressure head 43 presses the wire cores toward the spacing tooth block 42 one by one in accordance with the current color sequence of the wire core group 20. The control unit 41 is connected in communication with the drive mechanism of the spacing tooth block 42 and the pressure head 43, and controls the movement of the spacing tooth block 42 and the pressure head 43.

[0054] The control unit 41 controls the movement of the spacer block 42 according to the color of the current wire core to be pressed, so that the target groove 421 corresponding to the color in the prescribed color sequence moves to the bottom of the current wire core to be pressed. That is, the spacer block 42 can automatically adjust its linear position according to the color of the current wire core by means of the image information obtained by the wire sequence recognition module 3, so that the current wire core is placed into the groove 421 of the prescribed color by the pressing head 43. The groove spacing between the grooves 421 is preset and fixed. Thus, as the pressing head 43 presses the wire core one by one, multiple wire cores are spaced according to the prescribed color sequence.

[0055] like Figures 13-14 As shown, the wire core shaping device 5 is used to further comb and shape the wire core group 20 after the jumper spacing is completed. The wire core shaping device 5 includes at least one comb unit, which includes multiple teeth spaced apart with respect to the wire core arrangement direction. The multiple teeth have an expanding trend. The comb unit has an action stroke of inserting towards the wire core group 20 and moving along the wire core extension direction. Thus, when the wire 10 enters the wire core shaping device 5, the comb unit moves downward and the teeth are aligned between adjacent wire cores. As the comb unit moves further downward, the spacing between the wire cores is further expanded, which avoids interference between adjacent wire cores during the transfer process and facilitates the subsequent stripping process of the wire cores.

[0056] The advantage of the jumper spacing device 4 in this embodiment is that the pressure head 43 only needs to press the wire cores one by one along the current wire sequence. The spacing tooth block 42 acts as a real-time moving receiving structure, connecting wire cores of different colors into the correct wire slots 421. Moreover, only one pressure head 43 is needed, eliminating the need for multiple wire pressing execution units. The pressure head 43 is configured with a simple control logic of pressing down one by one along the current wire sequence of the wire core group 20, which not only simplifies the equipment structure and reduces manufacturing costs but also significantly improves the accuracy and efficiency of wire core sorting. Since the spacing tooth block 42 can autonomously adjust its position according to the image information obtained by the wire sequence recognition module 3, it can adapt to the wire core sorting requirements of different color sequences, enhancing the flexibility and versatility of the equipment. At the same time, the comb unit in the wire core post-shaping device 5 further ensures the neatness of the wire cores after sorting, providing a good foundation for subsequent processes.

[0057] It is worth mentioning that before the wire 10 enters the jumper spacing device 4, the wire cores are first pre-arranged into coplanar wire core groups 20 by the wire core pre-shaping device 2, providing a reliable foundation for subsequent visual recognition, wire sequence image acquisition and high-precision pressing. In the jumper spacing stage, the coordinated action of the pressing head 43 and the spacing tooth block 42 is a continuous and sequential process, without waiting for multiple actuators to synchronize or to perform complex spatial path planning. The motion efficiency is high and the cycle time is short. Finally, the comb unit of the wire core post-shaping device 5 combs and shapes the wire cores. The gradually expanding teeth ensure that the combing process is smooth and interference-free, further consolidating the effect of sorting and spacing, and providing a high-quality wire harness for the next process.

[0058] from Figure 2 As can be seen, the aforementioned wire core pre-shaping device 2, wire sequence identification module 3, jumper wire spacing device 4, and wire core post-shaping device 5 are all arranged along the linear direction on one side of the wire conveying line 1. The wire clamping module clamps the wire 10, and the wire core portion is located on the side of the wire 10 conveying line close to the wire core pre-shaping device 2, wire sequence identification module 3, jumper wire spacing device 4, and wire core post-shaping device 5. The side of the wire core group 20 close to the end of the wire 10 is defined as the front side, the side facing the free end of the wire core is defined as the rear side, and the portion of the wire core group 20 close to the end of the wire 10 is defined as the root of the wire core group 20.

[0059] Further reference Figure 2 In this embodiment, there are two wire transport lines 1, namely the first transport line 11 corresponding to the wire sequence identification module 3, the wire core pre-shaping device 2 and its preceding process, and the second transport line 12 corresponding to the jumper spacing device 4 and the wire core post-shaping device 5. The first transport line 11 and the second transport line 12 are connected linearly.

[0060] The wire clamping module includes a first upper fixing module 13 composed of multiple clamping units and a first movable module 14 disposed below the first upper fixing module 13. The first upper fixing module 13 is composed of a first upper clamping unit 131 facing the wire core pre-shaping device 2. It is used to hold the wire 10 when the wire core is subjected to the pre-shaping process and to release the wire 10 when the wire 10 is transferred to the subsequent wire sequence identification module 3.

[0061] The first movable module 14 is composed of a first lower clamping unit 141 and a second lower clamping unit 142, and is arranged to move linearly on the conveying end of the first conveying line 11. The first lower clamping unit 141 clamps on the skin of the wire 10 and is offset from the clamping end of the first upper fixing module 13. The second lower clamping unit 142 is raised and lowered and clamps on the wire core. When the first movable module 14 is at the extreme position of the first conveying line 11, its first lower clamping unit 141 and second lower clamping unit 142 are directly opposite the jumper wire spacing device 4.

[0062] The first lower clamping unit 141 and the second lower clamping unit 142 are mounted on the operating end of the first conveyor line 11 via the first mounting bracket 144. Optionally, the lifting and lowering of the second lower clamping unit 142 can be achieved by setting a vertical cylinder unit 143, which is mounted on the first mounting bracket 144. The second lower clamping unit 142 is connected to the operating end of the vertical cylinder unit 143. The second lower clamping unit 142 should clamp the wire core. Preferably, its clamping surface is set as a plane. The lifting and lowering of the second lower clamping unit 142 is to be spaced apart from the wire core during the movement to avoid interference.

[0063] The wire clamping module also includes a second upper fixing module 15 composed of multiple clamping units, and a second movable module 16 disposed below the second upper fixing module 15. The second movable module 16 is connected to the moving end of the second conveyor line 12.

[0064] The second upper fixing module 15 is composed of at least two second upper clamping units 151, one of which is positioned opposite the jumper spacing device 4, and the other is positioned opposite the wire core post-shaping device 5. It is used to hold the wire 10 when the wire core is subjected to the jumper spacing process and the post-shaping process, and to release the wire 10 when the wire 10 is transferred.

[0065] The second active module 16 is composed of a third lower clamping unit 161 set on the operating end of the second conveyor line 12. A second mounting frame 162 is also provided between the third lower clamping unit 161 and the operating end of the second conveyor line 12. A spacer tooth block 42 is set on the second mounting frame 162 so that the spacer tooth block 42 and the third lower clamping unit 161 move synchronously. The third lower clamping unit 161 is set corresponding to the jumper spacing device 4 and is clamped on the sheath of the wire 10 at a offset from the second upper clamping unit 151. The spacer tooth block 42 is set on the side of the third lower clamping unit 161 near the wire core group 20 along the extension direction of the wire core.

[0066] In the above embodiments, for the clamping unit of the wire 10 sheath, the clamping end can be selected to perform a clamping action in the circumferential direction. For the clamping unit of the wire core group 20, the clamping end is preferably to perform a clamping action in the planar direction of the wire core group 20, so as to avoid the wire core position being disordered under the clamping action.

[0067] In the above embodiments, the clamping unit in the wire transport line 1 and the wire clamping module is a conventional technical means in the prior art for wire 10 processing equipment. It can be implemented by pneumatic finger cylinders, which will not be elaborated on here. For example, the clamping module and transfer device disclosed in the invention patent with publication number CN118712838B only need to be able to grasp and fix the wire 10 and wire core. The wire transport line 1 only needs to be able to drive the wire clamping module to move linearly along the wire core front shaping device 2, the wire sequence identification module 3, the jumper spacing device 4 and the wire core rear shaping device 5. A belt drive structure can be selected as the power transmission.

[0068] like Figure 3 and Figure 4 As shown, as a further embodiment of the wire core pre-shaping device 2, the wire core pre-shaping device 2 also includes a roller horizontal movement module 22 arranged linearly along the wire core, a first clamping cylinder 23 disposed on the operating end of the roller horizontal movement module 22, and a shaping plate 24 arranged on the front side of the roller unit 21. The roller horizontal movement module 22 can be selected as a linear electric cylinder with linear action, and the first clamping cylinder 23 can be selected as a finger cylinder. The first clamping cylinder 23 is arranged vertically, and the shaping plate 24 and the roller unit 21 are arranged on the operating end of the first clamping cylinder 23, specifically disposed on the first clamping cylinder 23. The same actuating end of the cylinder 23, or rather, each actuating end of the first clamping cylinder 23, is equipped with a roller unit 21 and a shaping plate 24. Thus, the first clamping cylinder 23 drives the roller unit 21 and the shaping plate 24 to move synchronously toward the wire core. The two roller units 21 can act relative to each other on the wire core group 20, while the upper and lower shaping plates 24 are preferably staggered in the front-back direction to avoid interference. The roller unit 21 is used to flatten the wire core group 20 and spread out adjacent wire cores that are overlapped. The shaping plate 24 is used to limit the wire core group 20.

[0069] Specifically, the axis of the roller unit 21 is perpendicular to the extension direction of the wire core, so that uniform roller pressure is applied to the wire core group 20 during the linear movement of the roller unit 21, ensuring that the wire core can be laid flat. The number of roller units 21 can be multiple. For multiple roller units 21, it is preferable to arrange them sequentially with respect to the extension direction of the wire core, thereby increasing the roller pressure efficiency of the wire core.

[0070] Specifically, the shaping plate 24 is disposed on the front side of the roller unit 21, and a shaping groove 241 is provided on the shaping plate 24. The shaping groove 241 is set to open towards the core assembly 20. The groove wall of the shaping groove 241 matches the side boundary of the core assembly 20 in the spreading posture. The bottom of the shaping groove 241 is preferably a flat surface. In some cases, during the pre-shaping process, the groove wall of the shaping groove 241 provides the boundary for the core assembly 20.

[0071] When the core assembly 20 is rolled by the roller unit 21, the shaping groove 241 provides good positioning and guidance for the core assembly 20, preventing it from shifting or becoming scattered during the rolling process. Preferably, a chamfer is provided on the opening side of the shaping groove 241 to facilitate the smooth entry of the core assembly 20 into the groove, avoiding damage to the core due to sharp groove edges during shaping. This reduces core misalignment or deformation caused by friction or collision, further improving the shaping effect and stability of the core pre-shaping device 2.

[0072] During the operation of the wire core pre-shaping device 2, the first clamping cylinder 23 is driven to move by the roller horizontal movement module 22, so that the roller unit 21 and the shaping plate 24 are facing the wire core group 20 and close to the opening of the wire 10. Then, the first clamping cylinder 23 drives the roller unit 21 and the shaping plate 24 to move synchronously toward the wire core group 20. As the roller horizontal movement module 22 continues to move, the roller unit 21 moves along the wire core extension direction, and the roller unit 21 on the opposite side rolls the wire core group 20, so that the adjacent wire cores are spread out on the same plane, forming a spread wire core group 20. At the same time, the shaping plate 24 limits the wire core group 20 to ensure that the wire cores remain neat during the rolling process. As the roller horizontal movement module 22 continues to move, the roller unit 21 and the shaping plate 24 perform continuous rolling and limiting operations along the wire core group 20 until the entire wire core group 20 is processed. After being processed by the pre-forming device 2, the cores of the core group 20 are nearly aligned on the same plane and arranged sequentially with a relatively consistent spacing. This provides a good foundation for subsequent processes such as core sequence identification, jumper spacing, and post-forming, and helps improve the accuracy and efficiency of the entire core sorting and positioning system.

[0073] like Figure 5 and Figure 6As shown, as a further improvement to the roller unit 21, the opening of the shaping groove 241 is positioned closer to the wire core group 20 than the roller unit 21, and the bottom of the shaping groove 241 is farther away from the wire core group 20 than the roller unit 21. A first mounting seat 25 is provided between the roller unit 21 and the actuating end of the first clamping cylinder 23. The first mounting seat 25 has an inner cavity 251. A first floating block 26 is movably disposed within the first mounting seat 25. The roller unit 21 is rotatably mounted on the first floating block 26. The first floating block 26 is configured to move vertically, and a first elastic member 27 is provided between the first floating block 26 and the first mounting seat 25 to keep the first floating block 26 and the roller unit 21 in an elastically extended posture.

[0074] In this embodiment, when the first clamping cylinder 23 performs the clamping action, the opposing shaping plates 24 approach each other and abut against the upper and lower end faces of the core assembly 20, while the opposing roller unit 21 presses against the upper and lower end faces of the core assembly 20, forcing the first elastic member 27 to compress. This allows the roller unit 21 to apply a flexible roller pressing force to the core assembly 20 in the vertical direction, avoiding damage to the core caused by rigid roller pressing. At the same time, the first floating block 26 can adaptively adjust according to the actual height and shape of the core under the action of the first elastic member 27, ensuring that the roller unit 21 always maintains a suitable contact pressure with the core, improving the uniformity and stability of roller pressing. Furthermore, the roller unit 21 with flexible roller pressing action has better adaptability and compatibility for cores of different specifications and shapes, effectively reducing the problem of poor shaping caused by differences in cores. Through this improvement, in the pre-shaping process, the core assembly 20 is first guided into the shaping groove 241 and, under the constraint of the groove wall, relatively approaches the roller unit 21. Subsequently, the opposing roller unit 21 first contacts the core assembly 20, and the roller unit 21 compresses the core assembly 20 while maintaining a flexible pressing state. At the same time, the roller translation module 22 moves to apply a flexible roller pressing action to the core assembly 20, thereby improving the shaping effect of the core pre-shaping device 2 and providing higher quality core assemblies 20 for subsequent processes. This improves the working efficiency and product quality of the entire core sorting and positioning system.

[0075] like Figure 7 As shown, as a further embodiment of the line sequence recognition module 3, the line sequence recognition module 3 includes a detection frame, which is used to mount the image acquisition unit 31 above the line core assembly 20. When a CCD camera is selected as the image acquisition unit 31, a light shield can also be set between the line core assembly 20 and the CCD camera to optimize the imaging effect. The color recognition algorithm built into the control unit 41 adopts the HSV color space model to separate and threshold the color channels of each line core in the image, extract the main color value of each line core, and match it with the pre-stored target line sequence color library. The image acquisition unit 31 takes a calibration image and compares it with the reference image to correct the color recognition parameters and ensure the stability of long-term operation.

[0076] At the same time, the control unit 41 sequentially marks the wire core group 20 of the current color wire sequence with the specified color wire sequence.

[0077] like Figures 8 to 11 As shown, after the pre-shaping of the wire core group 20 is completed, the wire core group 20 has a posture that is close to a planar spread. Before the jumper spacing, the wire core group 20 needs to be further shaped. As a further embodiment of the jumper spacing device 4, the jumper spacing device 4 also includes a front clamping plate 44 disposed on the upper and lower sides of the wire core group 20, and a first flat wire module 441 that drives the front clamping plate 44 to move linearly along the wire core. A third clamping cylinder 442 is also provided on the actuating end of the first flat wire module 441. The front clamping plate 44 is specifically disposed on the third... At the actuating end of the clamping cylinder 442, during the process of the pressure head 43 pressing the wire core into the spacer tooth block 42, the front clamping plate 44 is arranged close to the opening end of the wire 10 and clamps the wire core group 20. Preferably, the front clamping plate 44 has a flat surface and is L-shaped to avoid interference during the straightening process. The front clamping plate 44 is driven by the third clamping cylinder 442 to maintain the clamping surface between the front clamping plate 44 and the wire core group 20. Then, the front clamping plate 44 performs the flattening and straightening action of the wire core group 20 by moving the first flat wire module 441 back and forth.

[0078] Furthermore, the jumper spacing device 4 also includes a rear clamping plate 45 disposed on the upper and lower sides of the core assembly 20, and a second flat wire module 451 for driving the rear clamping plate 45 to move linearly along the core. A fourth clamping cylinder 452 is also provided on the actuating end of the second flat wire module 451, and the rear clamping plate 45 is specifically disposed on the actuating end of the fourth clamping cylinder 452.

[0079] The jumper spacing device 4 also includes a fixed spacing stand 46, on which the first horizontal line module 441 and the second horizontal line module 451 are arranged side by side. The front clamp 44 and the rear clamp 45 can be synchronized through the L-shaped front clamp 44.

[0080] As a further embodiment of the front clamping plate 44 and the rear clamping plate 45, the front clamping plate 44 is located in front of the rear clamping plate 45, and the rear clamping plate 45 is disposed away from the opening end of the wire 10. The rear clamping plate 45 and the front clamping plate 44 together provide a flat surface for pressing against the wire cores. The difference is that the front clamping plate 44 is open in the direction of the wire core arrangement, while the rear clamping plate 45 further provides a limiting groove 453. This limiting groove 453 differs from the preceding shaping groove 241 in that the groove wall of the limiting groove 453 further constrains the wire core group 20, and its width is close to the arrangement width of the wire core group 20. The limiting groove 453 precisely limits the width of the wire core group 20 in the arrangement direction when the rear clamping plate 45 moves relative to it. The gap between adjacent wire cores is further reduced and evenly distributed, effectively preventing lateral misalignment or loosening of the wire cores during the subsequent pressing of the pressure head 43. At the same time, the flat inner wall of the limiting groove 453 can perform secondary regularization on the initially spread wire core group 20, ensuring that each wire core is on the preset linear trajectory. This provides a stable prerequisite for the coordinated action of the pressure head 43 and the spacer block 42, significantly improving the positioning accuracy and operational efficiency of the jumper spacing stage. In addition, the limiting function of the rear clamping plate 45 can also counteract the lateral force generated when the pressure head 43 presses down, preventing the wire core group 20 from shifting as a whole, and ensuring the precise alignment of the wire groove 421 and the wire core to be pressed when the spacer block 42 moves, thereby further optimizing the working stability and sorting quality of the entire system.

[0081] Further reference Figure 9 As shown, as a further embodiment of the operation of the front clamping plate 44 and the rear clamping plate 45, the front clamping plate 44 and the rear clamping plate 45 are configured to move linearly in opposite directions. The front clamping plate 44 and the rear clamping plate 45 define a straight section of the wire core group 20. The pressure head 43 and the spacer block 42 are disposed between the front clamping plate 44 and the rear clamping plate 45. The spacer block 42 is disposed below the front clamping plate 44 and the rear clamping plate 45 in a height-adjustable manner. The spacer block 42 is in a downward state during the process of the front clamping plate 44 and the rear clamping plate 45 performing the straightening and smoothing. After the wire core is processed, the spacer block 42 rises and approaches the lower part of the wire core group 20. Then the pressure head 43 begins to perform the pressing action.

[0082] By setting independently controllable front clamping plates 44 and rear clamping plates 45, and moving them opposite each other before the pressing operation to tension the wire core, a stable and straight working section is defined in the wire core group 20. This eliminates the influence of the wire 10's own deflection or slack generated during transmission on the positioning accuracy. In other words, by actively tensioning the free-state wire core, displacement of the wire core during pressing is avoided. This invention ensures that the position of each wire core is highly stable and predictable when the pressing head 43 presses down and the spacer tooth block 42 receives it, improving the repeatability and positioning accuracy of the sorting.

[0083] Combination Figure 9 and Figure 11As shown, as a further embodiment of the cooperation between the pressure head 43 and the spacer tooth block 42, specifically, the pressure head 43 is provided with a receiving groove 431 for accommodating the spacer tooth block 42. The receiving groove 431 is opened towards the spacer tooth block 42. The spacer tooth block 42 is provided with at least two positioning ribs 424. The positioning ribs 424 extend along the direction of the wire core arrangement. Multiple positioning ribs 424 are arranged at intervals along the extension direction of the wire core, and the wire grooves 421 are spaced apart on the positioning ribs 424. The receiving groove 431 is specifically an opening in the extension direction of the wire core. The bottom end of the pressure head 43 is provided with a wire pressing end 432. The wire pressing end 432 is connected to the groove opening of the receiving groove 431. The wire pressing end 432 is specifically flat and has a chamfer at its outer edge. The chamfer design of the wire pressing end 432 effectively reduces the wear on the wire core insulation layer and protects the physical integrity of the wire core. At the same time, the flat wire pressing end 432 ensures uniform force on the wire core and prevents excessive local pressure from causing wire core deformation.

[0084] In this way, the pressure head 43 avoids the wire groove 421 during its downward stroke. The receiving groove 431 will be fitted onto the positioning rib 424 of the spacer block 42. Specifically, the pressure end 432 acts on the wire core outside the wire groove 421. The two ends of the wire core located at the positioning rib 424 will be actuated and pressed. Then, the section between the two actuated parts on the wire core is carried into the wire groove 421, thereby achieving precise engagement between the wire core and the wire groove 421.

[0085] In addition, the positioning ribs 424 of the spacer block 42 not only provide a stable support frame for the wire groove 421, but also allow the spacer block 42 to automatically adjust its position according to the instructions of the wire sequence identification module 3 after the pressure head 43 completes one press, aligning with the next wire core to be pressed, while the pressure head 43 moves along the linear direction to the position of the next wire core. The whole process does not require complex path planning, and the action is smooth and efficient.

[0086] Through the collaborative mechanism of the single pressure head 43 and the spaced toothed block 42, which can be spaced according to the current color line sequence, the accuracy and consistency of wire core sorting are improved through precise nesting avoidance and flexible force application, providing high-quality wire harness products for subsequent processes. The automatic position adjustment function of the spaced toothed block 42, combined with the linear movement of the pressure head 43, enables the entire sorting process to quickly adapt to the needs of wire cores with different color sequences, further enhancing the versatility of the equipment. It eliminates the need to change special molds or adjust complex parameters for different line sequences, significantly reducing the time cost of production changeover. Simultaneously, the coordinated action of the pressure head 43 and the spaced toothed block 42 is precisely scheduled by the control unit 41 based on visual recognition results, avoiding errors that may be caused by manual intervention and ensuring the stability and reliability of line sequence sorting in mass production.

[0087] In other embodiments, a limiting protrusion 425 extends from the spacer tooth block 42 and is disposed opposite to the pressing end 432. The limiting protrusion 425 is located at the root of the positioning rib 424. The distance between the limiting protrusion 425 and the wire core defines the actual stroke of the pressing head 43 on the wire core. By compressing the distance between the wire core and the wire groove 421 by the spacer tooth block 42 rising during jumper spacing, the stroke of the wire core during the pressing process is shorter and the path is more stable, effectively avoiding the swinging or misalignment of the wire core due to the excessive length of the free end before it is embedded in the wire groove 421.

[0088] In addition, the contour of the groove 421 on the fixed-distance tooth block 42 matches the contour of the wire core, and the contour of the opening side of the groove 421 is slightly smaller than the maximum inner diameter of the groove 421. Furthermore, the opening side of the groove 421 is provided with an arc-shaped guide surface, the curvature of which is adapted to the outer circle contour of the wire core. This can provide a smooth guide path for the wire core during the pressing process of the pressure head 43, and prevent the wire core from being scratched or damaged by the sharp edge of the opening when entering the groove 421.

[0089] Further reference Figure 8 As shown, as a further embodiment of the driving mechanism for the pressure head 43, a first translation screw module 461 is provided on the fixed-distance stand 46. The first translation screw module 461 is arranged about the direction of the wire core arrangement. A vertically arranged pressure head actuation module 462 is provided on the actuating end of the first translation screw module 461. The pressure head 43 is connected to the actuating end of the pressure head actuation module 462. The first translation screw module 461 can be selected as a screw nut structure, with the nut end serving as a linear actuating component. A mounting plate is provided on the nut end for the pressure head actuation module 462 to be arranged. The pressure head actuation module 462 is preferably a vertically arranged linear cylinder. Thus, the pressure head 43 is driven by the pressure head actuation module 462 to perform pressing and lifting actions. The pressure head 43 is driven by the first translation screw module 461 to move one by one along the direction of the wire core arrangement.

[0090] Preferably, the control unit 41 selects the outermost wire core in the wire core group 20 as the initial wire core according to the current color sequence to be pressed, and performs the pressing action on the wire core one by one with the initial wire core as the initial position and the wire core interval as the step.

[0091] A first sensing module is provided on the fixed end of the first translation screw module 461, and a first sensing plate is provided on the moving end of the first translation screw module 461. The first sensing module is set to trigger a positioning signal when the first sensing plate reaches the target position. The target position can be the initial translation position of the pressure head 43 according to the number of wire cores, or the translation termination position. Based on the target position, the control unit 41 can control the step distance and stroke of the pressure head 43 according to the number of wire cores in the current wire core group 20, so as to ensure that each wire core can be accurately positioned and pressed into the corresponding fixed-distance tooth block 42.

[0092] Correspondingly, during the jumper spacing process, the wire clamping module always grabs and moves the wire 10 to the initial position. The initial position refers to the zero position of the wire core group 20 in the jumper spacing device 4, that is, keeping the initial wire core of each wire core group 20 in the same position so that the pressure head 43 can be aligned with the initial wire core at the target position, or control the translation stroke of the pressure head 43.

[0093] To ensure the stability of the translation of the pressure head 43, a slide rail slider structure is also provided between the pressure head actuation module 462 and the fixed-distance stand 46. This structure is a conventional technical means in this field and will not be described in detail here.

[0094] like Figure 12 As shown, as a further embodiment of the driving mechanism for the fixed-distance tooth block 42, the jumper spacing device 4 also includes a second translation screw module 422 and a lifting screw module 423 arranged below the fixed-distance tooth block 42. The second translation screw module 422 is arranged along the arrangement direction of the wire core, and the lifting screw module 423 is vertically arranged on the actuating end of the second translation screw module 422. The fixed-distance tooth block 42 is connected to the actuating end of the lifting screw module 423. To ensure the reliability of the action of the fixed-distance tooth block 42, it is preferable that both the second translation screw module 422 and the lifting screw module 423 are selected as screw and nut structures, wherein the screw is the rotating part and the nut end is the linear moving part, so as to provide the translation and lifting driving force for the fixed-distance tooth block 42.

[0095] The lifting screw module 423 is equipped with a second sensing module on its fixed end and a second sensing plate on its moving end. The second sensing plate contacts the second sensing module and sends a positioning signal to control the height position of the spacer block 42 during the jumper spacing process. In the above embodiment, the lifting screw module 423 specifically controls the spacer block 42 at a first height position and a second height position. At the first height position, the spacer block 42 rises and approaches the wire core group 20. At the second height position, the spacer block 42 descends to avoid the wire straightening action of the front clamping plate 44 and the rear clamping plate 45.

[0096] Both the first and second sensing modules mentioned above can be selected as through-beam sensors, which trigger a position signal when the sensing element enters or leaves the through-beam sensor.

[0097] like Figures 13 to 15 As shown, as a further embodiment of the wire core shaping device 5, specifically, the comb unit includes a first upper comb tooth 51 and a lower comb tooth 53 arranged opposite each other, and a second upper comb tooth 52 arranged at a distance from the first upper comb tooth 51. The tooth portion of the first upper comb tooth 51 is arranged opposite to the tooth groove of the lower comb tooth 53, and the tooth portions of the first upper comb tooth 51 and the second upper comb tooth 52 are arranged correspondingly. The first upper comb tooth 51 and the second upper comb tooth 52 are configured to slide opposite each other along the wire core extension direction to perform the combing and shaping action, and the second upper comb tooth 52 moves toward the opening end of the wire 10, that is, the second upper comb tooth 52 is closer to the opening end of the wire 10 than the first upper comb tooth 51. In the initial state, the spacer block 42 will hold the wire core group 20 in the position between the first upper comb tooth 51 and the second upper comb tooth 52.

[0098] As a further embodiment of the comb unit's operation, the core shaping device 5 includes a comb translation mechanism 54 for driving the comb unit to move linearly, and a second clamping cylinder 55 for driving the first upper comb tooth 51 and the second upper comb tooth 52 to move relative to each other.

[0099] The comb tooth translation mechanism 54 includes a first comb tooth translation module 541 and a second comb tooth translation module 542 arranged along the extension direction of the wire core. The first comb tooth translation module 541 is located below the second comb tooth translation module 542, and a second clamping cylinder 55 is located on the actuating end of the first comb tooth translation module 541. A comb tooth support is located on one side of the first comb tooth translation module 541. The second comb tooth translation module 542 is located on the upper part of the comb tooth support, and a comb tooth lifting cylinder 543 is located on the actuating end of the second comb tooth translation module 542 to drive the second upper comb tooth 52 relative to the wire core assembly. The first comb tooth 51 extends or retracts vertically, driven by the coordinated action of the first comb tooth translation module 541 and the second comb tooth translation module 542. This drives the first upper comb tooth 51, the second upper comb tooth 52, and the lower comb tooth 53 to move linearly along the extension direction of the core group 20, thereby achieving comprehensive combing and straightening of the core group 20. This makes the core arrangement more neat and orderly. In particular, the expanded teeth, preferably with a width slightly larger than the slot spacing of the spacer teeth 42, further straighten the core group 20 after the thread sequence is fixed, effectively eliminating problems such as misalignment and crossing that may occur during the spacer process. During the operation, the second clamping cylinder 55 drives the first upper comb tooth 51 and the second upper comb tooth 52 to move closer or further apart to adapt to the width requirements of different core groups 20, ensuring that each core can be accurately combed. The first comb tooth translation module 541 and the second comb tooth translation module 542 drive the comb tooth unit to perform a full scan along the extension direction of the wire core through precise linear movement, so that the wire core group 20 can also maintain a high degree of consistency in the length direction.

[0100] In the above embodiments, the first comb tooth translation module 541 and the second comb tooth translation module 542 are preferably linearly actuated electric cylinders or pneumatic cylinders, and the comb tooth lifting cylinder 543 is preferably a vertically arranged and linearly operated pneumatic cylinder.

[0101] This invention also provides a method for visual sorting of wire cores and collaborative positioning of a single pressure head, applied to a system for visual sorting of wire cores and collaborative positioning of a single pressure head, comprising the following steps:

[0102] S1. Core shaping: A shaping plate 24 is configured to operate synchronously with the roller unit 21. The shaping plate 24 has a shaping groove 241 to accommodate the core assembly 20. The core assembly 20 enters the shaping groove 241. The moving end of the wire clamping module holds the core assembly 20. Then, the roller unit 21 floats against the core assembly 20 until the surface of the core assembly 20 abuts against the bottom of the shaping groove 241. The roller unit 21 moves along the core extension direction and rolls the core surface, so that adjacent cores are spread out on the same plane to form the spread core assembly 20.

[0103] S2, Line Sequence Recognition: The current color line sequence of the core group 20 is obtained by the image acquisition unit 31 of the line sequence recognition module 3, and the boundary core of the current color line sequence is taken as the initial core;

[0104] S3, Jumper spacing:

[0105] S3.1 Clamping and Positioning: The wire 10 is clamped and positioned to the jumper spacing device 4 by the wire clamping module, and the wire core group 20 is located between the front clamping plate 44 and the rear clamping plate 45 to ensure the stable fixation of the wire core group 20 before jumper spacing;

[0106] S3.2 Tensioning and Leveling: While holding the wire core group 20 in place at the actuating end of the wire clamping module, the front clamping plate 44 and the rear clamping plate 45 are controlled to clamp the wire core group 20. Then, the actuating end of the wire clamping module releases the wire core group 20, and the front clamping plate 44 and the rear clamping plate 45 are controlled to move linearly in opposite directions to tension the wire core group 20. A straight section is defined between the front clamping plate 44 and the rear clamping plate 45 to provide a stable environment for wire pressing.

[0107] S3.3 Cooperative Pressing: The pressing head 43 is controlled to move along the current color sequence, starting from the initial wire core, pressing each wire core toward the fixed-distance tooth block 42 one by one; at the same time, according to the color of the current wire core to be pressed, the fixed-distance tooth block 42 is controlled to move, so that the target groove 421 corresponding to the specified color sequence moves to below the current wire core to be pressed. During the pressing process, the pressing head 43 avoids the groove 421 and acts on the wire core outside the groove 421. The dynamic coordination between the pressing head 43 and the fixed-distance tooth block 42 presses in sequence starting from the initial wire core;

[0108] S4. Post-core shaping: The comb unit of the post-core shaping device 5 is used to comb the spaced core group 20, including:

[0109] S4.1 First combing: The spaced tooth block 42, carrying the core group 20, is positioned between the first upper comb tooth 51 and the lower comb tooth 53, controlling the first upper comb tooth 51 and the lower comb tooth 53 to engage and insert into the gap between the cores, moving along the extension direction to comb the rear side of the core group 20;

[0110] S4.2 Secondary combing: Control the second upper comb tooth 52 to insert into the gap of the wire core, slide away from the first upper comb tooth 51, and move along the extension direction to comb the front side of the wire core group 20. The relative sliding of the upper and lower comb teeth 53 realizes bidirectional combing and improves the quality of wire core arrangement.

[0111] This method involves pressing down the pressure head 43 one by one in accordance with the physical line sequence, and the fixed-distance tooth block 42 dynamically responding to the target color line sequence to receive the wire cores. The pressure head 43 does not require complex color recognition and path planning, but only operates sequentially from the initial wire core according to the current color line sequence determined by the line sequence recognition device 3; while the fixed-distance tooth block 42 moves the correct target wire groove 421 to below the pressure head 43 in real time according to the color information, adapting to the irregular physical state that may exist at the end of the wire core, such as height difference, overlap, etc.

[0112] By shaping the wire cores before they are laid out, the scattered wire cores are organized into coplanar wire core groups 20, providing clear and stable objects for high-precision visual recognition and ensuring extremely high stability and accuracy of sorting and positioning.

[0113] The clamping, positioning, tensioning, and leveling steps in the jumper wire spacing process utilize the opposing movement of the front clamping plate 44 and the rear clamping plate 45 to actively tension and define a straight section in the wire core group 20. This eliminates the influence of the wire 10's own deflection and transport slack on the positioning accuracy, creating an extremely stable operating environment for the coordinated wire pressing of the pressure head 43 and the spacing tooth block 42, ensuring the accuracy and repeatability of the position when each wire core is pressed down.

[0114] The post-forming step of the wire core achieves bidirectional combing by sliding the first upper comb tooth 51 and the second upper comb tooth 52 in opposite directions. This expands and organizes the wire cores after they are spaced, which not only further separates the wire cores and avoids interference, but also ensures the linearity and spacing consistency of the final wire core group 20, thus preparing for subsequent terminal crimping.

[0115] The following is the overall workflow of this invention:

[0116] Core shaping before:

[0117] The first movable module 14 clamps the wire 10 and aligns it with the wire core front shaping device 2. At this time, the wire core is located between the upper and lower shaping plates 24 and the upper and lower roller units 21. Then, the first movable module 14 releases the wire 10, and the first upper fixing module 13 clamps the wire 10.

[0118] The roller translation module 22 moves, causing the shaping groove 241 to be positioned directly opposite the wire core assembly 20 near the opening of the wire 10. Then, the first clamping cylinder 23 moves, causing the upper and lower shaping plates 24 to move closer to each other. At this time, the wire core assembly 20 first enters the opening of the shaping groove 241, and the upper and lower roller units 21 abut against the upper and lower surfaces of the wire core assembly 20. As the first clamping cylinder 23 continues to move, the bottom of the shaping groove 241 contacts the upper and lower surfaces of the wire core assembly 20.

[0119] Subsequently, the first active module 14 returns to its original position, and the second lower clamping unit 142 applies planar clamping to the root of the wire core group 20. At this time, the roller translation module 22 returns to its original position, moving the shaping plate 24 and the roller unit 21 from the root of the wire core group 20 toward the free end of the wire core group 20, thereby straightening the wire core group 20 so that adjacent wire cores are laid out on the same plane, forming a neat wire core group 20.

[0120] Line sequence recognition:

[0121] The first upper fixing module 13 releases the wire 10, while the first active module 14 transfers the wire 10 to the wire sequence recognition module 3. The image acquisition unit 31 takes pictures of the current color and wire sequence of the wire core group 20, identifies and marks it, and displays it on the display screen, specifically marking the correct wire sequence position of the wire core of that color.

[0122] Jumper spacing:

[0123] Then the first movable module 14 moves to the extreme position of the first conveyor line 11, aligning the wire 10 with the jumper spacing device 4. At this time, the wire core assembly 20 is aligned with the front clamping plate 44 and the rear clamping plate 45. Then the second upper fixing module 15 and the second movable module 16 clamp and hold the wire 10 together, while the second lower clamping unit 142 holds the wire core assembly 20.

[0124] The first flat wire module 441 and the second flat wire module 451 are activated, causing the front clamping plate 44 and the rear clamping plate 45 to be vertically aligned with the wire core assembly 20. At this time, the second clamping unit, the front clamping plate 44, and the rear clamping plate 45 are sequentially adjacent to the wire core assembly 20. The third clamping cylinder 442 is activated, causing the front clamping plate 44 and the second clamping unit to clamp the wire core assembly 20. Subsequently, the second clamping unit releases the wire core assembly 20, and the first movable module 14 returns to the wire core front shaping device 2. The fourth clamping cylinder 452 is activated, clamping the wire core assembly 20 after positioning, and the wire core assembly 20 enters the limiting groove 453 of the rear clamping plate 45.

[0125] The initial core position is defined by the boundary of the limiting groove 453 and the width of a single core.

[0126] The first flat wire module 441 and the second flat wire module 451 continue to operate, driving the front clamping plate 44 to move towards the root of the wire core assembly 20 and driving the rear clamping plate 45 to move towards the free end of the wire core assembly 20. The front clamping plate 44 and the rear clamping plate 45 move linearly away from each other, further straightening the wire core assembly 20 and ensuring that the wire core assembly 20 is in a straight state. At the same time, the straight wire core assembly 20 is exposed between the front clamping plate 44 and the rear clamping plate 45, preparing for subsequent precise jumper spacing.

[0127] During the process of the front clamping plate 44 and the rear clamping plate 45 processing the wire core group 20, the lifting screw module 423 drives the fixed-distance tooth block 42 to the second height position;

[0128] The first translation screw module 461 drives the pressure head 43 to move to the initial wire core position and vertically opposite the initial wire core. At the same time, the second translation screw module 422 drives the fixed-distance tooth block 42 to move, so that the wire groove 421 corresponding to the correct wire sequence of the current wire core moves to directly below the wire core. The lifting screw module 423 drives the fixed-distance tooth block 42 to the first height position, so that the fixed-distance tooth block 42 is close to the bottom of the wire core group 20.

[0129] The pressure head actuation module 462 drives the pressure head 43 to press down. At this time, the head end of the fixed-distance tooth block 42 enters the receiving groove 431 of the pressure head 43. The pressing end 432 acts on the two ends of the wire core group 20 located outside the fixed-distance tooth block 42. The current wire core is pressed into the wire groove 421 of the correct wire sequence. Then, the pressure head 43 presses the subsequent wire cores into the corresponding wire grooves 421 in steps of a single wire core. During this process, the control unit 41 accurately controls the action of the second translation screw module 422 according to the current color wire sequence marked by the wire sequence recognition module 3, so that the fixed-distance tooth block 42 moves to ensure that each wire core can accurately fall into the wire groove 421 of the correct wire sequence.

[0130] After all the wire cores have been pressed into the wire groove 421, the pressure head actuation module 462 drives the pressure head 43 to rise and return to its original position; then, the second translation screw module 422 drives the fixed-distance tooth block 42 to return to its original position; next, the third clamping cylinder 442 and the fourth clamping cylinder 452 release the wire core assembly 20, causing the front clamping plate 44 and the rear clamping plate 45 to loosen their clamping on the wire core assembly 20 and return to their original positions, and the first flat wire module 441 and the second flat wire module 451 return to their original positions;

[0131] For example, for a wire core group 20 with four wire cores, the correct color sequence is yellow, red, orange, and brown. If the current sequence is red, yellow, orange, and brown, the control unit 41 displays the wire core group 20 image on the display screen marked as red two, yellow one, orange three, and brown four. Then, the fixed-distance tooth block 42 moves so that the second slot 421 of the correct color sequence is aligned with the first red wire core of the current sequence, the first slot 421 is aligned with the second yellow wire core of the current sequence, the third slot 421 is aligned with the third orange wire core of the current sequence, and the fourth slot 421 is aligned with the fourth brown wire core of the current sequence.

[0132] Core shaping:

[0133] The second upper fixing module 15 releases the wire 10, which is then clamped by the second movable module 16. The wire core group 20, after being spaced and ordered, is held on the spaced tooth block 42 and transferred to the wire core shaping device 5. At this time, the spaced tooth block 42 is opposite to the first upper comb tooth 51.

[0134] The first comb tooth translation module 541 drives the first upper comb tooth 51 and the lower comb tooth 53 to move to the rear side of the fixed-distance tooth block 42. The lifting screw module 423 drives the fixed-distance tooth block 42 to descend to the first height position. At the same time, the second clamping cylinder 55 drives the first upper comb tooth 51 and the lower comb tooth 53 to engage and insert between the adjacent wire cores of the wire core group 20. The first comb tooth translation module 541 returns to the free side of the wire core group 20, thereby completing the combing of the rear side of the wire core group 20. Meanwhile, the second comb tooth translation module 542 drives the second upper comb tooth 52 to move and abut against the rear side of the first upper comb tooth 51. Then, the comb tooth lifting cylinder 543 drives the second upper comb tooth 52 to descend and pass between the adjacent wire cores of the wire core group 20. Then, the second comb tooth translation module 542 drives the second upper comb tooth 52 to move towards the root of the wire core group 20, thereby completing the combing of the front side of the wire core group 20.

[0135] Due to the fixed spacing of the jumper wires, the wire cores at the opening of the wire 10 exhibit a certain degree of bending or irregular pressing. The fine combing action of the comb unit can specifically solve this problem. The second upper comb tooth 52 and the first upper comb tooth 51, through relative sliding and linear movement, comprehensively comb the wire core group 20 from both directions, ensuring not only that the wire cores are neatly arranged in the vertical direction, but also that the straightness of the wire cores is ensured in the horizontal direction. During the combing process, the tooth design of the second upper comb tooth 52 and the first upper comb tooth 51 can effectively separate adjacent wire cores, preventing them from sticking or crossing. At the same time, the tooth groove of the lower comb tooth 53 provides stable support, ensuring that the wire cores do not shift or fall off during the combing process. After combing, the wire core group 20 presents a neat and orderly arrangement, providing a good foundation for subsequent processing steps.

[0136] After being sorted by the core shaping device 5, the cores in the core group 20 are arranged more neatly and orderly, further ensuring the overall quality of the core group 20.

[0137] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A wire core visual sorting and single-pressure head collaborative positioning system, comprising a linearly arranged wire transport line (1), and a wire clamping module disposed on the wire transport line (1), wherein the actuating end of the wire clamping module clamps at least the sheath of the wire (10) and holds and transfers the wire (10), wherein the end of the wire (10) extends with a wire core, characterized in that, Also includes: The wire core shaping device (2) includes a roller unit (21) that is movably arranged along the wire core extension direction. The roller unit (21) is arranged opposite to the upper and lower sides of the wire core and rolls the surface of the wire core so that adjacent wire cores are laid out on the same plane, thereby forming a group of multiple wire cores (20). The line sequence recognition module (3) includes an image acquisition unit configured with a light source. The image acquisition unit acquires the current color line sequence of the line core group (20) and takes the boundary line core of the current color line sequence as the initial line core. The jumper spacing device (4) includes a control unit (41), a spacing tooth block (42) disposed below the wire core, and a pressure head (43) disposed above the wire core. The spacing tooth block (42) and the pressure head (43) are configured to move linearly along the wire core arrangement direction. The pressure head (43) conforms to the current color sequence of the wire core group (20) and presses the subsequent wire cores toward the spacing tooth block (42) one by one from the initial wire core. The spacing tooth block (42) is provided with a plurality of wire grooves (421) that correspond one-to-one with the specified color sequence. The control unit (41) controls the spacing tooth block (42) to move according to the color of the current wire core to be pressed, so that the target wire groove (421) corresponding to the color in the specified color sequence moves to the bottom of the current wire core to be pressed. The pressure head (43) avoids the wire groove (421) during the downward stroke and acts on the wire core outside the wire groove (421). The wire core shaping device (5) includes at least one comb unit, the comb unit including a plurality of teeth spaced apart with respect to the wire core arrangement direction, the plurality of teeth being arranged in an expanding trend; The jumper spacing device (4) further includes a spacing support frame (46) and a first translation screw module (461) disposed on the spacing support frame (46). The first translation screw module (461) has a vertically arranged pressure head actuation module (462) on its actuating end. The pressure head (43) is connected to the actuating end of the pressure head actuation module (462). The first translation screw module (461) is arranged about the direction of the wire core arrangement.

2. The wire core visual sorting and single pressure head collaborative positioning system according to claim 1, characterized in that: The wire core shaping device (2) further includes a roller horizontal movement module (22) arranged linearly along the wire core, a first clamping cylinder (23) arranged on the roller horizontal movement module (22), and a shaping plate (24) arranged on the front side of the roller unit (21). The shaping plate (24) and the roller unit (21) are arranged on the actuating end of the first clamping cylinder (23). The axis of the roller unit (21) is perpendicular to the wire core extension direction. A shaping groove (241) is opened on the shaping plate (24). The groove wall of the shaping groove (241) matches the side boundary of the wire core group (20) in the spreading posture.

3. The wire core visual sorting and single pressure head collaborative positioning system according to claim 2, characterized in that: The jumper spacing device (4) further includes a front clamp (44) disposed on the upper and lower sides of the core assembly (20), and a first flat wire module (441) for driving the front clamp (44) to move linearly along the core. The front clamp (44) is arranged close to the end of the wire (10).

4. The wire core visual sorting and single pressure head collaborative positioning system according to claim 3, characterized in that: The jumper spacing device (4) further includes a rear clamping plate (45) disposed opposite to the upper and lower sides of the wire core assembly (20), and a second flat wire module (451) for driving the rear clamping plate (45) to move linearly along the wire core. The rear clamping plate (45) is disposed away from the opening end of the wire (10). The front clamping plate (44) and the rear clamping plate (45) are configured to move linearly away from each other. The front clamping plate (44) and the rear clamping plate (45) define a straight section of the wire core assembly (20). The pressure head (43) and the spacing tooth block (42) are disposed between the front clamping plate (44) and the rear clamping plate (45).

5. The wire core visual sorting and single pressure head collaborative positioning system according to claim 1, characterized in that: The pressure head (43) is provided with a receiving groove (431) for accommodating the fixed-distance tooth block (42). The bottom end of the pressure head (43) is provided with a pressing end (432), which is connected to the groove opening of the receiving groove (431). The fixed-distance tooth block (42) is provided with a limiting protrusion (425) that is opposite to the pressing end (432).

6. The wire core visual sorting and single pressure head collaborative positioning system according to claim 1, characterized in that: The jumper spacing device (4) further includes a second translation screw module (422) and a lifting screw module (423) arranged below the spacing tooth block (42). The second translation screw module (422) is arranged along the arrangement direction of the wire core. The lifting screw module (423) is set on the operating end of the second translation screw module (422). The spacing tooth block (42) is connected to the operating end of the lifting screw module (423).

7. The wire core visual sorting and single pressure head cooperative positioning system according to claim 4, characterized in that: The comb unit includes a first upper comb tooth (51) and a lower comb tooth (53) arranged opposite to each other, and a second upper comb tooth (52) spaced apart from the first upper comb tooth (51). The first upper comb tooth (51) and the second upper comb tooth (52) are configured to slide opposite to each other along the extension direction of the wire core, and the second upper comb tooth (52) moves toward the opening end of the wire (10).

8. The wire core visual sorting and single pressure head collaborative positioning system according to claim 7, characterized in that: The core shaping device (5) includes a comb translation mechanism (54) for driving the comb unit to move linearly, and a second clamping cylinder (55) for driving the first upper comb tooth (51) and the second upper comb tooth (52) to move relative to each other.

9. A method for visual sorting of wire cores and collaborative positioning of a single pressure head, applied to the wire core visual sorting and collaborative positioning system of any one of claims 7 to 8, characterized in that, Includes the following steps: S1. Core shaping: A shaping plate (24) is configured to move synchronously with the roller unit (21). The shaping plate (24) has a shaping groove (241) for accommodating the core assembly (20). The core assembly (20) enters the shaping groove (241). The moving end of the wire clamping module holds the core assembly (20). Then, the roller unit (21) floats against the core assembly (20) until the surface of the core assembly (20) abuts against the bottom of the shaping groove (241). The roller unit (21) moves along the core extension direction and rolls the core surface so that adjacent cores are spread out on the same plane to form a spread core assembly (20). S2, Line sequence recognition: The current color line sequence of the core group (20) is obtained by the image acquisition unit (31) of the line sequence recognition module (3), and the boundary core of the current color line sequence is taken as the initial core. S3, Jumper spacing: S3.1 Clamping and positioning: The wire (10) is clamped and positioned to the jumper spacing device (4) by the wire clamping module, and the wire core group (20) is located between the front clamping plate (44) and the rear clamping plate (45). S3.2 Tensioning and leveling: While keeping the wire core group (20) in place at the action end of the wire clamping module, control the front clamping plate (44) and the rear clamping plate (45) to clamp the wire core group (20). Then, the action end of the wire clamping module releases the wire core group (20), and controls the front clamping plate (44) and the rear clamping plate (45) to move linearly away from each other, thus tensioning the wire core group (20) and defining a straight section between the front clamping plate (44) and the rear clamping plate (45). S3.3, Cooperative pressing: Control the pressing head (43) to move along the current color line sequence, starting from the initial wire core, and press the wire cores one by one toward the fixed-distance tooth block (42); at the same time, according to the color of the current wire core to be pressed, control the fixed-distance tooth block (42) to move, so that the target wire groove (421) corresponding to the specified color sequence moves to the bottom of the current wire core to be pressed, and the pressing head (43) avoids the wire groove (421) and acts on the wire core outside the wire groove (421) during the pressing process; S4. Post-core shaping: The comb unit of the post-core shaping device (5) combs the spaced core group (20), including: S4.1, First combing: The spaced tooth block (42) carries the core group (20) directly between the first upper comb tooth (51) and the lower comb tooth (53), controls the first upper comb tooth (51) and the lower comb tooth (53) to engage and insert into the core gap, and moves along the extension direction to comb the back side of the core group (20). S4.2 Secondary combing: Control the second upper comb tooth (52) to insert into the gap of the wire core, slide away from the first upper comb tooth (51), and move along the extension direction to comb the front side of the wire core group (20).

Images