Visual inspection device for circumferential salient points of wiring harness terminal and centering constraint method
By using a visual inspection device for circumferential protrusions on wire harness terminals, and utilizing an equilateral triangle enclosure constraint opening and a gravity wheel structure, the problem of coaxiality error of wire harness terminals is solved, achieving high-precision inspection results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 德维嘉汽车电子系统(无锡)有限公司
- Filing Date
- 2026-01-12
- Publication Date
- 2026-05-12
AI Technical Summary
In the existing technology, the detection error caused by coaxiality error during the detection process of the wire harness terminal cannot effectively guarantee the coaxiality between the wire harness terminal and the lens.
A circumferential protrusion visual inspection device for wire harness terminals is adopted. Through an industrial camera and a ring light source, in conjunction with a terminal centering constraint unit, and utilizing an equilateral triangle enclosure constraint opening and a gravity wheel structure, the coaxiality of the wire harness terminals and the lens is ensured.
The coaxiality between the wire harness terminals and the lens was improved, reducing detection errors and ensuring the accuracy of the detection data.
Smart Images
Figure CN122015675A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of wire harness testing. Background Technology
[0002] like Figure 1 As shown, the typical end of the wire harness being tested is the wire harness terminal 3. The wire harness terminal 37 includes a terminal head 3 and a terminal tail 2. The outer periphery of the terminal head 3 is provided with a plurality of circumferential protrusions 33 arranged in a circumferential array. The function of the plurality of circumferential protrusions 33 is that after the terminal head 3 is inserted into the corresponding socket, the plurality of circumferential protrusions 33 and the spring in the socket exert force on each other, thereby stabilizing conductivity and limiting position, and improving the electrical performance stability of the wire harness terminal 37 in the plugged state. The detection target of this scheme is the outer diameter circle data, outer contour fitting degree, deviation degree and coaxiality data of the circumferential protrusions 33 around the outer periphery of the terminal head 3.
[0003] However, the wire harness clamp 34 can only ensure that the part of the wire harness 1 that is clamped is strictly coaxial with the axis of the lens 6. The wire harness terminal 37 at the end of the wire harness 1 being tested may not coincide with the axis of the lens 6 due to external reasons such as gravity or the bending of the wire harness itself, resulting in a slight coaxiality error. This will cause detection error. Summary of the Invention
[0004] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention provides a visual inspection device and centering constraint method for circumferential protrusions of wire harness terminals, which improves the coaxiality of wire harness terminals and lenses.
[0005] Technical Solution: To achieve the above objectives, the present invention provides a visual inspection device for circumferential protrusions of wire harness terminals. The end of the wire harness to be inspected is a wire harness terminal, which includes a terminal head and a terminal tail. The terminal tail is a cylinder coaxial with the wire harness to be inspected. The outer periphery of the terminal head is provided with a plurality of circumferential protrusions arranged in a circumferential array. The device includes an industrial camera, with a ring-shaped light source in front of the lens of the industrial camera, and a wire harness clamp in front of the ring-shaped light source. The wire harness clamp includes a fixed clamp block and a lifting clamp block, with a wire harness through-hole formed between the fixed clamp block and the lifting clamp block. A terminal alignment constraint unit is provided between the wire harness clamp and the ring-shaped light source.
[0006] Furthermore, the terminal alignment constraint unit includes a first constraint line, a second constraint line, and a third constraint line; from the perspective along the lens axis, the first constraint line, the second constraint line, and the third constraint line intersect each other and form an equilateral triangle enclosure constraint opening at the intersection of the three; the lens axis passes through the geometric center of the equilateral triangle enclosure constraint opening.
[0007] Furthermore, in the detection state, the outer peripheral surface of the terminal tail is tangent to the three inner sides of the constraint opening enclosed by the equilateral triangle.
[0008] Furthermore, the terminal alignment constraint unit also includes an equilateral triangular frame; a first gravity wheel, a second gravity wheel, and a third gravity wheel are respectively provided at the three vertices of the equilateral triangular frame.
[0009] Furthermore, the first gravity wheel includes a first fixed shaft, a first inner ring, and a first outer ring. The first fixed shaft is fixed at the apex of an equilateral triangular frame. The first inner ring is sleeved on the outside of the first fixed shaft via a bearing. The first outer ring is coaxial with the outside of the first inner ring. The first outer ring and the first inner ring are integrally connected by a first sector-shaped counterweight. The first sector-shaped counterweight is on the left side of the first outer ring.
[0010] The second gravity wheel includes a second fixed shaft, a second inner ring, and a second outer ring. The second fixed shaft is fixed at the apex of an equilateral triangular frame. The second inner ring is sleeved on the outside of the second fixed shaft through a bearing. The second outer ring is coaxial with the outside of the second inner ring. The second outer ring and the second inner ring are integrally connected by a second sector-shaped counterweight. The second sector-shaped counterweight is on the left side of the second outer ring.
[0011] The third gravity wheel includes a third fixed shaft, a third inner ring, and a third outer ring. The third fixed shaft is fixed at the apex of an equilateral triangular frame. The third inner ring is sleeved on the outside of the third fixed shaft through a bearing. The third outer ring is coaxial with the outside of the third inner ring. The third outer ring and the third inner ring are integrally connected by a third sector-shaped counterweight. The third sector-shaped counterweight is on the left side of the third outer ring.
[0012] When the first constraint line is taut, it is horizontal. The left end of the first constraint line is fixedly connected to the first expansion joint extending along the length direction, and the right end is fixedly connected to the first outer ring. The extension line of the first constraint line passes through the center of the first outer ring.
[0013] When the second constraint line is taut, it tilts to the right at the top. The upper right end of the second constraint line is fixedly connected to the second expansion joint extending along the length direction, and the lower left end is fixedly connected to the second outer ring. The extension line of the second constraint line passes through the center of the second outer ring.
[0014] When the third constraint line is taut, it tilts to the left at the top. The lower right end of the third constraint line is fixedly connected to the third expansion joint extending along the length direction, and the upper left end is fixedly connected to the third outer ring. The extension line of the third constraint line passes through the center of the third outer ring.
[0015] Furthermore, it also includes a first adjusting wheel, a second adjusting wheel, and a third adjusting wheel, each of which is driven to rotate by its own active motor;
[0016] The outer contours of the first, second, and third adjusting wheels are all a constant velocity spiral contour surface.
[0017] The constant velocity spiral profiles of the first, second, and third adjusting wheels are tangent to the upper sides of the first, second, and third sector counterweights, respectively.
[0018] Optionally, a method for operating a visual inspection device for circumferential protrusions on wire harness terminals:
[0019] Step 1: In the initial state, the wire harness through the opening is in a relatively open state. The first expansion joint, the second expansion joint, and the third expansion joint apply a pull-back force F to the first constraint line, the second constraint line, and the third constraint line, respectively.
[0020] Step two: Simultaneously control the first, second, and third expansion joints to extend outward a certain distance.
[0021] Step 3: The wire harness terminal being tested passes through the wire harness through-hole along the axial direction and continues to advance along the axial direction until the end of the wire harness terminal reaches the enclosure of the equilateral triangle constraint opening.
[0022] Step four: Control the first, second, and third expansion joints to retract, and apply a pull-back force F to the first, second, and third constraint lines respectively;
[0023] Step 5: The industrial camera captures an image of the end of the wire harness terminal through the lens along the coaxial axis. The vision system analyzes whether the data such as the outer diameter circle of the circumferential protrusions around the terminal head, the degree of outer contour fitting, the degree of deviation, and the coaxiality meet the requirements.
[0024] Optionally, a method for operating a visual inspection device for circumferential protrusions on wire harness terminals:
[0025] Step 1: In the initial state, the wire harness through the opening is in a relatively open state. The first expansion joint, the second expansion joint, and the third expansion joint apply a pull-back force F to the first constraint line, the second constraint line, and the third constraint line, respectively.
[0026] At this time, the first, second, and third adjusting wheels are controlled to rotate clockwise by the same angle, thereby forcing the constant velocity spiral profile surfaces on the outer periphery of the first, second, and third adjusting wheels to rotate clockwise around their axes by a certain angle. The first, second, and third expansion joints extend adaptively by a certain distance, while maintaining a pull-back force F applied to the first, second, and third constraint lines respectively; thus, the inscribed circle of the constraint opening enclosed by the equilateral triangle expands to be exactly the same as the outer diameter of the terminal tail at this time.
[0027] Step two: Simultaneously control the first, second, and third expansion joints to extend outward a certain distance.
[0028] Step 3: The wire harness terminal being tested passes through the wire harness through-hole along the axial direction and continues to advance along the axial direction until the end of the wire harness terminal reaches the enclosure of the equilateral triangle constraint opening.
[0029] Step four: Control the first, second, and third expansion joints to retract, and apply a pull-back force F to the first, second, and third constraint lines respectively;
[0030] Step 5: The industrial camera captures an image of the end of the wire harness terminal through the lens along the coaxial axis. The vision system analyzes whether the data such as the outer diameter circle of the circumferential protrusions around the terminal head, the degree of outer contour fitting, the degree of deviation, and the coaxiality meet the requirements.
[0031] Beneficial effects: In step four of this invention, the radius of the inscribed circle of the equilateral triangle enclosure constraint opening is shrunk to be exactly the same as the outer diameter of the terminal tail, and the geometric center of the equilateral triangle enclosure constraint opening is exactly on the axis of the lens; at this time, the terminal tail within the enclosure range of the equilateral triangle enclosure constraint opening is automatically constrained to be coaxial with the wire harness being tested; thereby improving the coaxiality between the wire harness terminal and the lens. Attached Figure Description
[0032] Figure 1 This is a schematic diagram of the end structure and visual pattern of the wire harness terminal;
[0033] Figure 2 This is a schematic diagram of the main parameters of this device;
[0034] Figure 3 This is a schematic diagram of the overall structure of the device before its improvement.
[0035] Figure 4 This is a schematic diagram of the improved structure of the device;
[0036] Figure 5 This is a schematic diagram of the terminal alignment constraint unit structure;
[0037] Figure 6 This is a schematic diagram of one of the gravity wheel structures. Detailed Implementation
[0038] The invention will be further described below with reference to the accompanying drawings. It should be noted that the left and right references in this design are based on... Figure 5 Left and right from the perspective.
[0039] As attached Figures 1 to 6 The aforementioned visual inspection device for circumferential protrusions of wire harness terminals, such as Figure 3As shown, the device includes an equipment platform. An active translation slider 8 is installed on the equipment platform via a lead screw linear displacement device. An industrial camera 7 is fixedly mounted on the active translation slider 8. A lens 6 is mounted on the front end of the industrial camera 7. A ring light source 5 is coaxially arranged in front of the lens 6. A wire harness clamp 34 is arranged in front of the ring light source 5. The wire harness clamp 34 includes a fixed clamp 9 with the V-shaped clamp facing upward and a lifting clamp 4 with the V-shaped clamp facing downward. A wire harness passage 11 is formed between the fixed clamp 9 with the V-shaped clamp facing upward and the lifting clamp 4 with the V-shaped clamp facing downward. The sliders on both sides of the lifting clamp 4 are guided and fitted in the longitudinal guide rails 10 on both sides. In order to avoid motion interference, the V-shaped clamps of the fixed clamp 9 and the V-shaped clamps of the lifting clamp 4 are staggered in the front-back direction.
[0040] It also includes a telescopic device 36 that can drive the lifting clamp 4 to move up and down; the end of the wire harness 1 being tested is a wire harness terminal 37, which includes a terminal head 3 and a terminal tail 2. The terminal tail 2 is a cylinder coaxial with the wire harness 1 being tested. The outer periphery of the terminal head 3 is provided with a number of circumferential protrusions 33 in a circumferential array. The function of the number of circumferential protrusions 33 is that after the terminal head 3 is inserted into the corresponding socket, the number of circumferential protrusions 33 exert force with the spring in the socket, which plays a role in stabilizing conductivity and limiting position, thereby improving the electrical performance stability of the wire harness terminal 37 in the plugged state. The detection target of this scheme is the outer diameter circle data, outer contour fitting degree, deviation degree and coaxiality data of the circumferential protrusions 33 around the outer periphery of the terminal head 3.
[0041] like Figure 4 As shown, a terminal alignment constraint unit is provided between the wire harness clamp 34 and the annular light source 5; the terminal alignment constraint unit includes a first constraint line 16a, a second constraint line 16b and a third constraint line 16c; from the perspective along the axis of the lens 6, the first constraint line 16a, the second constraint line 16b and the third constraint line 16c intersect each other and form an equilateral triangle enclosure constraint opening 13 at the intersection of the three; the axis of the lens 6 passes through the geometric center of the equilateral triangle enclosure constraint opening 13.
[0042] like Figure 5 and 6 As shown, in the detection state, the outer peripheral surface of the terminal tail 2 is tangent to the three inner sides of the equilateral triangle enclosure constraint opening 13; the terminal centering constraint unit also includes an equilateral triangle frame 12, which is fixed to the equipment platform through the structural arm 17; a first gravity wheel 15a, a second gravity wheel 15b, and a third gravity wheel 15c are respectively provided at the three vertices of the equilateral triangle frame 12.
[0043] The first gravity wheel 15a includes a first fixed shaft 19a, a first inner ring 21a, and a first outer ring 20a. The first fixed shaft 19a is fixed at the apex of the equilateral triangular frame 12. The first inner ring 21a is sleeved on the outside of the first fixed shaft 19a through a bearing. The first outer ring 20a is coaxial with the outside of the first inner ring 21a. The first outer ring 20a and the first inner ring 21a are integrally connected by a first sector-shaped counterweight 22a. The first sector-shaped counterweight 22a is on the left side of the first outer ring 20a.
[0044] The second gravity wheel 15b includes a second fixed shaft 19b, a second inner ring 21b, and a second outer ring 20b. The second fixed shaft 19b is fixed at the apex of the equilateral triangular frame 12. The second inner ring 21b is sleeved on the outside of the second fixed shaft 19b through a bearing. The second outer ring 20b is coaxial with the outside of the second inner ring 21b. The second outer ring 20b and the second inner ring 21b are integrally connected by a second sector-shaped counterweight 22b. The second sector-shaped counterweight 22b is on the left side of the second outer ring 20b.
[0045] The third gravity wheel 15c includes a third fixed shaft 19c, a third inner ring 21c, and a third outer ring 20c. The third fixed shaft 19c is fixed at the apex of the equilateral triangular frame 12. The third inner ring 21c is sleeved on the outside of the third fixed shaft 19c through a bearing. The third outer ring 20c is coaxial with the outside of the third inner ring 21c. The third outer ring 20c and the third inner ring 21c are integrally connected by a third sector counterweight 22c. The third sector counterweight 22c is on the left side of the third outer ring 20c.
[0046] When the first constraint line 16a is taut, it is horizontal. The left end of the first constraint line 16a is fixedly connected to the first expansion joint 14a extending along the length direction, and the right end is fixedly connected to the first outer ring 20a. The extension line of the first constraint line 16a passes through the center of the first outer ring 20a.
[0047] When the second constraint line 16b is taut, it tilts to the right at the top. The upper right end of the second constraint line 16b is fixedly connected to the second expansion joint 14b extending along the length direction, and the lower left end is fixedly connected to the second outer ring 20b. The extension line of the second constraint line 16b passes through the center of the second outer ring 20b.
[0048] When the third constraint line 16c is taut, it tilts upwards to the left. The lower right end of the third constraint line 16c is fixedly connected to the third expansion joint 14c extending along its length, and the upper left end is fixedly connected to the third outer ring 20c. The extension line of the third constraint line 16c passes through the center of the third outer ring 20c. The first expansion joint 14a, the second expansion joint 14b, and the third expansion joint 14c are all fixed to the expansion joint bracket 16. The first constraint line 16a, the second constraint line 16b, and the third constraint line 16c are made of high-strength metal fiber.
[0049] Working principle:
[0050] Step 1: In the initial state, the wire harness through-hole 11 is relatively open. Simultaneously, the first telescopic device 14a, the second telescopic device 14b, and the third telescopic device 14c apply a pull-back force F to the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c respectively. The first constraint line 16a, the second constraint line 16b, and the third constraint line 16c are all tightly taut. Under the tension of the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c, the first gravity wheel 15a, the second gravity wheel 15b, and the third gravity wheel 15c cause the first constraint line 16a... The extension line of the first outer ring 20a passes through the center of the second constraint line 16b, the extension line of the second constraint line 16b passes through the center of the second outer ring 20b, and the extension line of the third constraint line 16c passes through the center of the third outer ring 20c. At this time, the first sector counterweight 22a is just to the left of the first outer ring 20a; the second sector counterweight 22b is just to the left of the second outer ring 20b; and the third sector counterweight 22c is just to the left of the third outer ring 20c, so that the radius of the inscribed circle of the equilateral triangle enclosure constraint opening 13 is exactly the same as the outer diameter of the terminal tail 2, and at this time, the geometric center of the equilateral triangle enclosure constraint opening 13 is just on the axis of the lens 6.
[0051] Step two: Simultaneously control the first telescopic device 14a, the second telescopic device 14b, and the third telescopic device 14c to extend outward by a certain distance, thereby slackening the originally taut first constraint line 16a, the second constraint line 16b, and the third constraint line 16c, and releasing the tension of the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c. At this time, the first gravity wheel 15a, the second gravity wheel 15b, and the third gravity wheel 15c will deflect clockwise around the axis by a certain angle under the gravity drive of the first sector counterweight 22a, the second sector counterweight 22b, and the third sector counterweight 22c, respectively, until the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c are straightened again and stop rotating. At this time, the area and the radius of the inscribed circle of the equilateral triangle enclosing the constraint opening 13 are larger than in "Step one", and the geometric center of the equilateral triangle enclosing the constraint opening 13 is still on the axis of the lens 6.
[0052] Step 3: The robotic arm passes the wire harness terminal 37 of the wire harness 1 to be tested through the wire harness passage opening 11 along the axial direction, and continues to advance along the axial direction until the terminal tail 2 of the wire harness terminal 37 reaches the enclosure range of the equilateral triangle enclosure constraint opening 13 after the inscribed circle radius is enlarged. At this time, the inscribed circle radius of the equilateral triangle enclosure constraint opening 13 is larger than the outer diameter of the terminal tail 2. Then, the telescopic device 36 controls the lifting clamp 4 to descend, the wire harness passage opening 11 retracts, so that the wire harness clamp 34 clamps the wire harness 1 to be tested. Since the wire harness 1 to be tested is not a rigid structure, the wire harness clamp 34 can only ensure that the part of the wire harness 1 to be tested is strictly coaxial with the axis of the lens 6. However, the wire harness terminal 37 at the end of the wire harness 1 to be tested may not coincide with the axis of the lens 6 due to external reasons such as gravity and the bending of the wire harness itself, resulting in a slight coaxiality error. This will cause a detection error, which can be effectively suppressed in the next step.
[0053] Step four: Control the first telescopic device 14a, the second telescopic device 14b, and the third telescopic device 14c to retract, and apply a pull-back force F to the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c respectively. Under the pull of the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c, the first gravity wheel 15a, the second gravity wheel 15b, and the third gravity wheel 15c rotate counterclockwise to their initial positions, so that the extension line of the first constraint line 16a passes through the center of the first outer ring 20a again, the extension line of the second constraint line 16b passes through the center of the second outer ring 20b again, and the extension line of the third constraint line 16c passes through the center of the second outer ring 20b again. The first sector counterweight 22a returns to the left side of the first outer ring 20a; the second sector counterweight 22b returns to the left side of the second outer ring 20b; the third sector counterweight 22c returns to the left side of the third outer ring 20c; thus, the radius of the inscribed circle of the equilateral triangle enclosure constraint opening 13 shrinks to be exactly the same as the outer diameter of the terminal tail 2, and the geometric center of the equilateral triangle enclosure constraint opening 13 is exactly on the axis of the lens 6; at this time, the terminal tail 2 within the enclosure range of the equilateral triangle enclosure constraint opening 13 is automatically constrained to be coaxial with the detected wire harness 1; thereby improving the coaxiality between the wire harness terminal 37 and the lens 6.
[0054] Step 5: The industrial camera 7 captures an image of the end of the wire harness terminal 37 through the lens 6 along the coaxial axis. The vision system analyzes whether the data such as the outer diameter circle data, the degree of fitting of the outer contour, the degree of deviation, and the coaxiality of the circumferential protrusions 33 around the terminal head 3 meet the conditions, thereby completing the visual inspection of the terminal head 3.
[0055] The above embodiments can only implement coaxiality constraints for wire harness terminals 37 with a specific outer diameter. The following is a further optimized structure. The optimized embodiment can implement coaxiality constraints for wire harness terminals 37 with a larger outer diameter than the above embodiments, as detailed below:
[0056] like Figure 5 and 6 As shown, it also includes a first adjusting wheel 14a, a second adjusting wheel 14b and a third adjusting wheel 14c, which are driven to rotate by their respective active motors 14; the outer contours of the first adjusting wheel 14a, the second adjusting wheel 14b and the third adjusting wheel 14c are all a circle of constant velocity spiral contour surface 15.
[0057] The constant velocity spiral profiles 15 of the first adjusting wheel 14a, the second adjusting wheel 14b, and the third adjusting wheel 14c are tangent to the upper side edges 31 of the first sector counterweight 22a, the second sector counterweight 22b, and the third sector counterweight 22c, respectively.
[0058] Optimized operating method for constraining wire harness terminals 37 with larger outer diameters:
[0059] Step 1: In the initial state, the wire harness through-hole 11 is in a relatively open state. Simultaneously, the first telescopic joint 14a, the second telescopic joint 14b, and the third telescopic joint 14c apply a pull-back force F to the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c respectively. The first constraint line 16a, the second constraint line 16b, and the third constraint line 16c are all in a tightly taut state. The first gravity wheel 15a, the second gravity wheel 15b, and the third gravity wheel 15c are in the first constraint... Under the tension of line 16a, the second constraint line 16b, and the third constraint line 16c, the extension of the first constraint line 16a passes through the center of the first outer ring 20a, the extension of the second constraint line 16b passes through the center of the second outer ring 20b, and the extension of the third constraint line 16c passes through the center of the third outer ring 20c. At this time, the first sector counterweight 22a is exactly to the left of the first outer ring 20a; the second sector counterweight 22b is exactly to the left of the second outer ring 20b; and the third sector counterweight 22c is exactly to the left of the third outer ring 20a. On the left side of 0c, the radius of the inscribed circle of the equilateral triangle constraining opening 13 is smaller than the outer diameter of the terminal tail 2. To expand the inscribed circle of the equilateral triangle constraining opening 13 in the initial state to match the outer diameter of the terminal tail 2, the first adjusting wheel 14a, the second adjusting wheel 14b, and the third adjusting wheel 14c are rotated clockwise by the same angle, thereby creating a constant-velocity spiral profile on the outer periphery of the first adjusting wheel 14a, the second adjusting wheel 14b, and the third adjusting wheel 14c. The surface 15 forces the first gravity wheel 15a, the second gravity wheel 15b, and the third gravity wheel 15c to rotate clockwise around the axis by a certain angle, and the first telescopic device 14a, the second telescopic device 14b, and the third telescopic device 14c extend to an appropriate length, while maintaining a pull-back force F applied to the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c respectively; thereby expanding the inscribed circle of the equilateral triangle enclosing the constraint opening 13 to be exactly the same as the outer diameter of the terminal tail 2 at this time.
[0060] Step two: Simultaneously control the first telescopic device 14a, the second telescopic device 14b, and the third telescopic device 14c to extend outward by a certain distance, thereby slackening the originally taut first constraint line 16a, the second constraint line 16b, and the third constraint line 16c, and releasing the tension of the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c. At this time, the first gravity wheel 15a, the second gravity wheel 15b, and the third gravity wheel 15c will deflect clockwise around the axis by a certain angle under the gravity drive of the first sector counterweight 22a, the second sector counterweight 22b, and the third sector counterweight 22c, respectively, until the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c are straightened again and stop rotating. At this time, the area and the radius of the inscribed circle of the equilateral triangle enclosing the constraint opening 13 are larger than at the end of "Step one", and the geometric center of the equilateral triangle enclosing the constraint opening 13 is still on the axis of the lens 6.
[0061] Step 3: The robotic arm passes the wire harness terminal 37 of the wire harness 1 to be tested through the wire harness passage opening 11 along the axial direction, and continues to advance along the axial direction until the terminal tail 2 of the wire harness terminal 37 reaches the enclosure range of the equilateral triangle enclosure constraint opening 13 after the inscribed circle radius is enlarged. At this time, the inscribed circle radius of the equilateral triangle enclosure constraint opening 13 is larger than the outer diameter of the terminal tail 2. Then, the telescopic device 36 controls the lifting clamp 4 to descend, the wire harness passage opening 11 retracts, so that the wire harness clamp 34 clamps the wire harness 1 to be tested. Since the wire harness 1 to be tested is not a rigid structure, the wire harness clamp 34 can only ensure that the part of the wire harness 1 to be tested is strictly coaxial with the axis of the lens 6. However, the wire harness terminal 37 at the end of the wire harness 1 to be tested may not coincide with the axis of the lens 6 due to external reasons such as gravity and the bending of the wire harness itself, resulting in a slight coaxiality error. This will cause a detection error, which can be effectively suppressed in the next step.
[0062] Step four: Control the first telescopic device 14a, the second telescopic device 14b, and the third telescopic device 14c to retract, and apply a pull force F to the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c respectively. Under the pull of the first constraint line 16a, the second constraint line 16b, and the third constraint line 16c, the first gravity wheel 15a, the second gravity wheel 15b, and the third gravity wheel 15c rotate counterclockwise to the position at the end of "Step one". At this time, the radius of the inscribed circle of the equilateral triangle enclosure constraint opening 13 shrinks to be exactly the same as the outer diameter of the terminal tail 2, and the geometric center of the equilateral triangle enclosure constraint opening 13 is exactly on the axis of the lens 6. At this time, the terminal tail 2 within the enclosure range of the equilateral triangle enclosure constraint opening 13 is automatically constrained to be coaxial with the detected wire harness 1, thereby improving the coaxiality between the wire harness terminal 37 and the lens 6.
[0063] Step 5: The industrial camera 7 captures an image of the end of the wire harness terminal 37 through the lens 6 along the coaxial axis. The vision system analyzes whether the data such as the outer diameter circle data, the degree of fitting of the outer contour, the degree of deviation, and the coaxiality of the circumferential protrusions 33 around the terminal head 3 meet the conditions, thereby completing the visual inspection of the terminal head 3.
[0064] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A visual inspection device for circumferential protrusions of a wire harness terminal, wherein the end of the wire harness (1) to be inspected is a wire harness terminal (37), the wire harness terminal (37) includes a terminal head (3) and a terminal tail (2), the terminal tail (2) is a cylinder coaxial with the wire harness (1) to be inspected, and the outer periphery of the terminal head (3) is provided with a plurality of circumferential protrusions (33) in a circular array. Its features are: Including an industrial camera (7), with a ring light source (5) in front of the lens (6) of the industrial camera (7), and a wire harness clamp (34) in front of the ring light source (5). The wire harness clamp (34) includes a fixed clamp (9) and a lifting clamp (4), and a wire harness through-hole (11) is formed between the fixed clamp (9) and the lifting clamp (4); a terminal centering constraint unit is provided between the wire harness clamp (34) and the annular light source (5).
2. The visual inspection device for circumferential protrusions of wire harness terminals according to claim 1, characterized in that: The terminal alignment constraint unit includes a first constraint line (16a), a second constraint line (16b), and a third constraint line (16c). From the perspective of the lens (6) axis, the first constraint line (16a), the second constraint line (16b), and the third constraint line (16c) intersect each other and form an equilateral triangle enclosure constraint opening (13) at the intersection of the three lines. The axis of the lens (6) passes through the geometric center of the equilateral triangle enclosure constraint opening (13).
3. The visual inspection device for circumferential protrusions of wire harness terminals according to claim 2, characterized in that: In the detection state, the outer peripheral surface of the terminal tail (2) is tangent to the three inner sides of the equilateral triangle enclosing constraint opening (13).
4. The visual inspection device for circumferential protrusions of wire harness terminals according to claim 3, characterized in that: The terminal alignment constraint unit also includes an equilateral triangle frame (12); a first gravity wheel (15a), a second gravity wheel (15b) and a third gravity wheel (15c) are respectively provided at the three vertices of the equilateral triangle frame (12).
5. The visual inspection device for circumferential protrusions of wire harness terminals according to claim 4, characterized in that: The first gravity wheel (15a) includes a first fixed shaft (19a), a first inner ring (21a), and a first outer ring (20a). The first fixed shaft (19a) is fixed at the apex of an equilateral triangular frame (12). The first inner ring (21a) is sleeved on the outside of the first fixed shaft (19a) through a bearing. The first outer ring (20a) is coaxial with the outside of the first inner ring (21a). The first outer ring (20a) and the first inner ring (21a) are integrally connected by a first sector-shaped counterweight (22a). The first sector-shaped counterweight (22a) is on the left side of the first outer ring (20a). The second gravity wheel (15b) includes a second fixed shaft (19b), a second inner ring (21b), and a second outer ring (20b). The second fixed shaft (19b) is fixed at the apex of an equilateral triangular frame (12). The second inner ring (21b) is sleeved outside the second fixed shaft (19b) through a bearing. The second outer ring (20b) is coaxial with the second inner ring (21b). The second outer ring (20b) and the second inner ring (21b) are integrally connected by a second sector counterweight (22b). The second sector counterweight (22b) is located to the left of the second outer ring (20b). The third gravity wheel (15c) includes a third fixed shaft (19c), a third inner ring (21c), and a third outer ring (20c). The third fixed shaft (19c) is fixed at the apex of an equilateral triangular frame (12). The third inner ring (21c) is sleeved on the outside of the third fixed shaft (19c) through a bearing. The third outer ring (20c) is coaxial with the outside of the third inner ring (21c). The third outer ring (20c) and the third inner ring (21c) are integrally connected by a third sector counterweight (22c). The third sector counterweight (22c) is on the left side of the third outer ring (20c). When the first constraint line (16a) is taut, it is horizontal. The left end of the first constraint line (16a) is fixedly connected to the first expansion joint (14a) extending along the length direction, and the right end is fixedly connected to the first outer ring (20a). The extension line of the first constraint line (16a) passes through the center of the first outer ring (20a). When the second constraint line (16b) is taut, it tilts to the right at the top. The upper right end of the second constraint line (16b) is fixedly connected to the second expansion joint (14b) extending along the length direction, and the lower left end is fixedly connected to the second outer ring (20b). The extension line of the second constraint line (16b) passes through the center of the second outer ring (20b). When the third constraint line (16c) is taut, it tilts to the left at the top. The lower right end of the third constraint line (16c) is fixedly connected to the third expansion joint (14c) extending along the length direction, and the upper left end is fixedly connected to the third outer ring (20c). The extension line of the third constraint line (16c) passes through the center of the third outer ring (20c).
6. The visual inspection device for circumferential protrusions of wire harness terminals according to claim 5, characterized in that: It also includes a first adjusting wheel (14a), a second adjusting wheel (14b) and a third adjusting wheel (14c), which are driven to rotate by their respective active motors (14); The outer contours of the first adjusting wheel (14a), the second adjusting wheel (14b) and the third adjusting wheel (14c) are all a circle of constant velocity spiral contour surface (15). The constant velocity spiral profiles (15) of the first adjusting wheel (14a), the second adjusting wheel (14b), and the third adjusting wheel (14c) are tangent to the upper side (31) of the first sector counterweight (22a), the second sector counterweight (22b), and the third sector counterweight (22c), respectively.
7. The working method of the visual inspection device for circumferential protrusions of wire harness terminals according to claim 5, characterized in that: Step 1: In the initial state, the wire harness through the opening (11) is in a relatively open state. The first expansion joint (14a), the second expansion joint (14b), and the third expansion joint (14c) apply a pull-back force F to the first constraint line (16a), the second constraint line (16b), and the third constraint line (16c) respectively. Step 2: Simultaneously control the first telescopic device (14a), the second telescopic device (14b), and the third telescopic device (14c) to extend outward by a certain distance; Step 3: The wire harness terminal (37) of the wire harness (1) being tested passes through the wire harness through-hole (11) along the axial direction and continues to advance along the axial direction until the terminal tail (2) of the wire harness terminal (37) reaches the enclosure of the equilateral triangle enclosure constraint opening (13); Step 4: Control the first telescopic device (14a), the second telescopic device (14b), and the third telescopic device (14c) to retract, and apply a pull-back force F to the first constraint line (16a), the second constraint line (16b), and the third constraint line (16c) respectively; Step 5: The industrial camera (7) takes an end image of the wire harness terminal (37) from the perspective of the lens (6) along the coaxial axis. The vision system analyzes whether the data such as the outer diameter circle data, the degree of fitting of the outer contour, the degree of deviation and the coaxiality of the circumferential protrusions (33) around the outer periphery of the terminal head (3) meet the conditions.
8. The working method of the visual inspection device for circumferential protrusions of wire harness terminals according to claim 6, characterized in that: Step 1: In the initial state, the wire harness through the opening (11) is in a relatively open state. The first expansion joint (14a), the second expansion joint (14b), and the third expansion joint (14c) apply a pull-back force F to the first constraint line (16a), the second constraint line (16b), and the third constraint line (16c) respectively. At this time, the first adjusting wheel (14a), the second adjusting wheel (14b), and the third adjusting wheel (14c) are controlled to rotate clockwise by the same angle, so that the constant velocity spiral profile surface (15) on the outer periphery of the first adjusting wheel (14a), the second adjusting wheel (14b), and the third adjusting wheel (14c) respectively forcefully push the first gravity wheel (15a), the second gravity wheel (15b), and the third gravity wheel (15c) to rotate clockwise around the axis by a certain angle. The first telescopic device (14a), the second telescopic device (14b), and the third telescopic device (14c) extend adaptively by a certain length, while maintaining the application of a pull-back force F to the first constraint line (16a), the second constraint line (16b), and the third constraint line (16c) respectively; thereby expanding the inscribed circle of the equilateral triangle enclosing the constraint opening (13) to be exactly the same as the outer diameter of the terminal tail (2) at this time. Step 2: Simultaneously control the first telescopic device (14a), the second telescopic device (14b), and the third telescopic device (14c) to extend outward by a certain distance; Step 3: The wire harness terminal (37) of the wire harness (1) being tested passes through the wire harness through-hole (11) along the axial direction and continues to advance along the axial direction until the terminal tail (2) of the wire harness terminal (37) reaches the enclosure of the equilateral triangle enclosure constraint opening (13); Step 4: Control the first telescopic device (14a), the second telescopic device (14b), and the third telescopic device (14c) to retract, and apply a pull-back force F to the first constraint line (16a), the second constraint line (16b), and the third constraint line (16c) respectively; Step 5: The industrial camera (7) takes an end image of the wire harness terminal (37) from the perspective of the lens (6) along the coaxial axis. The vision system analyzes whether the data such as the outer diameter circle data, the degree of fitting of the outer contour, the degree of deviation and the coaxiality of the circumferential protrusions (33) around the outer periphery of the terminal head (3) meet the conditions.