A wiring harness automatic assembling device and assembling method

Abstract

The application discloses a kind of wire harness automatic assembly equipment and assembly method, and the assembly equipment includes shell feeding mechanism, shell positioning device, positioning unit of positioning wire harness, combing mechanism that wire harness is straightened and clamps one end of wire harness, clamping mechanism that the other end of wire harness is clamped and pressing mechanism, shell positioning device includes first support plate, first drive module, first moving plate driven by first drive module and reciprocatingly moves along A direction, first driving part and positioning seat, A direction is obliquely arranged and is set at a certain angle with vertical direction;Assembly method includes wire harness positioning, wire harness straightening and clamping, wire harness pressing, shell oblique feeding and assembly, so that the positioning groove of shell and wire harness complete engagement assembly.The application realizes the high-precision linear assembly of wire harness and shell at any inclination angle, guarantees the assembly quality and yield through whole-process posture control, and simultaneously improves production efficiency and equipment running stability with multi-station parallel operation.

Description

Technical Field

[0001] This invention belongs to the technical field of wire harness assembly equipment, and in particular relates to an automatic wire harness assembly equipment and assembly method. Background Technology

[0002] Wire harness assembly is a crucial step in the manufacturing process of electronic and electrical products. It involves assembling wire harnesses into housings according to design requirements to achieve signal transmission or power connection functions. With the rapid development of automotive electronics, smart homes, and industrial control, the quality and efficiency of wire harness assembly directly affect the performance and production costs of end products. As electronic products evolve towards miniaturization and high density, the assembly methods of wire harnesses and housings are becoming increasingly diverse. In conventional wire harness assembly scenarios, the positioning slots on the housing are usually arranged vertically. Therefore, existing assembly equipment only needs to move the wire harness or housing relative to each other in a vertical direction to complete the vertical insertion assembly of the wire harness and housing. Figure 11 As shown, a new assembly requirement has emerged: the wire harness 200 needs to be assembled into the housing 300 at an angle along direction A, for example, the angle between direction A and the vertical plane is 45°, 60°, etc. Therefore, the positioning groove 301 on the housing 300 is set at an angle to the vertical plane. In this application scenario, the wire harness 200 needs to enter the positioning groove 301 of the housing 300 in a straight line with a corresponding tilted posture to complete the engagement assembly. Faced with this new assembly requirement, existing wire harness assembly equipment cannot achieve linear feeding of the housing along any tilt angle.

[0003] In the prior art, Chinese invention patent announcement number CN108767623B discloses an assembly method for a ribbon cable and a ribbon cable connector housing. This method involves a ribbon cable conveying robot delivering the ribbon cable to a designated position, where it is clamped by a clamping device. Then, a connector housing clamping and rotating robot grasps the housing, rotating the clamp 20° to 40° forward to allow the lower part of the ribbon cable terminal tip to enter the lower part of the housing inlet. Next, it rotates 20° to 40° backward to allow the entire tip of the ribbon cable terminal tip to enter the housing inlet. Finally, a secondary insertion robot pushes the ribbon cable terminal tip completely into the housing cavity. However, this method has the following technical defects, making it completely unusable. Figure 11 The required assembly of the inclined straight line is shown below: (1) The insertion method of this scheme relies on the forward and reverse rotation of the housing, which is essentially an arc trajectory movement rather than linear feed. When rotating forward 20° to 40°, the housing inlet moves along the arc trajectory to below the terminal, and the terminal only enters the inlet with its lower front end; when rotating in the reverse direction, the housing returns along the arc, allowing the upper front end of the terminal to enter the inlet. This arc insertion method is similar to... Figure 11The required linear feed of the housing along a fixed inclined direction has an essential difference in motion logic: arc motion cannot provide a continuous linear feed force along a fixed inclined direction. When the positioning groove is at an angle of 45°, 60° or other angles with the vertical plane, the terminal needs to enter in a straight line along the extension direction of the positioning groove. However, arc motion will cause the terminal to slide laterally and deflect at an angle relative to the positioning groove. When the housing positioning groove is at a certain angle with the vertical plane, the above devices cannot make the housing feed in a straight line along the inclined direction to align with the wire harness, and cannot make the terminal align and enter the inclined positioning groove at all. (2) The clamping device in this solution can only fix the front part of the cable and cannot move along the extension direction of the cable to actively straighten it. When the cable itself is twisted, tangled or bent, this solution directly inserts it into the housing. The twisted cable is very likely to misalign or get stuck with the positioning groove of the housing. Especially in the case of tilted assembly, the cable needs to enter the positioning groove in a specific tilted posture. Any bend of the cable itself will cause the angle deviation between it and the tilted positioning groove to be further amplified, and the assembly success rate will be greatly reduced. In addition, this solution only clamps the front part of the cable at a single point. During the subsequent insertion process, the cable is prone to floating or shifting when it is pushed by the housing. This solution does not have any structure to prevent the cable from shifting during the assembly process, and it is difficult to ensure the stability of the cable posture during dynamic assembly.

[0004] Therefore, it is necessary to provide an automated wire harness assembly device and assembly method to solve the above-mentioned technical problems. Summary of the Invention

[0005] The main objective of this invention is to provide an automatic wire harness assembly device that achieves high-precision linear assembly of the wire harness and housing at any tilt angle. The device ensures assembly quality and yield through full-process attitude control, while improving production efficiency and equipment operation stability through multi-station parallel operation.

[0006] This invention achieves the above objective through the following technical solution: an automatic wire harness assembly device, comprising: A housing feeding mechanism, configured to feed housings; The housing positioning device includes a first support plate, a first drive module disposed on the first support plate, a first moving plate driven by the first drive module to reciprocate along the A direction, a first drive member disposed on the first moving plate, and a positioning seat driven by the first drive member to perform lifting and lowering motion. The A direction is inclined and forms a set angle with the vertical direction. A combing mechanism includes a second driving member, a second support plate that is driven by the second driving member to reciprocate along the extension direction of the wire bundle, a combing driving member disposed on the second support plate, and a pair of combing claws that are driven by the combing driving member to open or clamp up and down. A clamping mechanism, comprising a clamping drive and a pair of clamping claws that are driven to open or close by the clamping drive. A pressing mechanism includes a pressing drive, a lifting plate driven by the pressing drive to move up and down, and at least one pressing member disposed on the lifting plate. The positioning unit is configured as a positioning harness.

[0007] Furthermore, the combing mechanism, the clamping mechanism, and the pressing mechanism are all located at the assembly station, and the combing mechanism, the clamping mechanism, and the pressing mechanism are all mounted on a mounting frame. The mounting frame includes a top plate and a pair of third support plates extending downward from both ends of the top plate. The second driving member is located inside the third support plate, and the clamping driving member is connected to the bottom of the top plate through a connecting plate.

[0008] Furthermore, the combing claw is detachably connected to the movable end of the combing drive member, the clamping claw is detachably connected to the movable end of the clamping drive member, and at least one of the clamping members is detachably connected to the lifting plate; the combing claw is provided with a first contouring groove, the clamping claw is provided with a second contouring groove, and the clamping member is provided with a third contouring groove; the positioning unit is provided with a positioning part, and the positioning part is provided with a fourth contouring groove; the first contouring groove, the second contouring groove, the third contouring groove, and the fourth contouring groove all extend along the A direction.

[0009] Furthermore, the clamping mechanism is disposed on a second movable plate, which is driven by a third driving member to reciprocate along the A direction, and the third driving member is disposed on the top of the mounting bracket.

[0010] Furthermore, one side of the housing feeding mechanism is a receiving station, and the housing positioning device is driven by the second drive module to move between the receiving station and the assembly station. The first support plate is connected to the movable end of the second drive module.

[0011] Furthermore, the housing feeding mechanism includes a flexible vibratory feeder and a conveying module disposed above the flexible vibratory feeder. A vision camera is disposed above and / or below the flexible vibratory feeder, and a waste collection box is disposed on one side of the flexible vibratory feeder.

[0012] Furthermore, the positioning seat includes a movable seat and a positioning block detachably connected to the top of the movable seat. The upper surface of the positioning block is provided with a contour positioning structure, and a contour limiting block is provided around the outer periphery of the contour positioning structure.

[0013] Furthermore, the first drive module includes a motor, a transmission shaft connected to the output end of the motor and rotating about a horizontal axis, and a cam connected to the end of the transmission shaft. The first moving plate is provided with a first follower and a second follower, both of which cooperate with the outer periphery of the cam. The line connecting the first follower and the second follower is in the same direction as the A direction. The first support plate is provided with a pair of first slide rails extending along the A direction. The first moving plate is slidably mounted on the first slide rails by a first slider.

[0014] Furthermore, two positioning seats are arranged side by side, and two first driving components are correspondingly arranged. Each positioning seat is driven by one first driving component to move up and down. Two combing mechanisms, two clamping mechanisms, and two pressing mechanisms are correspondingly arranged. The two combing mechanisms are respectively arranged inside the two third support plates. The two clamping mechanisms are connected side by side below the top plate, and the two pressing mechanisms are arranged side by side on the second moving plate.

[0015] Another object of the present invention is to provide an automatic wire harness assembly method, which is based on the above-mentioned automatic wire harness assembly equipment and includes the following steps: Step S1, Shell loading and positioning: The shell positioning device moves to the receiving station, the shell loading mechanism transports the shell to the positioning seat of the shell positioning device, the positioning seat positions the shell, and then the shell positioning device moves to the assembly station; Step S2, wire harness positioning: The wire harness is placed on the positioning unit for positioning, and then the positioning unit and the wire harness on it are transported to the assembly station. One end of the wire harness extends outwards towards the housing positioning device, and the outward end of the wire harness moves horizontally and extends between a pair of comb claws. Step S3, Straightening and Clamping of Wire Harness: The combing drive unit drives a pair of combing claws to close relative to each other, clamping the first section of the wire harness. The second drive unit drives the second support plate to move along the extension direction of the wire harness, causing the pair of combing claws to move from the first section of the wire harness to the second section, thereby straightening the wire harness. The combing claws clamp the second section of the wire harness. The clamping drive unit of the clamping mechanism drives a pair of clamping claws to close, clamping the end of the first section of the wire harness. Step S4, clamping the wire harness: The clamping drive of the clamping mechanism drives the lifting plate to descend, causing the clamping component to clamp the section of the wire harness to be assembled and maintain the clamped state; Step S5, Angled feeding and assembly of housing: The first driving component of the housing positioning device drives the positioning seat to rise, raising the housing. The first driving module drives the first moving plate to move along direction A, causing the positioning seat and the housing to be fed obliquely along direction A in sync, so that the positioning groove of the housing is aligned with the part of the wire harness to be assembled, and continues to move obliquely until the housing and the wire harness are engaged and assembled.

[0016] Compared with the prior art, the advantages of the automatic wire harness assembly equipment and assembly method of the present invention are as follows: (1) By setting an inclined first drive module and a first moving plate, and cooperating with a corresponding sliding guide structure, the linear feeding function of the housing along the preset inclined direction is realized. The first drive module converts the rotational motion of the motor into the reciprocating linear motion of the first moving plate along the A direction through the cooperation of the cam follower, and the first slide rail and slider ensure the guiding accuracy. This design enables the housing to be continuously fed in a straight line along the A direction which is at a set angle with the vertical plane, ensuring that the wire harness terminals enter the inclined positioning groove on the housing in a straight line, effectively avoiding the problem of lateral slippage and angle deflection of the terminals under the arc motion mode, and reliably meeting the accuracy and success rate requirements of the inclined assembly scenario; (2) Through the coordinated operation of the combing mechanism, clamping mechanism and pressing mechanism, the attitude control of the wire harness from pretreatment to assembly is realized. The combing claw can move actively along the extension direction of the wire harness in the clamping state, and use friction to pull and straighten the wire harness, eliminating the twisting and bending deformation of the wire harness. The clamping mechanism fixes the end of the wire harness, and the pressing mechanism maintains dynamic pressing throughout the oblique feeding of the housing. The three together prevent the wire harness from floating or shifting when pushed by the housing. The pressing mechanism is also equipped with an independent drive component, which can accurately adjust the pressing start position according to the wire harness specifications before assembly and move synchronously with the housing feed, further improving the adaptability and reliability of assembly. (3) Through multi-station parallel operation and spatial separation of station layout, production efficiency and overall machine operation stability are significantly improved; multiple stations are set up side by side on the positioning seat, which can complete the synchronous assembly of multiple shells at one time; the second drive module moves the shell positioning device back and forth between the receiving station and the assembly station, so that the feeding and assembly are separated in space, which not only avoids the interference of the vibration of the vibrating plate on the precision assembly action, but also facilitates the independent debugging and maintenance of each module, further ensuring the stable and reliable operation of the whole machine. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an automated wire bundle assembly device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the automatic assembly equipment for a wire bundle after the hidden housing feeding mechanism is shown in an embodiment of the present invention; Figure 3This is a schematic diagram of the structure of the automatic assembly equipment for a wire bundle from another angle after the hidden housing feeding mechanism is installed according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the housing positioning device according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the housing positioning device from another angle according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the structure of the housing positioning device after the second drive module is hidden in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the pressing mechanism, the third driving member, and the second moving plate according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the combing mechanism according to Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the combing mechanism, clamping mechanism, and pressing mechanism acting on the wire harness according to Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the positioning unit in Embodiment 1 of the present invention; Figure 11 This is a schematic diagram of the structure of a wire bundle and a housing according to an embodiment of the present invention; The markings in the diagram indicate: Automatic wire harness assembly equipment-100, wire harness-200, first section-201, second section-202, housing-300, positioning groove-301; Shell feeding mechanism-1, flexible vibratory feeder-11, handling module-12, spider arm-121, suction component-122, vision camera-13, waste collection box-14; Shell positioning device-2, first drive module-21, motor-211, cam-213, first follower-214, second follower-215, first moving plate-22, second slide rail-221, second slider-222, first limiting block-223, sensing block-224, first drive component-23, positioning seat-24, moving seat-241, positioning block-242, contour positioning structure-244, contour limiting block-245, second drive module-25, first support plate-26, first slide rail-261, first slider-262 Sensor-263; Combing mechanism-4, second drive-piece-41, second support plate-42, combing drive-piece-43, combing claw-44, first contouring groove-441; Clamping mechanism-5, clamping drive-piece-51, clamping claw-52, connecting plate-53; Pressing mechanism-6, pressing drive-piece-61, pressing piece-62, third contouring groove-621, lifting plate-63, third drive-piece-64, second moving plate-65, third slide rail-651, third slider-652, fourth slide rail-653, fourth slider-654; Positioning unit-7, positioning part-71, fourth contouring groove-711, pressing block-72, positioning drive-piece-73; Mounting bracket-8, top plate-81, third support plate-82. Detailed Implementation

[0018] Example 1: Please refer to Figures 1-11 This embodiment is an automatic wire harness assembly equipment 100, which includes a housing feeding mechanism 1, a housing positioning device 2, a positioning unit 7 for positioning the wire harness, a combing mechanism 4 for straightening and clamping one end of the wire harness, a clamping mechanism 5 for clamping the other end of the wire harness, and a pressing mechanism 6.

[0019] The housing feeding mechanism 1 is configured to feed the housing 300.

[0020] The housing positioning device 2 includes a first support plate 26, a first drive module 21 disposed on the first support plate 26, a first moving plate 22 driven by the first drive module 21 to reciprocate along the A direction, a first drive member 23 disposed on the first moving plate 22, and a positioning seat 24 driven by the first drive member 23 to perform lifting and lowering movements. The A direction is inclined and forms a set angle with the vertical direction.

[0021] The combing mechanism 4 includes a second driving member 41, a second support plate 42 driven by the second driving member 41 to reciprocate along the extension direction of the wire harness 200, a combing driving member 43 disposed on the second support plate 42, and a pair of combing claws 44 driven by the combing driving member 43 to open or clamp up and down.

[0022] The clamping mechanism 5 includes a clamping drive member 51 and a pair of clamping claws 52 that are driven by the clamping drive member 51 to open or close.

[0023] The clamping mechanism 6 includes a clamping drive 61, a lifting plate 63 driven by the clamping drive 61 to move up and down, and at least one clamping element 62 disposed on the lifting plate 63.

[0024] Positioning unit 7 is configured to position wire harness 200, and one end of wire harness 200 that needs to be assembled with housing 300 extends outward.

[0025] The combing mechanism 4, clamping mechanism 5 and pressing mechanism 6 are all located at the assembly station, and the combing mechanism 4, clamping mechanism 5 and pressing mechanism 6 are all located on a mounting frame 8. The mounting frame 8 includes a top plate 81 and a pair of third support plates 82 extending downward from both ends of the top plate 81. Specifically, the second driving member 41 is located inside the third support plate 82, and the clamping driving member 51 is connected to the bottom of the top plate 81 through a connecting plate 53.

[0026] The combing claw 44 is detachably connected to the movable end of the combing drive 43, the clamping claw 52 is detachably connected to the movable end of the clamping drive 51, and the three clamping parts 62 are detachably connected to the lifting plate 63. In other embodiments, the number of clamping parts 62 can be adjusted according to the actual situation. The combing claw 44, the clamping claw 52 and the clamping parts 62 are all designed to be detachably connected, which has the following advantages: (1) It supports quick changeover and adapts to different specifications of wire harnesses, thus improving the flexibility of the equipment; (2) As vulnerable parts, they only need to be replaced after wear, without replacing expensive core components such as the combing drive 43 and the clamping drive 51, thus reducing maintenance costs; (3) It can replace the appropriate claws for different wire harness materials, protect the outer sheath of the wire harness, and prioritize damage to the drive mechanism when jammed, thus comprehensively improving the versatility, economy and reliability of the equipment.

[0027] The combing claw 44 has a first contouring groove 441 on its inner side that conforms to the shape of the wire harness 200. When the two first contouring grooves 441 are closed, they conform to the outer periphery of the wire harness 200, facilitating the movement of the combing claw 44 along the length of the wire harness 200 and straightening the wire harness 200. The clamping claw 52 has a second contouring groove on its inner side that conforms to the shape of the end of the wire harness 200. When the two second contouring grooves are closed, they conform to the shape of the end of the wire harness 200 and clamp the end of the wire harness 200. The bottom of the clamping member 62 has a third contouring groove 621 that conforms to the shape of the part of the wire harness 200 to be assembled. When the housing 300 moves upward to assemble with the wire harness 200, the bottom of the clamping member 62 presses against the wire harness 200. The positioning unit 7 is provided with a positioning part 71 for positioning the wire harness 200. A clamping block 72 is flipped and provided at the positioning part 71, and a positioning drive member 73 for driving the clamping block to flip open or close. The positioning part 71 and the clamping block 72 are each provided with a fourth contouring groove 711 that matches the outer periphery of the wire harness 200 on opposite sides. The first contouring groove 441, the second contouring groove, the third contouring groove 621, and the fourth contouring groove 711 all extend along the A direction.

[0028] The clamping mechanism 6 is mounted on a second movable plate 65, which is driven by a third driving member 64 to reciprocate along direction A. The third driving member 64 is located on the top of the mounting bracket 8, specifically on the top plate 81. The third driving member 64 is a motor, which can precisely adjust the position of the second movable plate 65, thereby precisely adjusting the position of the clamping mechanism 6 to ensure assembly accuracy. The tilt angle in direction A matches the actual tilt angle of the wire harness, and the actual tilt angle of the wire harness is adjusted accordingly, for example, to 30°, 45°, 60°, etc. The third driving component 64 is configured to perform two independent and time-separated key functions: (1) It has a position adjustment function. During the adjustment stage before assembly begins, the third driving component 64 drives the second moving plate 65 to move precisely back and forth along the A direction. When changing wire harnesses of different thicknesses or widths, the clamping mechanism 6 is finely adjusted to the optimal clamping starting point through program control, so that the third contour groove 621 at the bottom of the clamping component 62 can be accurately aligned with and fit the section of the wire harness to be assembled, ensuring that the wire harness is in the correct working position during assembly, without the need for manual adjustment of mechanical limits, thus achieving rapid and flexible changeover; (2) The device features a tilting feed and pressure holding function. During the actual assembly stage, the first drive module 21 drives the first moving plate 22 to feed upwards along direction A. The first moving plate 22 slides along the second slide rail 221 via the second slider 222, causing the positioning seat 24 and the housing 300 to rise synchronously along direction A. Simultaneously, the third drive component 64 drives the second moving plate 65 and the clamping mechanism 6 to continue to descend obliquely along direction A, ensuring that the clamping component 62 remains in contact with the wire harness as it is pushed upwards by the housing 300, maintaining a dynamic clamping state until the housing 300 and the wire harness 200 are fully engaged. These two functions are executed sequentially without interference. First, the positioning is adjusted to accommodate different specifications of wire harnesses, and then the tilting feed coordinates with the assembly action. This not only meets the flexible production needs of multiple product types through high-precision micro-adjustment driven by the motor, but also ensures that the clamping force is always consistent with the oblique assembly direction during the assembly process through dynamic feed along direction A, avoiding wire harness misalignment or loosening. This fully demonstrates the ingenious design of using the same drive component in a time-series reuse. Of course, in actual operation, the third driving component 64 does not drive the second moving plate 65 to move. After the clamping component 62 clamps the wire harness, it remains stationary. Then, the positioning seat 24 moves along the A direction to realize the assembly action.

[0029] To ensure the stability of the movement of the lifting plate 63, a vertically extending third slide rail 651 is provided on the second moving plate 65, and the lifting plate 63 is slidably mounted on the third slide rail 651 via a third slider 652. To ensure the stability of the movement of the second moving plate 65, a fourth slide rail 653 extending along direction A is provided on the mounting bracket 8, and the second moving plate 65 is slidably mounted on the fourth slide rail 653 via a fourth slider 654. The first driving component 23 is a pneumatic cylinder or an electric cylinder, the second driving component 41 is a pneumatic cylinder or an electric cylinder, the clamping driving component 51 is a pneumatic cylinder or an electric cylinder, and the pressing driving component 61 is a pneumatic cylinder or an electric cylinder.

[0030] One side of the housing loading mechanism 1 is a receiving station. The housing positioning device 2 moves between the receiving station and the assembly station under the drive of the second drive module 25. The first support plate 26 is connected to the movable end of the second drive module 25. The second drive module 25 can be a linear drive module or an XY axis drive module, which can be set according to the actual situation. By transferring the housing positioning device 2 back and forth between the receiving station and the assembly station through the second drive module 25, the loading and assembly are separated in space, which effectively avoids the vibration of the flexible vibratory feeder 11 from interfering with the precision assembly action and ensures the assembly stability. At the same time, it is convenient for independent debugging and maintenance of each module, and the second drive module 25 can be flexibly selected as a linear module or an XY axis module, taking into account the needs of cost control and adaptation to complex scenarios.

[0031] The housing loading mechanism 1 includes a flexible vibratory feeder 11 and a transport module 12 disposed above the flexible vibratory feeder. A vision camera 13 is disposed above and / or below the flexible vibratory feeder 11, and a waste collection box 14 is disposed on one side of the flexible vibratory feeder 11. Products that fail the inspection are directly transported into the waste collection box 14 by the transport module 12. In this embodiment, the transport module 12 includes a spider arm 121 and an adsorption component 122 connected to the bottom of the spider arm 121. The bottom of the adsorption component 122 is contoured to the housing 300 to ensure adsorption accuracy and prevent the housing 300 from falling off during transport. The flexible vibratory feeder 11 and the spider arm 121 are existing technologies, and their detailed structures will not be described in detail here. Alternatively, one can refer to the structure of a spider arm tray-loading machine disclosed in Chinese Utility Model Patent Publication No. CN224410711U. Through the cooperation of the flexible vibrating plate 11, the vision camera 13 and the spider hand 121, the intelligent recognition and precise grasping of the shell 300 are realized. The contour adsorption component 122 ensures the stability and reliability of the handling process and prevents the shell from falling. At the same time, the integrated waste collection box 14 can directly remove shells that fail the visual inspection, preventing defective products from flowing into subsequent processes and ensuring the quality of incoming materials and the assembly yield from the source.

[0032] The positioning base 24 includes a movable base 241 and a positioning block 242 detachably connected to the top of the movable base 241 by fasteners. The upper surface of the positioning block 242 is provided with a contour positioning structure 244 that mates with the lower surface of the housing 300. A contour limiting block 245 is provided around the outer periphery of the contour positioning structure 244 to limit the horizontal movement of the housing 300. A vertically extending second slide rail 221 is provided on the first movable plate 22. The movable base 241 is slidably mounted on the first movable plate 22 via a second slider 222. A first limiting block 223 is provided on the first movable plate 22, which can limit the movement of the movable base 241 to prevent the positioning block 242 from rising excessively and damaging other structures.

[0033] The first drive module 21 includes a motor 211, a transmission shaft connected to the output end of the motor 211 and rotating about a horizontal axis, and a cam 213 connected to the end of the transmission shaft. A first follower 214 and a second follower 215 are provided on the first moving plate 22. Both the first follower 214 and the second follower 215 cooperate with the outer periphery of the cam 213. The line connecting the first follower 214 and the second follower 215 is aligned with direction A. A pair of first slide rails 261 extending along direction A are provided on the first support plate 26. The first moving plate 22 is slidably mounted on the first slide rails 261 via a first slider 262. A sensor 263 is provided on the first support plate 26, and a sensing block 224 cooperating with the sensor 263 is provided on the back of the first moving plate 22.

[0034] Through the cooperative structure of cam 213 with first follower 214 and second follower 215, the rotational motion of motor 211 is efficiently converted into reciprocating linear motion of first moving plate 22 along direction A. Cam transmission has the characteristics of fast response, high precision, strong load-bearing capacity and smooth motion. It can withstand the impact load when the housing 300 is obliquely fed during assembly, ensuring long-term operational reliability. At the same time, it is guided by a pair of first slide rails 261 and first slider 262 to ensure the straightness and repeatability of the moving plate along direction A. The combination of sensor 263 and sensing block 224 realizes real-time detection of the movement stroke and soft limit protection to prevent overshoot or collision. The overall structure is compact, has high transmission efficiency, controllable cost and simple maintenance, fully meeting the requirements of oblique assembly for high-precision and high-frequency reciprocating motion.

[0035] In this embodiment, two positioning seats 24 are arranged side by side, enabling the simultaneous assembly of two housings 300. Two first driving members 23 are correspondingly provided, with each positioning seat 24 driven by one first driving member 23 to move vertically. Correspondingly, two combing mechanisms 4, two clamping mechanisms 5, and two pressing mechanisms 6 are each provided. The two combing mechanisms 4 are respectively located inside the two third support plates 82, the two clamping mechanisms 5 are connected side by side below the top plate 81, and the two pressing mechanisms 6 are arranged side by side on the second moving plate 65. In other embodiments, the specific number of positioning seats 24, first driving members 23, combing mechanisms 4, clamping mechanisms 5, and pressing mechanisms 6 can be adjusted according to actual conditions. The specific number is not limited here; for example, three, four, or six of each can be provided, enabling the assembly of multiple housings 300 at once and improving assembly efficiency.

[0036] When using the automatic wire harness assembly equipment 100 provided in this solution, firstly, a person or a robot arm puts multiple housings 300 into the flexible vibratory feeder 11 of the housing feeding mechanism 1. The flexible vibratory feeder 11 uses vibration to break up the stacked housings 300. The vision camera 13 equipped with the housing feeding mechanism 1 collects material images in real time to identify the coordinates and placement posture of the housings 300. The spider arm 121 in the handling module 12 receives the coordinate signal output by the vision camera 13. At this time, the housing positioning device 2 is located at the receiving station of the housing feeding mechanism 1. The suction device 122 at the bottom of the spider arm 121 accurately grabs a single housing 300 and transfers it. The housing 300 is positioned on the positioning seat 24 of the housing positioning device 2 by means of the contour positioning structure 244 and contour limiting block 245 on the positioning block 242. At the same time, the wire harness 200 to be processed is pre-placed on the wire harness positioning unit 7 to complete the basic pre-positioning. Each wire harness 200 is tilted at 45°, and the end of the wire harness that needs to be assembled into the housing 300 extends outward toward the assembly equipment. At this time, the combing claws 44 of the combing mechanism 4 are open vertically. When the conveyor line transports the wire harness positioning unit 7 and the wire harness to the assembly station, the wire harness automatically enters horizontally between the upper and lower combing claws 44. Then, the second drive module 25 The drive housing positioning device 2 moves to the assembly station, and then the combing mechanism 4 operates. The combing drive 43 drives the combing claws 44 to clamp the first section 201 of the wire harness. Then, the second drive 41 drives the second support plate 42 to move along the extension direction of the wire harness 200, causing the combing drive 43 and the pair of combing claws 44 to move to the second section 202 in the middle of the wire harness 200. The combing claws 44 rely on the inner first contour groove 441 to conform to the outer wall of the wire harness and slide back and forth slightly along the length of the wire harness to straighten the wire harness, eliminating the twisting, tangling, and bending deformation of the wire harness. While the wire harness is held in the second section 202, the clamping drive 5 of the clamping mechanism 5... 1. Drive a pair of clamping claws 52 to close downwards, and clamp the assembly end of the wire harness 200 with the help of the second contour groove on the inner side of the clamping claws 52, thereby completing the clamping and fixing of the first section 201 of the wire harness, thus realizing the straightening of the wire harness and the clamping action at both ends; then the clamping drive 61 of the clamping mechanism 6 drives the lifting plate 63 to move the clamping member 62 downwards. The clamping member 62 at the bottom of the lifting plate 63 relies on the third contour groove 621 to fit the section of the wire harness 200 to be assembled. The section to be assembled is the position between the first section 201 and the second section 202, to prevent the wire harness from floating, shifting, or twisting. The clamping mechanism 6 maintains the clamping and pressure holding state throughout the process until the assembly is completed;Subsequently, the first drive component 23 inside the housing positioning device 2 lifts the positioning seat 24, raising the housing 300 and adjusting the vertical assembly height of the housing 300. Then, the first drive module 21 drives the first moving plate 22 to feed upward along direction A. The first moving plate 22 slides along the second slide rail 221 via the second slider 222, causing the positioning seat 24 and the housing 300 to rise synchronously along direction A, so that the inclined positioning groove 301 inside the housing 300 is precisely aligned with the part of the wire harness 200 to be assembled. The housing 300 continues to move obliquely to complete the engagement and assembly with the wire harness 200. After the operation is completed, each mechanism resets in sequence. The first drive module 21 drives the first moving plate 22 to return to its original position along the inclined direction A. The first drive component 23 drives the positioning seat 24 to descend. The second drive module 25 drives the housing positioning device 2 to be moved back to the receiving station. The clamping drive component 61 drives the lifting plate 63 and the clamping component 62 to lift and release the wire harness along the direction A. The clamping drive component 51 controls the clamping claw 52 to release the assembled wire harness assembly. The conveyor line transports the wire harness positioning unit 7 to the next workstation. After all mechanisms of the machine reset, it enters the next round of automated wire harness assembly cycle.

[0037] Example 2: This example is an automatic wire harness assembly method, which is based on the above-mentioned automatic wire harness assembly equipment 100 and includes the following steps: Step S1, Shell loading and positioning: The shell positioning device 2 moves to the receiving station, and the shell loading mechanism 1 transports the shell 300 to the positioning seat 24 of the shell positioning device 2. The positioning seat 24 positions the shell 300, and then the shell positioning device 2 moves to the assembly station. Step S2, wire harness positioning: Place the wire harness 200 on the positioning unit 7 for positioning, and then transport the positioning unit 7 and the wire harness 200 on it to the assembly station. One end of the wire harness 200 extends outward toward the housing positioning device 2, and the wire harness 200 moves horizontally and extends into the space between a pair of comb claws 44. Step S3, Straightening and Clamping of Wire Harness: The combing drive 43 drives a pair of combing claws 44 to close relative to each other, clamping the first section 201 of the wire harness 200. The second drive 41 drives the second support plate 42 to move along the extension direction of the wire harness 200, causing the pair of combing claws 44 to move from the first section 201 of the wire harness 200 to the second section 202, thereby straightening the wire harness. The combing claws 44 clamp the second section 202 of the wire harness. During the movement, the pair of combing claws 44 remain clamped, using the friction between them and the wire harness 200 to pull and straighten the wire harness 200, eliminating the twisting and bending of the wire harness 200. After the wire harness 200 is straightened, the clamping drive 51 of the clamping mechanism 5 drives a pair of clamping claws 52 to close, clamping the end of the first section 201 of the wire harness 200. Step S4, clamping the wire harness: The clamping drive 61 of the clamping mechanism 6 drives the lifting plate 63 to descend, causing the clamping component 62 to clamp the section of the wire harness 200 to be assembled, and maintain the clamped state; Step S5, Angled feeding and assembly of housing: The first drive member 23 of the housing positioning device 2 drives the positioning seat 24 to rise, raising the housing 300; then, the first drive module 21 drives the first moving plate 22 to move along the A direction, causing the positioning seat 24 and the housing 300 to be fed obliquely along the A direction in sync, so that the positioning groove 301 of the housing 300 is aligned with the part of the wire harness 200 to be assembled, and continues to move obliquely until the housing 300 and the wire harness 200 are engaged and assembled.

[0038] The above descriptions are merely some embodiments of the present invention. Those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. An automatic wire harness assembly device, characterized in that, It includes: A housing feeding mechanism, configured to feed housings; A housing positioning device includes a first support plate, a first drive module mounted on the first support plate, a first moving plate reciprocating along direction A driven by the first drive module, a first drive member mounted on the first moving plate, and a positioning seat that is driven by the first drive member to perform lifting and lowering movements. The A direction is inclined and forms a set angle with the vertical direction. The first drive module includes a motor, a transmission shaft connected to the output end of the motor and rotating around a horizontal axis, and a cam connected to the end of the transmission shaft. The first moving plate is provided with a first follower and a second follower, both of which cooperate with the outer periphery of the cam. The line connecting the first follower and the second follower is aligned with the A direction. The first support plate is provided with a pair of first slide rails extending along the A direction, and the first moving plate is slidably mounted on the first slide rails by a first slider. A combing mechanism includes a second driving member, a second support plate that is driven by the second driving member to reciprocate along the extension direction of the wire bundle, a combing driving member disposed on the second support plate, and a pair of combing claws that are driven by the combing driving member to open or clamp up and down. A clamping mechanism, comprising a clamping drive and a pair of clamping claws that are driven to open or close by the clamping drive. A pressing mechanism includes a pressing drive, a lifting plate driven by the pressing drive to move up and down, and at least one pressing member disposed on the lifting plate. A positioning unit, configured as a positioning harness; The combing claw is detachably connected to the movable end of the combing drive, the clamping claw is detachably connected to the movable end of the clamping drive, and at least one clamping member is detachably connected to the lifting plate; the combing claw is provided with a first contouring groove, the clamping claw is provided with a second contouring groove, and the clamping member is provided with a third contouring groove; the positioning unit is provided with a positioning part, and the positioning part is provided with a fourth contouring groove; the first contouring groove, the second contouring groove, the third contouring groove, and the fourth contouring groove all extend along the A direction.

2. The automatic wire harness assembly equipment as described in claim 1, characterized in that: The combing mechanism, the clamping mechanism, and the pressing mechanism are all located at the assembly station, and the combing mechanism, the clamping mechanism, and the pressing mechanism are all mounted on a mounting frame. The mounting frame includes a top plate and a pair of third support plates extending downward from both ends of the top plate. The second driving member is located inside the third support plate, and the clamping driving member is connected to the bottom of the top plate through a connecting plate.

3. The automatic wire harness assembly equipment as described in claim 2, characterized in that: The clamping mechanism is mounted on a second movable plate, which is driven by a third driving member to reciprocate along direction A. The third driving member is mounted on the top of the mounting bracket.

4. The automatic wire harness assembly equipment as described in claim 2, characterized in that: One side of the housing feeding mechanism is a receiving station. The housing positioning device is driven by the second drive module to move between the receiving station and the assembly station. The first support plate is connected to the movable end of the second drive module.

5. The automatic wire harness assembly equipment as described in claim 1, characterized in that: The housing feeding mechanism includes a flexible vibratory feeder and a conveying module disposed above the flexible vibratory feeder. A vision camera is disposed above and / or below the flexible vibratory feeder, and a waste collection box is disposed on one side of the flexible vibratory feeder.

6. The automatic wire harness assembly equipment as described in claim 1, characterized in that: The positioning base includes a movable base and a positioning block detachably connected to the top of the movable base. The upper surface of the positioning block is provided with a contour positioning structure, and a contour limiting block is provided around the outer periphery of the contour positioning structure.

7. The automatic wire harness assembly equipment as described in claim 3, characterized in that: Two positioning seats are arranged side by side, and two first driving components are arranged accordingly. Each positioning seat is driven by one first driving component to move up and down. Two combing mechanisms, two clamping mechanisms, and two pressing mechanisms are arranged accordingly. The two combing mechanisms are respectively arranged inside the two third support plates. The two clamping mechanisms are connected side by side below the top plate, and the two pressing mechanisms are arranged side by side on the second moving plate.

8. An automatic assembly method for wire harnesses, characterized in that, It is completed based on the automatic wire harness assembly equipment according to any one of claims 1 to 7, and includes the following steps: Step S1, Shell loading and positioning: The shell positioning device moves to the receiving station, the shell loading mechanism transports the shell to the positioning seat of the shell positioning device, the positioning seat positions the shell, and then the shell positioning device moves to the assembly station; Step S2, wire harness positioning: The wire harness is placed on the positioning unit for positioning, and then the positioning unit and the wire harness on it are transported to the assembly station. One end of the wire harness extends outwards towards the housing positioning device, and the outward end of the wire harness moves horizontally and extends between a pair of comb claws. Step S3, Straightening and Clamping of Wire Harness: The combing drive unit drives a pair of combing claws to close relative to each other, clamping the first section of the wire harness. The second drive unit drives the second support plate to move along the extension direction of the wire harness, causing the pair of combing claws to move from the first section of the wire harness to the second section, thereby straightening the wire harness. The combing claws clamp the second section of the wire harness. The clamping drive unit of the clamping mechanism drives a pair of clamping claws to close, clamping the end of the first section of the wire harness. Step S4, clamping the wire harness: The clamping drive of the clamping mechanism drives the lifting plate to descend, causing the clamping component to clamp the section of the wire harness to be assembled and maintain the clamped state; Step S5, Angled feeding and assembly of housing: The first driving component of the housing positioning device drives the positioning seat to rise, raising the housing. The first driving module drives the first moving plate to move along direction A, causing the positioning seat and the housing to be fed obliquely along direction A in sync, so that the positioning groove of the housing is aligned with the part of the wire harness to be assembled, and continues to move obliquely until the housing and the wire harness are engaged and assembled.

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