Wire harness plug-in device

Abstract

The embodiment of the application provides a wire harness plug-in equipment, and belongs to the technical field of wire harness processing. The wire harness plug-in equipment comprises a wire harness production equipment arranged at a first station, the wire harness production equipment is used for producing a wire harness assembly, the wire harness assembly comprises a wire harness, a first terminal and a second terminal, and the first terminal and the second terminal are respectively connected to two ends of the wire harness; a connector bearing device arranged at a second station, the connector bearing device is used for fixing a first connector and a second connector; a robot comprising a walking mechanism and a robot body, the walking mechanism is arranged at the bottom of the robot body, and the walking mechanism can drive the robot body to switch between the first station and the second station; and the robot body is used for transferring the wire harness assembly from the first station to the second station, and inserting the first terminal and the second terminal into the first connector and the second connector respectively at the second station, so that the plug-in efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of wire harness manufacturing technology, and more specifically to a wire harness plugging device. Background Technology

[0002] Amid the global automotive industry's accelerated transformation towards electrification and intelligentization, automotive wiring harnesses, serving as the vehicle's "nervous system," are undergoing a structural revolution.

[0003] Automotive wiring harness assembly is a crucial process in automobile manufacturing. Due to the soft and easily deformable nature of the wiring harness material, the small gaps between terminal interfaces, and the limited operating space, it has long relied primarily on skilled manual labor. However, with the development of new energy vehicles towards high voltage and intelligent technology, the length of the vehicle wiring harness is increasing, the types of terminals are becoming more diverse, and the requirements for assembly precision are rising. Traditional manual assembly is increasingly facing efficiency bottlenecks and unstable quality control issues. Summary of the Invention

[0004] In view of the above problems, the present invention provides a wire harness plugging device to improve wire harness plugging efficiency.

[0005] This invention provides a wire harness plug-in device, comprising: A wire harness production equipment is set at the first workstation. The wire harness production equipment is used to produce wire harness assemblies. The wire harness assembly includes a wire harness, a first terminal, and a second terminal, which are respectively connected to the two ends of the wire harness. A connector carrier device is provided at the second work station, and the connector carrier device is used to fix the first connector and the second connector. The robot includes a walking mechanism and a robot body. The walking mechanism is located at the bottom of the robot body and can drive the robot body to switch between a first workstation and a second workstation. The robot body is used to transfer the wire harness assembly from the first workstation to the second workstation, and to insert the first terminal and the second terminal into the first connector and the second connector, respectively, at the second workstation.

[0006] In an optional embodiment, the robot body includes a torso, a first manipulator arm, and a second manipulator arm. The walking mechanism is disposed at the bottom of the torso, and the first manipulator arm and the second manipulator arm are respectively mounted on opposite sides of the torso. When the robot body is located at the first workstation, the first manipulator arm and the second manipulator arm can respectively clamp the first terminal and the second terminal of the same wire harness assembly. When the robot body is located at the second workstation, the first manipulator arm can insert the first terminal it clamps into the first connector, and the second manipulator arm can insert the second terminal it clamps into the second connector.

[0007] In an optional embodiment, the robot body further includes a head, which is disposed on the top of the torso; the robot further includes a detection device and a control device, the detection device is mounted on the head, the control device is mounted on the torso, and the first operating arm, the second operating arm, and the detection device are all electrically connected to the control device. When the robot body is located at the first workstation, the detection device is used to detect the positions of the first terminal and the second terminal of the same wire harness assembly on the wire harness production equipment; the control device is used to control the first operating arm to grip the first terminal according to the position information of the first terminal detected by the detection device, and to control the second operating arm to grip the second terminal according to the position information of the second terminal detected by the detection device. When the robot body is located at the second workstation, the detection device is also used to detect the positions of the first connector and the second connector on the connector carrier; the control device is used to control the first operating arm to insert the first terminal it is holding into the first connector according to the position information of the first connector detected by the detection device; the control device is also used to control the second operating arm to insert the second terminal it is holding into the second connector according to the position information of the second connector detected by the detection device.

[0008] In an optional embodiment, the first connector is provided with a first socket, the first socket having a first preset angle; the detection device is further configured to detect the tilt angle of the first terminal held by the first operating arm in real time, and the control device is further configured to control the first operating arm to move the first terminal held therein, so as to adjust the tilt angle of the first terminal to the first preset angle.

[0009] In an optional embodiment, the second connector is provided with a second socket, the second socket having a second preset angle; the detection device is also used to detect the tilt angle of the second terminal held by the second operating arm in real time, and the control device is also used to control the second operating arm to drive the second terminal held by it to move, so as to adjust the tilt angle of the second terminal to the second preset angle.

[0010] In an optional embodiment, the first operating arm includes a first arm portion, a second arm portion, and a first clamping assembly. The first arm portion is rotatably mounted on the torso, the second arm portion is rotatably mounted on the first arm portion, and the first clamping assembly is rotatably mounted on the end of the second arm portion away from the first arm portion. The first clamping assembly is used to clamp the first terminal. The second operating arm includes a third arm portion, a fourth arm portion, and a second clamping assembly. The third arm portion is rotatably mounted on the torso, and the fourth arm portion is rotatably mounted on the third arm portion. The second clamping assembly is rotatably mounted on the end of the fourth arm portion away from the third arm portion. The second clamping assembly is used to clamp the second terminal.

[0011] In an optional embodiment, the first clamping assembly includes a first jaw, a second jaw, and a first clamping drive member. The first clamping drive member is rotatably mounted on the end of the second arm away from the first arm. The first jaw and the second jaw are driveably connected to the first clamping drive member. The first clamping drive member is used to drive the first jaw and the second jaw to move closer to or further away from each other. When the first jaw and the second jaw are close to each other, they can clamp the first terminal; and / or, The second clamping assembly includes a third jaw, a fourth jaw, and a second clamping drive. The second clamping drive is rotatably mounted on the end of the fourth arm away from the third arm. The third jaw and the fourth jaw are connected to the second clamping drive. The second clamping drive is used to drive the third jaw and the fourth jaw to move closer to or further away from each other. When the third jaw and the fourth jaw are close to each other, they can clamp the second terminal.

[0012] In an optional embodiment, the first gripper includes a first comb tooth portion, and the second gripper includes a second comb tooth portion. The first comb tooth portion and the second comb tooth portion interlock when the first gripper and the second gripper are close to each other, and cooperate to clamp the first terminal. The third gripper includes a third comb tooth portion, and the fourth gripper includes a fourth comb tooth portion. The third comb tooth portion and the fourth comb tooth portion interlock when the third gripper and the fourth gripper are close to each other, and cooperate to clamp the second terminal.

[0013] In an optional embodiment, the first operating arm further includes a first sensor mounted on the first clamping assembly. The first sensor is used to detect the clamping force of the first clamping assembly clamping the first terminal. The first clamping assembly responds to the first sensor to control the clamping force of the first clamping assembly within a first preset range. The second operating arm further includes a second sensor, which is mounted on the second clamping part. The second sensor is used to detect the clamping force of the second clamping assembly clamping the second terminal. The second clamping assembly responds to the second sensor to control the clamping force of the second clamping assembly within a second preset range.

[0014] In an optional embodiment, the first sensor is further configured to detect the insertion and extraction force on the first terminal during insertion of the first terminal into the first connector; the first clamping assembly responds to the first sensor to release the first terminal when the insertion and extraction force on the first terminal reaches a first threshold. The second sensor is also used to detect the insertion and extraction force on the second terminal during the insertion of the second terminal into the second connector; the second clamping assembly responds to the second sensor to release the second terminal when the insertion and extraction force on the second terminal reaches a second threshold.

[0015] In the technical solution of this invention, the robot can move between a first workstation and a second workstation via its walking mechanism. When the walking mechanism moves to the first workstation, the robot body above the walking mechanism can pick up the wire harness on the wire harness production equipment. When the walking mechanism moves to the second workstation, the wire harness picked up by the robot body will also be transferred to the second workstation along with the walking mechanism. Then, the robot body will insert the two terminals of the wire harness into the first connector and the second connector fixed on the connector carrier device, respectively, completing the insertion between the wire harness and the two connectors. Because the robot has a walking mechanism, it can operate in larger and more complex spaces, and it can also simulate human intervention to perform more efficient insertion work, thereby improving insertion efficiency.

[0016] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of the wire harness plug-in device in some embodiments of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the robot and connector carrier device; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 for Figure 3 A schematic diagram of the structure of the first clamping component.

[0018] The reference numerals in the detailed embodiments are as follows: 100. Wire harness splicing device; 200. Wire harness assembly; 301. First connector; 302. Second connector; 10. Wire harness production equipment; 20. Connector carrier device; 30. Robot; 31. Walking mechanism; 32. Robot body; 321. Torso; 322. First manipulator arm; 3221. First arm section; 3222. Second arm section; 3223. First gripping assembly; 32231. First gripper; 32231. First comb tooth section; 32232. Second gripper; 322321. Second comb tooth section; 32233. First gripping drive; 323. Second manipulator arm; 324. Head. Detailed Implementation

[0019] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the invention, are intended to cover non-exclusive inclusion.

[0021] In the description of the embodiments of this invention, technical terms such as "first" and "second" are only used to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this invention, "multiple" means two or more, unless otherwise explicitly defined.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] The wire harness plug-in device disclosed in the embodiments of the present invention can be used, but is not limited to, in production equipment such as vehicles, ships or aircraft, mobile phones, tablets, laptops, electric toys, and power tools.

[0024] Please refer to Figures 1-4 , Figure 1 This is a schematic diagram of the wire harness plug-in device in some embodiments of the present invention. Figure 2 for Figure 1 A structural schematic diagram of the robot and connector carrier device. Figure 3 for Figure 2 Enlarged diagram of point A in the middle. Figure 4 for Figure 3 A schematic diagram of the structure of the first clamping component.

[0025] The wire harness splicing device 100 provided in this embodiment of the invention includes a wire harness production device 10, a connector carrier device 20, and a robot 30. The wire harness production device 10 has a first station and a second station. The wire harness production device 10 is disposed at the first station and is used to produce wire harness assemblies 200. The wire harness assembly 200 includes a wire harness, a first terminal, and a second terminal, which are respectively connected to the two ends of the wire harness. The connector carrier device 20 is disposed at the second station and is used to fix a first connector 301 and a second connector 302.

[0026] The robot 30 includes a walking mechanism 31 and a robot body 32. The walking mechanism 31 is located at the bottom of the robot body 32 and can drive the robot body 32 to switch between a first station and a second station. The robot body 32 is used to transfer the wire harness assembly 200 from the first station to the second station, and at the second station, it connects the first terminal and the second terminal to the first connector 301 and the second connector 302, respectively.

[0027] In the technical solution of this embodiment of the invention, the robot 30 can move between a first workstation and a second workstation via its walking mechanism 31. When the walking mechanism 31 moves to the first workstation, the robot body 32 above the walking mechanism 31 can pick up the wire harness on the wire harness production equipment 10. When the walking mechanism 31 moves to the second workstation, the wire harness picked up by the robot body 32 will also be transferred to the second workstation along with the walking mechanism 31. Then, the robot body 32 will insert the two terminals of the wire harness into the first connector 301 and the second connector 302 fixed on the connector carrier device 20, respectively, to complete the insertion between the wire harness and the two connectors. Because the robot 30 has a walking mechanism 31, the robot 30 can operate in a larger and more complex space, and the robot 30 can also simulate human intervention to perform more efficient insertion work, thereby improving insertion efficiency.

[0028] According to some embodiments of the present invention, the wire harness production equipment 10 includes a cutting mechanism, a stripping mechanism, a plug-in mechanism, and a crimping mechanism. The cutting mechanism is used to cut the wire harness to a preset length. The stripping mechanism is used to strip the insulation from both ends of the wire harness of the preset length to remove the insulation from both ends of the wire harness and expose the internal wires. The plug-in mechanism is used to insert waterproof plugs to both ends of the wire harness. The crimping mechanism is used to crimp a terminal to each end of the wire harness, wherein the terminals at both ends are a first terminal and a second terminal, respectively.

[0029] According to some embodiments of the present invention, the walking mechanism 31 can be selected as a wheeled mechanism or a bipedal mechanism depending on the site conditions, so as to realize the autonomous guidance and precise stopping of the robot 30 between two workstations.

[0030] For example, the wheeled mechanism includes a base, rollers mounted on the base, and a rotary drive component that drives the rollers to rotate. The rotary drive component drives the rollers to rotate, causing them to move relative to the ground, which in turn moves the base relative to the ground, enabling the robot 30 to move between a first workstation and a second workstation via its walking mechanism 31. It should be noted that when the walking mechanism 31 uses a wheeled mechanism, the base can be part of the robot body 32, integrated with the robot body 32; alternatively, the base and robot body 32 can be separate components, with the robot body 32 mounted on the base.

[0031] For example, the bipedal mechanism may include a first foot and a second foot, which are respectively connected to the lower end of the robot body 32. By alternating the swinging of the first foot and the second foot, the robot 30 can simulate human walking and move between the first station and the second station.

[0032] According to some embodiments of the present invention, with reference to Figures 1-2 The robot body 32 includes a torso 321, a first manipulator 322, and a second manipulator 323. A walking mechanism 31 is located at the bottom of the torso 321, and the first manipulator 322 and the second manipulator 323 are respectively mounted on opposite sides of the torso 321. When the robot body 32 is in the first workstation, the first manipulator 322 and the second manipulator 323 can respectively clamp the first terminal and the second terminal of the same wire harness assembly 200. When the robot body 32 is in the second workstation, the first manipulator 322 can insert the clamped first terminal into the first connector 301, and the second manipulator 323 can insert the clamped second terminal into the second connector 302.

[0033] By setting up two manipulators (first manipulator 322 and second manipulator 323), when the robot body 32 is in the first station, the two manipulators can simultaneously clamp the two terminals of the same wire harness assembly 200. Then, as the walking mechanism 31 moves, the robot body 32 is driven to transfer the entire wire harness assembly to the second station, and then the two manipulators insert the two terminals into their corresponding connectors. Since both terminals of the wire harness assembly 200 are clamped in the first station, once the robot 30 moves to the second station, both manipulators only need to perform the insertion action.

[0034] If only a single manipulator arm clamps the first terminal at the first station, upon moving to the second station, this single manipulator arm will need to not only insert the first terminal but also position, clamp, and insert the second terminal. This process is time-consuming and inefficient. Furthermore, since the second terminal is not clamped and secured during the transfer of the wire harness assembly, it will be suspended in the air, making it highly susceptible to scraping and damage. Conversely, if only a single manipulator arm clamps the second terminal at the first station, the same problems of time-consuming and inefficient operation, as well as the risk of the first terminal being scraped and damaged during the transfer of the wire harness assembly, will occur.

[0035] The present invention can effectively improve the insertion efficiency and reduce the possibility of damage to each terminal during the transfer of the wire harness assembly 200 by simultaneously clamping two terminals of the same wire harness assembly 200 with two operating arms at the first station.

[0036] According to some embodiments of the present invention, with reference to Figures 1-2 The robot body 32 also includes a head 324, which is disposed on top of the torso 321. The robot 30 also includes a detection device and a control device (not shown). The detection device is mounted on the head 324, and the control device is mounted on the torso 321. The first manipulator 322, the second manipulator 323, and the detection device are all electrically connected to the control device. Exemplarily, the detection device is mounted at the eye position on the head 324 to perform detection through the visual window of the eye. Exemplarily, the control device is mounted inside the torso 321 to make the robot 30 have a simpler and more aesthetically pleasing appearance.

[0037] When the robot body 32 is located at the first workstation, the detection device is used to detect the positions of the first terminal and the second terminal of the same wire harness assembly 200 on the wire harness production equipment 10. The control device is used to control the first operating arm 322 to clamp the first terminal according to the position information of the first terminal detected by the detection device, and to control the second operating arm 323 to clamp the second terminal according to the position information of the second terminal detected by the detection device, thereby realizing the clamping of the two terminals of the same wire harness assembly 200.

[0038] When the robot body 32 is located at the second workstation, the detection device is also used to detect the positions of the first connector 301 and the second connector 302 on the connector carrier 20. The control device is used to control the first operating arm 322 to insert its clamped first terminal into the first connector 301 based on the position information of the first connector 301 detected by the detection device. The control device is also used to control the second operating arm 323 to insert its clamped second terminal into the second connector 302 based on the position information of the second connector 302 detected by the detection device, thereby achieving the insertion of two terminals of the same wire harness assembly 200.

[0039] According to some embodiments of the present invention, the detection device can be a visual detection device, which takes pictures of the target to be tested from multiple angles using multiple cameras, and then analyzes the pictures using a control device to obtain the position information of each connector.

[0040] According to some embodiments of the present invention, the first connector 301 is provided with a first socket, the first socket having a first preset angle. The detection device is also used to detect the tilt angle of the first terminal held by the first operating arm 322 in real time, and the control device is also used to control the first operating arm 322 to drive the first terminal it holds to move, so as to adjust the tilt angle of the first terminal to the first preset angle, so that the tilt angle of the first terminal is consistent with the tilt angle of the first socket, thereby improving the insertion accuracy and insertion efficiency.

[0041] According to some embodiments of the present invention, the second connector 302 is provided with a second socket, the second socket having a second preset angle. The detection device is also used to detect the tilt angle of the second terminal held by the second operating arm 323 in real time, and the control device is also used to control the second operating arm 323 to drive the second terminal it holds to move, so as to adjust the tilt angle of the second terminal to the second preset angle, so that the tilt angle of the second terminal is consistent with the tilt angle of the second socket, thereby improving the insertion accuracy and insertion efficiency.

[0042] According to some embodiments of the present invention, with reference to Figures 2-4 The first operating arm 322 includes a first arm portion 3221, a second arm portion 3222, and a first clamping assembly 3223. The first arm portion 3221 is rotatably mounted on the torso 321, the second arm portion 3222 is rotatably mounted on the first arm portion 3221, and the first clamping assembly 3223 is rotatably mounted on the end of the second arm portion 3222 away from the first arm portion 3221. The first clamping assembly 3223 is used to clamp the first terminal. By rotating each arm portion of the first operating arm 322 and the first clamping assembly 3223, the clamping of the first terminal and the adjustment of the tilt angle of the first terminal can be realized.

[0043] According to some embodiments of the present invention, a first actuator is mounted on the torso 321, the first actuator being used to drive the first arm 3221 to rotate relative to the torso 321. Exemplarily, the first actuator includes a first driving member and a second driving member. The first driving member is mounted on the torso 321, and the first driving member is used to drive the second driving member to rotate about a first axis. The second driving member is used to drive the first arm 3221 to rotate about a second axis. The first axis and the second axis are perpendicular, so that multi-angle rotation of the first arm 3221 can be achieved through the cooperation of the first driving member and the second driving member. Exemplarily, of the first axis and the second axis, one axis is parallel to the height direction of the robot, and the other axis is perpendicular to the height direction of the robot.

[0044] According to some embodiments of the present invention, a second driver is mounted on the first arm 3221, and the second driver is used to drive the second arm 3222 to rotate relative to the first arm 3221. Exemplarily, the second driver includes a third driver and a fourth driver. The third driver is mounted on the first arm 3221 and is used to drive the fourth driver to rotate about a third axis. The fourth driver is used to drive the second arm 3222 to rotate about a fourth axis. The third axis and the fourth axis are perpendicular, so that multi-angle rotation of the second arm 3222 can be achieved through the cooperation of the third and fourth driver.

[0045] According to some embodiments of the present invention, a third driver is mounted on the second arm 3222, the third driver being used to drive the first clamping assembly 3223 to rotate relative to the second arm 3222. Exemplarily, the third driver includes a fifth driver and a sixth driver. The fifth driver is mounted on the second arm 3222 and is used to drive the sixth driver to rotate about a fifth axis. The sixth driver is used to drive the first clamping assembly 3223 to rotate about a sixth axis. The fifth axis and the sixth axis are perpendicular, so that multi-angle rotation of the first clamping assembly 3223 can be achieved through the cooperation of the fifth and sixth drivers.

[0046] For example, the first drive unit, the second drive unit, the third drive unit, the fourth drive unit, the fifth drive unit, and the sixth drive unit can all be driven by articulated motors.

[0047] According to some embodiments of the present invention, the structure of the second operating arm 323 is consistent with the structure of the first operating arm 322. Specifically, the second operating arm 323 includes a third arm portion, a fourth arm portion, and a second clamping assembly. The third arm portion is rotatably mounted on the torso 321, the fourth arm portion is rotatably mounted on the third arm portion, and the second clamping assembly is rotatably mounted on the end of the fourth arm portion away from the third arm portion. The second clamping assembly is used to clamp the second terminal. By rotating the arms of the second operating arm 323 and the second clamping assembly, the clamping of the second terminal and the adjustment of the tilt angle of the second terminal are realized.

[0048] For example, the rotation drive of each arm and the second clamping assembly in the second operating arm 323 can be referred to the rotation drive structure (first driver, second driver and third driver) of each arm and the first clamping assembly 3223 in the first operating arm 322, and will not be described again here.

[0049] According to some embodiments of the present invention, with reference to Figures 2-4 The first clamping assembly 3223 includes a first jaw 32231, a second jaw 32232, and a first clamping drive 32233. The first clamping drive 32233 is rotatably mounted on the end of the second arm 3222 away from the first arm 3221. The first jaw 32231 and the second jaw 32232 are connected to the first clamping drive 32233 in a transmission manner. The first clamping drive 32233 is used to drive the first jaw 32231 and the second jaw 32232 to move closer to or further away from each other. When the first jaw 32231 and the second jaw 32232 are close to each other, they can clamp the first terminal.

[0050] According to some embodiments of the present invention, with reference to Figure 4 The first gripper 32231 includes a first comb tooth portion 322311, and the second gripper 32232 includes a second comb tooth portion 322321. When the first gripper 32231 and the second comb tooth portion 322321 are close to each other, they are inserted into each other and cooperate to clamp the first terminal.

[0051] For example, a first groove is provided on the side of the first comb tooth portion 322311 near the second gripper 32232, and a second groove is provided on the side of the second comb tooth portion 322321 near the first gripper 32231. When the first comb tooth portion 322311 and the second comb tooth portion 322321 are inserted together, the first groove and the second groove together form a clamping space for clamping the first terminal. By controlling the distance between the first groove and the second groove, clamping spaces of different sizes can be formed, thereby enabling the clamping of terminals of different diameters.

[0052] According to some embodiments of the present invention, the structure of the second clamping assembly is consistent with the structure of the first clamping assembly 3223. Specifically, the second clamping assembly includes a third jaw, a fourth jaw, and a second clamping drive member. The second clamping drive member is rotatably mounted on the end of the fourth arm away from the third arm. The third jaw and the fourth jaw are drively connected to the second clamping drive member. The second clamping drive member is used to drive the third jaw and the fourth jaw to move closer to or further away from each other. When the third jaw and the fourth jaw are close to each other, they can clamp the second terminal.

[0053] According to some embodiments of the present invention, the third jaw includes a third comb tooth portion, and the fourth jaw includes a fourth comb tooth portion. The third comb tooth portion and the fourth comb tooth portion interlock when the third jaw and the fourth jaw are close to each other, and cooperate to clamp the second terminal.

[0054] For example, a third groove is provided on the side of the third comb tooth near the fourth gripper, and a fourth groove is provided on the side of the fourth comb tooth near the third gripper. When the third and fourth comb teeth are inserted together, the third and fourth grooves together form a clamping space for clamping the second terminal. By controlling the distance between the third and fourth grooves, clamping spaces of different sizes can be formed, thereby clamping terminals of different diameters.

[0055] According to some embodiments of the present invention, the first operating arm 322 further includes a first sensor mounted on the first clamping assembly 3223. The first sensor is used to detect the clamping force of the first clamping assembly 3223 clamping the first terminal. The first clamping assembly 3223 responds to the first sensor to control the clamping force of the first clamping assembly 3223 within a first preset range to ensure that the surface plating of the first terminal is not excessively damaged while the first terminal is stably clamped to complete the insertion.

[0056] The second operating arm 323 also includes a second sensor mounted on the second clamping part. The second sensor is used to detect the clamping force of the second clamping assembly on the second terminal. The second clamping assembly responds to the second sensor to control the clamping force of the second clamping assembly within a second preset range to ensure that the surface plating of the second terminal is not excessively damaged while the second terminal is stably clamped to complete the insertion.

[0057] According to some embodiments of the present invention, with reference to Figures 2-4 The first sensor is also used to detect the insertion and extraction force on the first terminal during the insertion of the first terminal into the first connector 301. The first clamping assembly 3223 responds to the first sensor to release the first terminal when the insertion and extraction force on the first terminal reaches a first threshold, thereby completing the insertion of the first terminal.

[0058] The second sensor is also used to detect the insertion and extraction force on the second terminal during the insertion of the second terminal into the second connector 302. The second clamping assembly responds to the second sensor to release the second terminal when the insertion and extraction force on the second terminal reaches a second threshold, thereby completing the insertion of the second terminal.

[0059] According to some embodiments of the present invention, when the insertion and extraction force on the first terminal reaches a preset first threshold, the control device can also determine whether the first terminal is properly inserted based on the position of the first terminal relative to the first connector 301 detected by the detection device. If it is properly inserted, the insertion of the first terminal is completed; if it is not properly inserted, the insertion of the first terminal continues until it is properly inserted. After it is properly inserted, the insertion and extraction force on the first terminal when it is properly inserted, detected by the first sensor, will be transmitted to the control device, and the control device will update the first threshold to the value of the insertion and extraction force on the first terminal when it is properly inserted, thereby realizing the automatic adjustment of the first threshold.

[0060] When the insertion and extraction force on the second terminal reaches a preset second threshold, the control device can also determine whether the second terminal is properly inserted based on the position of the second terminal relative to the second connector 302 detected by the detection device. If it is properly inserted, the insertion of the second terminal is completed; if it is not properly inserted, the second terminal continues to be inserted until it is properly inserted. After it is properly inserted, the insertion and extraction force on the second terminal when it is properly inserted, detected by the second sensor, will be transmitted to the control device, which will update the second threshold to the value of the insertion and extraction force on the second terminal when it is properly inserted, thereby realizing the automatic adjustment of the second threshold.

[0061] In one embodiment, the robot 30 can be interconnected with the manufacturing execution system via an industrial Internet of Things interface to obtain work order information in real time and automatically switch work programs.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A wire harness plug-in device, characterized in that, include: A wire harness production equipment is set at the first workstation. The wire harness production equipment is used to produce wire harness assemblies. The wire harness assembly includes a wire harness, a first terminal, and a second terminal. The first terminal and the second terminal are respectively connected to the two ends of the wire harness. A connector carrier device is provided at the second work station, and the connector carrier device is used to fix the first connector and the second connector. The robot includes a walking mechanism and a robot body. The walking mechanism is located at the bottom of the robot body and can drive the robot body to switch between a first workstation and a second workstation. The robot body is used to transfer the wire harness assembly from the first workstation to the second workstation, and to insert the first terminal and the second terminal into the first connector and the second connector, respectively, at the second workstation.

2. The wire harness plug-in device according to claim 1, characterized in that, The robot body includes a torso, a first manipulator arm, and a second manipulator arm. The walking mechanism is located at the bottom of the torso, and the first manipulator arm and the second manipulator arm are respectively mounted on opposite sides of the torso. When the robot body is located at the first workstation, the first manipulator arm and the second manipulator arm can respectively clamp the first terminal and the second terminal of the same wire harness assembly. When the robot body is located at the second workstation, the first manipulator arm can insert the first terminal it clamps into the first connector, and the second manipulator arm can insert the second terminal it clamps into the second connector.

3. The wire harness plug-in device according to claim 2, characterized in that, The robot body also includes a head, which is disposed on the top of the torso; the robot also includes a detection device and a control device, the detection device is installed on the head, and the control device is installed on the torso, and the first operating arm, the second operating arm and the detection device are all electrically connected to the control device; When the robot body is located at the first workstation, the detection device is used to detect the positions of the first terminal and the second terminal of the same wire harness assembly on the wire harness production equipment; The control device is used to control the first operating arm to grip the first terminal according to the position information of the first terminal detected by the detection device, and to control the second operating arm to grip the second terminal according to the position information of the second terminal detected by the detection device. When the robot body is located at the second workstation, the detection device is also used to detect the positions of the first connector and the second connector on the connector carrier; the control device is used to control the first operating arm to insert the first terminal it is holding into the first connector according to the position information of the first connector detected by the detection device; the control device is also used to control the second operating arm to insert the second terminal it is holding into the second connector according to the position information of the second connector detected by the detection device.

4. The wire harness plug-in device according to claim 3, characterized in that, The first connector is provided with a first socket, and the first socket has a first preset angle; the detection device is also used to detect the tilt angle of the first terminal held by the first operating arm in real time, and the control device is also used to control the first operating arm to drive the first terminal held by it to move, so as to adjust the tilt angle of the first terminal to the first preset angle.

5. The wire harness plug-in device according to claim 3, characterized in that, The second connector is provided with a second socket, and the second socket has a second preset angle; the detection device is also used to detect the tilt angle of the second terminal held by the second operating arm in real time, and the control device is also used to control the second operating arm to drive the second terminal held by it to move, so as to adjust the tilt angle of the second terminal to the second preset angle.

6. The wire harness plugging device according to claim 3, characterized in that, The first operating arm includes a first arm portion, a second arm portion, and a first clamping assembly. The first arm portion is rotatably mounted on the torso, the second arm portion is rotatably mounted on the first arm portion, and the first clamping assembly is rotatably mounted on the end of the second arm portion away from the first arm portion. The first clamping assembly is used to clamp the first terminal. The second operating arm includes a third arm portion, a fourth arm portion, and a second clamping assembly. The third arm portion is rotatably mounted on the torso, and the fourth arm portion is rotatably mounted on the third arm portion. The second clamping assembly is rotatably mounted on the end of the fourth arm portion away from the third arm portion. The second clamping assembly is used to clamp the second terminal.

7. The wire harness plug-in device according to claim 6, characterized in that, The first clamping assembly includes a first jaw, a second jaw, and a first clamping drive. The first clamping drive is rotatably mounted on the end of the second arm away from the first arm. The first jaw and the second jaw are driveably connected to the first clamping drive. The first clamping drive is used to drive the first jaw and the second jaw to move closer or further apart from each other. When the first jaw and the second jaw are close together, they can clamp the first terminal; and / or, The second clamping assembly includes a third jaw, a fourth jaw, and a second clamping drive. The second clamping drive is rotatably mounted on the end of the fourth arm away from the third arm. The third jaw and the fourth jaw are connected to the second clamping drive. The second clamping drive is used to drive the third jaw and the fourth jaw to move closer to or further away from each other. When the third jaw and the fourth jaw are close to each other, they can clamp the second terminal.

8. The wire harness plug-in device according to claim 7, characterized in that, The first gripper includes a first comb tooth portion, and the second gripper includes a second comb tooth portion. The first comb tooth portion and the second comb tooth portion interlock when the first gripper and the second gripper are close to each other, and cooperate to clamp the first terminal. The third gripper includes a third comb tooth portion, and the fourth gripper includes a fourth comb tooth portion. The third comb tooth portion and the fourth comb tooth portion interlock when the third gripper and the fourth gripper are close to each other, and cooperate to clamp the second terminal.

9. The wire harness plug-in device according to claim 6, characterized in that, The first operating arm further includes a first sensor, which is mounted on the first clamping assembly. The first sensor is used to detect the clamping force of the first clamping assembly clamping the first terminal. The first clamping assembly responds to the first sensor to control the clamping force of the first clamping assembly within a first preset range. The second operating arm further includes a second sensor, which is mounted on the second clamping part. The second sensor is used to detect the clamping force of the second clamping assembly clamping the second terminal. The second clamping assembly responds to the second sensor to control the clamping force of the second clamping assembly within a second preset range.

10. The wire harness plug-in device according to claim 9, characterized in that, The first sensor is also configured to detect the insertion and extraction force on the first terminal during the insertion of the first terminal into the first connector; the first clamping assembly responds to the first sensor to release the first terminal when the insertion and extraction force on the first terminal reaches a first threshold. The second sensor is also used to detect the insertion and extraction force on the second terminal during the insertion of the second terminal into the second connector; The second clamping assembly responds to the second sensor to release the second terminal when the insertion / extraction force on the second terminal reaches a second threshold.

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