Terminal angle adjusting and assembling mechanism used in wire harness

Abstract

The utility model relates to a terminal angle adjusting and assembling mechanism for a wire harness, and belongs to the technical field of wire harnesses. The utility model discloses a wire harness plug visual detection device, which comprises a base I, a base II, a wire harness terminal angle adjusting mechanism, a tray opening mechanism, a wire harness plug transfer structure, a wire harness plug visual structure, a wire harness terminal visual structure, a tray carrying mechanism and a transition plate, and the tray opening mechanism and the wire harness plug transfer structure are both mounted on the base I; the wire harness plug visual structure is arranged on the base I, and the wire harness plug visual structure is located above the wire harness plug transfer structure; the wire harness terminal visual structure is fixed on the base II through a transition plate, and the wire harness terminal visual structure is positioned above the wire harness terminal angle adjusting mechanism; and a tray carrying mechanism is arranged between the wire harness terminal angle adjusting mechanism and the tray opening mechanism. The automatic assembling machine is reasonable in structural design, safe, reliable, high in automation degree, high in working efficiency, high in assembling qualification rate and high in angle adjusting precision, and meets use requirements.

Description

Technical Field

[0001] The utility model relates to a mechanism, in particular to a terminal angle adjustment and assembly mechanism for a wire harness, and belongs to the technical field of wire harnesses. Background Art

[0002] For the existing terminal angle adjustment of wire harnesses, the angle is adjusted manually, resulting in low work efficiency, high defect rate, poor accuracy, and low automation level, which cannot meet the existing automation production requirements.

[0003] In a Chinese patent with a publication date of April 19, 2022 and a publication number of CN114375566A, an invention patent named "Angle Adjustment Mechanism, Desktop Device, and Method for Assembling Angle Adjustment Mechanism" is disclosed. In this patent, the angle adjustment mechanism includes a base member, a support member that supports the base member from below, a mounting member having a rotating shaft rotatably connected to the base member, and a restraining member. The support member moves up and down along with the rotation operation of the base member. The restraining member is formed of an elastic material and is attached to the mounting member, and the restraining member restrains the up and down movement of the support member by friction. The restraining member is provided with a hole, a part of the support member is inserted and slides into the hole, and friction is generated between the restraining member and the support member in the hole. Although this patent can achieve an angle adjustment mechanism, a desktop device, and a method for assembling an angle adjustment mechanism with stable quality, it cannot be applied to the adjustment and assembly of the terminal angles of wire harnesses in this application and cannot meet the automation production requirements, so it still has the above-mentioned defects.

[0004] Therefore, it is particularly necessary to provide a terminal angle adjustment and assembly mechanism with reasonable structural design, high automation level, high work efficiency, and high angle adjustment accuracy. Summary of the Utility Model

[0005] The purpose of the utility model is to overcome the above-mentioned deficiencies existing in the prior art, and to provide a terminal angle adjustment and assembly mechanism for a wire harness with reasonable structural design, safety and reliability, high automation level, high work efficiency, high assembly qualification rate, and high angle adjustment accuracy.

[0006] The technical solution adopted by the present utility model to solve the above problems is as follows: The terminal angle adjustment and assembly mechanism for a wire harness includes a grasping manipulator structure, a first base, and a second base. One side of the grasping manipulator structure is fixed to the first base, and the other side of the grasping manipulator structure is fixed to the second base. It is characterized in that: it further includes a wire harness terminal angle adjustment mechanism, a tray opening mechanism, a wire harness plug transfer structure, a wire harness plug vision structure, a wire harness terminal vision structure, a tray handling mechanism, and a transition plate. The tray opening mechanism and the wire harness plug transfer structure are both installed on the first base. The wire harness plug vision structure is arranged on the first base, and the wire harness plug vision structure is located above the wire harness plug transfer structure; the wire harness terminal vision structure is fixed to the second base through the transition plate, and the wire harness terminal vision structure is located above the wire harness terminal angle adjustment mechanism; a tray handling mechanism is arranged between the wire harness terminal angle adjustment mechanism and the tray opening mechanism; the wire harness terminal angle adjustment mechanism includes a matching upper wire harness terminal clamping mechanism and a lower wire harness body rotation mechanism. The upper wire harness terminal clamping mechanism is connected to the second base through the transition plate, and the lower wire harness body rotation mechanism is arranged on the second base; the tray opening mechanism includes a first opening linear guide rail, an opening slider mounting plate, a frame, an opening cylinder, a moving plate, rollers, a left claw, a right claw, a second opening linear guide rail, and a forward cylinder. The first opening linear guide rail is fixed to the frame. The opening slider mounting plate is arranged on the first opening linear guide rail. The second opening linear guide rail is arranged on the opening slider mounting plate. The left claw and the right claw are arranged on the second opening linear guide rail. The rollers are arranged on the left claw and the right claw for opening the left claw and the right claw. The opening cylinder is installed on the opening slider mounting plate. The moving plate is connected to the opening cylinder. The forward cylinder is installed on the frame.

[0007] Preferably, the upper wire harness terminal clamping mechanism of the present utility model includes a first bottom plate, a first linear guide rail, an upper cylinder, a slider mounting plate, a main synchronous pulley, a slave synchronous pulley, a gear, a first rack, a servo motor, a first jaw, a second jaw, a second linear guide rail, and a second rack. The first linear guide rail is installed on the first bottom plate. The upper cylinder is fixed to the first bottom plate. The slider mounting plate is arranged on the first linear guide rail. The main synchronous pulley and the slave synchronous pulley are both arranged on the slider mounting plate. The main synchronous pulley is connected to the slave synchronous pulley. The servo motor is connected to the main synchronous pulley. The gear is connected to the slave synchronous pulley. The gear meshes with the first rack and the second rack at the same time. The first rack is connected to the second jaw. The first jaw and the second jaw are connected to the second linear guide rail. The second rack is connected to the first jaw.

[0008] Preferably, the lower wire harness body rotating mechanism of the present utility model includes a lower base plate, a lower linear guide rail, a lower air cylinder, a lower slider mounting plate, a lower servo motor, a lower connecting plate, a first gear, a second gear, a ring gear set, a ring guide rail, a first air cylinder connecting plate, a jaw air cylinder, jaws, a first air cylinder mounting plate, a first air cylinder, a first jaw connecting plate, a first wire harness jaw, a second wire harness jaw, a second jaw connecting plate, a second air cylinder and a second air cylinder mounting plate. The lower linear guide rail and the lower air cylinder are both installed on the lower base plate. The lower slider mounting plate is arranged on the lower linear guide rail. The lower connecting plate is fixed on the lower slider mounting plate. The lower servo motor is installed on the lower connecting plate. The first gear is connected to the lower servo motor. The second gear and the ring guide rail are both installed on the lower connecting plate. The first gear meshes with the second gear. The ring gear set is arranged on the ring guide rail. The ring gear set meshes with the second gear. The first air cylinder connecting plate is arranged on the ring guide rail. The jaw air cylinder is installed on the first air cylinder connecting plate. The jaws are installed on the jaw air cylinder. The first air cylinder mounting plate is installed on the lower slider mounting plate. The first air cylinder is fixed on the first air cylinder mounting plate. The first jaw connecting plate is connected to the first air cylinder. The first wire harness jaw is installed on the first jaw connecting plate. The second air cylinder mounting plate is installed on the lower slider mounting plate. The second air cylinder is fixed on the second air cylinder mounting plate. The second jaw connecting plate is installed on the second air cylinder. The second wire harness jaw is installed on the second jaw connecting plate.

[0009] Preferably, the tray handling mechanism of the present utility model includes a tray guide rail frame, a tray V-shaped guide rail, a pawl frame, a pawl structure, a pawl linear guide rail, a positioning pawl structure, a linear motor stator and a plurality of tray components. The tray V-shaped guide rail is installed on the tray guide rail frame. A plurality of tray components are all arranged on the tray V-shaped guide rail and can slide. The pawl structure, the pawl linear guide rail, the positioning pawl structure and the linear motor stator are all installed on the pawl frame. The pawl structure (9-21) is movably arranged on the pawl linear guide rail. The pawl structure includes a grating scale reading and writing card, a linear motor mover, a handling air cylinder, a handling linear guide rail, a first pawl, a second pawl, a pawl linear guide rail slider mounting plate, a handling air cylinder mounting plate and a pawl slider mounting plate. The handling air cylinder mounting plate is fixed on the pawl linear guide rail slider mounting plate. The handling air cylinder and the handling linear guide rail are both installed on the handling air cylinder mounting plate. The pawl slider mounting plate is arranged on the handling linear guide rail. The first pawl and the second pawl are respectively arranged on the pawl slider mounting plate. The grating scale reading and writing card and the linear motor mover are both fixed on the pawl linear guide rail slider mounting plate. The positioning pawl structure includes a positioning pawl air cylinder, a guide rail, a first positioning pawl, a second positioning pawl, a handling mounting plate, an air cylinder connecting piece and a handling slider mounting plate. The guide rail is arranged on the handling mounting plate. The air cylinder connecting piece is arranged on the handling mounting plate. The positioning pawl air cylinder is installed on the air cylinder connecting piece. The handling slider mounting plate is arranged on the guide rail. The first positioning pawl and the second positioning pawl are respectively arranged on the handling slider mounting plate.

[0010] Preferably, there are two wire harness terminal angle adjusting mechanisms of the present utility model, and both of the two wire harness terminal angle adjusting mechanisms are connected to the second base.

[0011] Preferably, the upper wire harness terminal clamping mechanism of the present utility model further includes an NG placement seat and an optical fiber sensor, and the optical fiber sensor is fixed on the NG placement seat.

[0012] Preferably, the claw structure of the present utility model is movably arranged on a claw linear guide rail and can slide left and right.

[0013] Preferably, there are multiple sets of the positioning claw structures of the present utility model, and these multiple sets of positioning claw structures are all installed on the claw rack.

[0014] Compared with the prior art, the present utility model has the following advantages and effects: (1) The overall structure is reasonably designed, safe and reliable, with a high degree of automation, high working efficiency, and high assembly qualification rate; (2) The wire harness terminal angle adjustment mechanism has high working efficiency and high angle adjustment accuracy. Through the driven pulley on the upper wire harness terminal clamping mechanism, the gear is driven to move, and the gear drives the second rack and the first rack to move, and then the first claw and the second claw clamp the upper part of the wire harness terminal; through the forward movement of the lower slider mounting plate in the lower wire harness body rotation mechanism, the lower servo motor operates to drive the first gear, the first gear drives the second gear to rotate, and then the second gear drives the annular gear set to work, and the annular gear set drives the claw cylinder to rotate and adjust the angle; (3) Through the tray opening mechanism, it is convenient for the manipulator to accurately pick up the materials on the tray, playing an auxiliary role; (4) Through the tray handling mechanism, rapid positioning can be achieved, improving the operation rhythm of the equipment; with high positioning accuracy and high handling efficiency, multiple trays can be handled and positioned simultaneously; using a linear motor mover and a linear motor stator as the power source, replacing the traditional rotary servo motor, with faster speed, higher accuracy, and more compact space; (5) Through the tray structure, the handling of two materials (plug, wire harness body) is integrated on a set of fixtures; during the tray handling process, the product assembly efficiency is high; the assembly process is simple, and with the application of the V-shaped moving plate in the tray opening mechanism, the use requirements are met. Description of the Drawings

[0015] Figure 1 is the overall structural schematic diagram of an embodiment of the present utility model.

[0016] Figure 2 is the three-dimensional structural schematic diagram of the upper wire harness terminal clamping mechanism of the wire harness terminal angle adjustment mechanism in an embodiment of the present utility model.

[0017] Figure 3 is the bottom view structural schematic diagram of the upper wire harness terminal clamping mechanism after the sensor is set in an embodiment of the present utility model.

[0018] Figure 4 is the structural schematic diagram of the upper wire harness terminal clamping mechanism fixed on the transition plate in an embodiment of the present utility model.

[0019] Figure 5 It is a three-dimensional structure schematic diagram of the lower wire harness body rotation mechanism in the embodiment of the present utility model.

[0020] Figure 6 It is a top view structure schematic diagram of the lower wire harness body rotation mechanism in the embodiment of the present utility model.

[0021] Figure 7 It is a schematic diagram of the clamping state of the lower wire harness body rotation mechanism in the embodiment of the present utility model.

[0022] Figure 8 It is a three-dimensional structure schematic diagram of the tray opening mechanism in the embodiment of the present utility model.

[0023] Figure 9 It is a side view structure schematic diagram of the embodiment of the present utility model.

[0024] Figure 10 It is a three-dimensional structure schematic diagram of the overall tray handling mechanism in the embodiment of the present utility model.

[0025] Figure 11 is Figure 10 a partial enlarged structure schematic diagram in

[0026] Figure 12 It is a front view structure schematic diagram of the overall tray handling mechanism in the embodiment of the present utility model.

[0027] Figure 13 It is a structure schematic diagram of the pawl structure in the embodiment of the present utility model.

[0028] Figure 14 It is a structure schematic diagram of the pawl structure in another direction in the embodiment of the present utility model.

[0029] Figure 15 It is a structure schematic diagram of the positioning pawl structure in the embodiment of the present utility model.

[0030] Figure 16 It is a three-dimensional structure schematic diagram of the overall tray structure in the embodiment of the present utility model.

[0031] Figure 17 It is a structure schematic diagram of the terminal clamping mechanism in the embodiment of the present utility model.

[0032] Figure 18 is Figure 17 a side view structure schematic diagram of

[0033] Figure 19 It is a structure schematic diagram of the wire harness conveying mechanism in the embodiment of the present utility model.

[0034] Figure 20 It is a structure schematic diagram of the wire harness plug and the wire harness body in the embodiment of the present utility model.

[0035] In the figure: wire harness terminal angle adjustment mechanism 1, tray opening mechanism 2, wire harness plug transfer structure 3, wire harness plug vision structure 4, wire harness terminal vision structure 5, grasping manipulator structure 6, base one 7, base two 8, tray handling mechanism 9, transition plate 10,

[0036] Wire harness terminal angle adjustment mechanism 1: upper wire harness terminal clamping mechanism 11, lower wire harness body rotation mechanism 12,

[0037] Upper wire harness terminal clamping mechanism 11: bottom plate one 110, linear guide one 111, upper cylinder 112, slider mounting plate 113, main synchronous pulley 114, slave synchronous pulley 115, NG placement seat 116, fiber optic sensor 117, gear 118, rack one 119, servo motor 120, jaw one 121, jaw two 122, sensor 123, sensor bracket 124, transmission belt 125, linear guide two 126, rack two 127;

[0038] Lower wire harness body rotation mechanism 12: lower bottom plate 1210, lower linear guide 1211, lower cylinder 1212, lower slider mounting plate 1213, lower servo motor 1214, lower connecting plate 1215, gear one 1216, gear two 1217, annular gear group 1218, annular guide 1219, cylinder connecting plate one 1220, jaw cylinder 1221, jaw 1222, cylinder mounting plate one 1223, cylinder one 1224, jaw connecting plate one 1225, wire harness jaw one 1226, wire harness jaw two 1227, jaw connecting plate two 1228, cylinder two 1229, cylinder mounting plate two 1230;

[0039] Tray opening mechanism 2: opening linear guide one 2-21, opening slider mounting plate 2-22, frame 2-23, opening cylinder 2-24, moving plate 2-25, roller 2-26, left jaw 2-27, right jaw 2-28, opening linear guide two 2-29, opening sensor 2-30, opening sensor bracket 2-31, forward cylinder 2-32;

[0040] Tray handling mechanism 9: tray guide frame 9-1, tray assembly 9-11, tray V-shaped guide 9-12;

[0041] Pawl frame 9-2, pawl structure 9-21, grating scale 9-22, pawl linear guide 9-23, positioning pawl structure 9-24, linear motor stator 9-25;

[0042] Pawl Structure 9-21: Raster Scale Read / Write Card 9-211, Linear Motor Rotor 9-212, Handling Cylinder 9-213, Handling Linear Guide 9-214, Pawl One 9-215, Pawl Two 9-216, Pawl Linear Guide Slide Mounting Plate 9-217, Handling Cylinder Mounting Plate 9-218, Pawl Slide Mounting Plate 9-219;

[0043] Positioning Claw Structure 9-24: Positioning Claw Cylinder 9-241, Guide Rail 9-242, Positioning Claw One 9-243, Positioning Claw Two 9-244, Handling Mounting Plate 9-245, Cylinder Connecting Piece 9-246, Handling Slide Mounting Plate 9-247;

[0044] Pallet Structure 13: Terminal Clamping Mechanism 13-1, Wire Harness Conveying Mechanism 13-2, Wire Harness Plug 13-3, Wire Harness Body 13-4;

[0045] Terminal Clamping Mechanism 13-1: Pallet Slide Mounting Plate 101, Ball Slide 102, Pallet Linear Guide 103, Right Slide Mounting Plate 104, Pallet Linear Guide Mounting Plate 105, Left Slide Mounting Plate 106, Left Claw 107, Right Claw 108, Right Roller 109, Left Roller 110, Lock Tongue 111, Left Spring 112, Right Spring 113;

[0046] Wire Harness Conveying Mechanism 13-2: Pallet Bottom Plate 201, V-Groove Wheel 202, V-Groove Wheel Mounting Plate 203, Ball Slide Rail 204, Lock Tongue Groove 205, Wire Harness Plug Fixture 206, Wire Harness Body Fixture 207;

[0047] Terminal Clamping Position Clamping Point A, Terminal Pin Clamping Position Clamping Point B, Wire Harness Clamping Position Clamping Point C. Detailed Implementation Manner

[0048] The present utility model will be further described in detail below in conjunction with the accompanying drawings and through embodiments. The following embodiments are explanations of the present utility model, and the present utility model is not limited to the following embodiments.

[0049] Embodiment

[0050] See Figures 1 to 20 , this embodiment for the terminal angle adjustment and assembly mechanism in the wire harness includes a wire harness terminal angle adjustment mechanism 1, a pallet opening mechanism 2, a wire harness plug transfer structure 3, a wire harness plug vision structure 4, a wire harness terminal vision structure 5, a grasping manipulator structure 6, a base one 7, a base two 8, a pallet handling mechanism 9, a transition plate 10, and a pallet structure 13. One side of the grasping manipulator structure 6 is fixed on the base one 7, and the other side of the grasping manipulator structure 6 is fixed on the base two 8.

[0051] In this embodiment, the tray opening mechanism 2 and the wire harness plug transfer structure 3 are both installed on the first base 7. The wire harness plug vision structure 4 is arranged on the first base 7, and the wire harness plug vision structure 4 is located above the wire harness plug transfer structure 3. The wire harness terminal vision structure 5 is fixed to the second base 8 through the transition plate 10, and the wire harness terminal vision structure 5 is located above the wire harness terminal angle adjustment mechanism 1. A tray handling mechanism 9 is arranged between the wire harness terminal angle adjustment mechanism 1 and the tray opening mechanism 2.

[0052] In this embodiment, the upper wire harness terminal clamping mechanism 11 is connected to the second base 8 through the transition plate 10, and the lower wire harness body rotation mechanism 12 is arranged on the second base 8. The first base 7 and the second base 8 are spaced apart on both sides of the tray handling mechanism 9.

[0053] See Figures 2 to 7 , in this embodiment, the wire harness terminal angle adjustment mechanism 1 includes a matching upper wire harness terminal clamping mechanism 11 and a lower wire harness body rotation mechanism 12.

[0054] The upper wire harness terminal clamping mechanism 11 in this embodiment includes a first base plate 110, a first linear guide rail 111, an upper air cylinder 112, a slider mounting plate 113, a main synchronous pulley 114, a slave synchronous pulley 115, an NG placement seat 116, an optical fiber sensor 117, a gear 118, a first rack 119, a servo motor 120, a first jaw 121, a second jaw 122, a sensor 123, a sensor bracket 124, a transmission belt 125, a second linear guide rail 126, and a second rack 127. The first linear guide rail 111 is installed on the first base plate 110, the upper air cylinder 112 is fixed to the first base plate 110, the slider mounting plate 113 is arranged on the first linear guide rail 111, the main synchronous pulley 114 and the slave synchronous pulley 115 are both arranged on the slider mounting plate 113, the main synchronous pulley 114 is connected to the slave synchronous pulley 115, the servo motor 120 is connected to the main synchronous pulley 114, the gear 118 is connected to the slave synchronous pulley 115, the gear 118 meshes with the first rack 119 and the second rack 127 at the same time, the first rack 119 is connected to the second jaw 122, the first jaw 121 and the second jaw 122 are connected to the second linear guide rail 126, and the second rack 127 is connected to the first jaw 121.

[0055] The lower wire harness body rotation mechanism 12 in this embodiment includes a lower base plate 1210, a lower linear guide rail 1211, a lower air cylinder 1212, a lower slider mounting plate 1213, a lower servo motor 1214, a lower connecting plate 1215, a first gear 1216, a second gear 1217, an annular gear set 1218, an annular guide rail 1219, a first air cylinder connecting plate 1220, a jaw air cylinder 1221, jaws 1222, a first air cylinder mounting plate 1223, a first air cylinder 1224, a first jaw connecting plate 1225, a first wire harness jaw 1226, a second wire harness jaw 1227, a second jaw connecting plate 1228, a second air cylinder 1229, and a second air cylinder mounting plate 1230. The lower linear guide rail 1211 and the lower air cylinder 1212 are both installed on the lower base plate 1210. The lower slider mounting plate 1213 is arranged on the lower linear guide rail 1211. The lower connecting plate 1215 is fixed to the lower slider mounting plate 1213. The lower servo motor 1214 is installed on the lower connecting plate 1215. The first gear 1216 is connected to the lower servo motor 1214. The second gear 1217 and the annular guide rail 1219 are both installed on the lower connecting plate 1215. The first gear 1216 meshes with the second gear 1217. The annular gear set 1218 is arranged on the annular guide rail 1219. The annular gear set 1218 meshes with the second gear 1217. The first air cylinder connecting plate 1220 is arranged on the annular guide rail 1219. The jaw air cylinder 1221 is installed on the first air cylinder connecting plate 1220. The jaws 1222 are installed on the jaw air cylinder 1221. The first air cylinder mounting plate 1223 is installed on the lower slider mounting plate 1213. The first air cylinder 1224 is fixed to the first air cylinder mounting plate 1223. The first jaw connecting plate 1225 is connected to the first air cylinder 1224. The first wire harness jaw 1226 is installed on the first jaw connecting plate 1225. The second air cylinder mounting plate 1230 is installed on the lower slider mounting plate 1213. The second air cylinder 1229 is fixed to the second air cylinder mounting plate 1230. The second jaw connecting plate 1228 is installed on the second air cylinder 1229. The second wire harness jaw 1227 is installed on the second jaw connecting plate 1228.

[0056] The upper wire harness terminal clamping mechanism 11 in this embodiment further includes an NG placement seat 116 and an optical fiber sensor 117. The optical fiber sensor 117 is fixed on the NG placement seat 116.

[0057] The upper wire harness terminal clamping mechanism 11 in this embodiment further includes a sensor 123 and a sensor bracket 124. The sensor 123 is installed on the sensor bracket 124.

[0058] The main synchronous pulley 114 and the slave synchronous pulley 115 in this embodiment are connected by a transmission belt 125.

[0059] The annular gear set 1218 in this embodiment has two layers.

[0060] The working process of the wire harness terminal angle adjustment mechanism 1 in this embodiment is as follows:

[0061] The working process of the upper wire harness terminal clamping mechanism 11 is as follows: The sensor 123 detects whether there is a tray wire harness terminal. If there is, the upper cylinder 112 acts to drive the slider mounting plate 113 forward. The servo motor 120 rotates to drive the main synchronous pulley 114 to rotate. The main synchronous pulley 114 drives the driven synchronous pulley 115 to rotate through the transmission belt 125. The driven synchronous pulley 115 drives the gear 118 to act. The gear 118 drives the second rack 127 and the first rack 119 to move, and then the first jaw 121 and the second jaw 122 clamp the clamping point A at the terminal clamping position.

[0062] The working process of the lower wire harness body rotating mechanism 12 is as follows: The sensor 123 in the upper wire harness terminal clamping mechanism 11 detects whether there is a wire harness terminal. If there is, the lower cylinder 1212 acts, and then the jaw cylinder 1221 acts to clamp the clamping point B at the terminal pin clamping position. Then, the second cylinder 1229 and the first cylinder 1224 act to drive the second wire harness jaw 1227 and the first wire harness jaw 1226 to work and clamp the clamping point C at the wire harness clamping position. It drives the lower slider mounting plate 1213 in the lower wire harness body rotating mechanism 12 to move forward. The lower servo motor 1214 acts to drive the first gear 1216. The first gear 1216 drives the second gear 1217 to rotate. Then, the second gear 1217 drives the annular gear set 1218 to work, and the annular gear set 1218 drives the jaw cylinder 1221 to rotate and adjust the angle.

[0063] See Figures 8 to 9 In this embodiment, the tray opening mechanism 2 includes a first opening linear guide 2-21, an opening slider mounting plate 2-22, a frame 2-23, an opening cylinder 2-24, a moving plate 2-25, rollers 2-26, a left jaw 2-27, a right jaw 2-28, a second opening linear guide 2-29, an opening sensor 2-30, an opening sensor bracket 2-31, and an advancing cylinder 2-32. The first opening linear guide 2-21 is fixed on the frame 2-23, and the opening slider mounting plate 2-22 is arranged on the first opening linear guide 2-21.

[0064] In this embodiment, the second opening linear guide 2-29 is arranged on the opening slider mounting plate 2-22. The left jaw 2-27 and the right jaw 2-28 are arranged on the second opening linear guide 2-29. The rollers 2-26 are arranged on the left jaw 2-27 and the right jaw 2-28 for opening the left jaw 2-27 and the right jaw 2-28.

[0065] In this embodiment, the opening cylinder 2-24 is installed on the opening slider mounting plate 2-22. The moving plate 2-25 is connected to the opening cylinder 2-24. The advancing cylinder 2-32 is installed on the frame 2-23.

[0066] The opening sensor 2-30 in this embodiment is installed on the opening sensor bracket 2-31; the opening sensor bracket 2-31 is set at one end of the frame 2-23.

[0067] The movable plate 2-25 in this embodiment adopts a V-shaped structure; the V-shape makes the structural layout more compact and reduces the force arm, and finally the left clamp 2-27 and the right clamp 2-28 open quickly and play a supporting role.

[0068] Working process of the tray opening mechanism 2: when the opening sensor 2-30 detects the presence of a tray, the forward cylinder 2-32 is actuated to drive the opening slider mounting plate 2-22 forward, and the opening cylinder 2-24 is actuated to drive the moving plate 2-25 forward, opening the roller 2-26, so that the left clamp 2-27 and the right clamp 2-28 are opened to complete the opening work.

[0069] See also Figures 10 to 15 The pallet transport mechanism 9 in this embodiment includes a pallet guide frame 9-1, a pallet V-shaped guide 9-12, a plurality of pallet components 9-11, a claw frame 9-2, a claw structure 9-21, a grating scale 9-22, a claw linear guide 9-23, a positioning claw structure 9-24 and a linear motor stator 9-25. The pallet V-shaped guide 9-12 is mounted on the pallet guide frame 9-1, and a plurality of pallet components 9-11 are all slidably arranged on the pallet V-shaped guide 9-12. The claw structure 9-21, the claw linear guide 9-23, the positioning claw structure 9-24 and the linear motor stator 9-25 are all mounted on the claw frame 9-2, and the claw structure 9-21 is movably arranged on the claw linear guide 9-23.

[0070] See also Figures 13 - 14 As shown, the claw structure 9-21 in this embodiment includes a grating ruler reading and writing card 9-211, a linear motor mover 9-212, a transport cylinder 9-213, a transport linear guide 9-214, a claw 1 9-215, a claw 2 9-216, a claw linear guide slider mounting plate 9-217, a transport cylinder mounting plate 9-218 and a claw slider mounting plate 9-219. The transport cylinder mounting plate 9-218 is fixed to the claw linear guide slider mounting plate 9 -217, the transport cylinder 9-213 and the transport linear guide 9-214 are both installed on the transport cylinder mounting plate 9-218, the claw slider mounting plate 9-219 is set on the transport linear guide 9-214, the claw one 9-215 and the claw two 9-216 are respectively set on the claw slider mounting plate 9-219; the grating scale read-write card 9-211 and the linear motor mover 9-212 are both fixed on the claw linear guide slider mounting plate 9-217.

[0071] See also Figure 15As shown in the figure, the positioning claw structure 9-24 in this embodiment includes a positioning claw cylinder 9-241, a guide rail 9-242, a first positioning claw 9-243, a second positioning claw 9-244, a handling mounting plate 9-245, a cylinder connecting piece 9-246, and a handling slider mounting plate 9-247. The guide rail 9-242 is arranged on the handling mounting plate 9-245, the cylinder connecting piece 9-246 is arranged on the handling mounting plate 9-245, the positioning claw cylinder 9-241 is installed on the cylinder connecting piece 9-246, the handling slider mounting plate 9-247 is arranged on the guide rail 9-242, and the first positioning claw 9-243 and the second positioning claw 9-244 are respectively arranged on the handling slider mounting plate 9-247.

[0072] The grating scale 9-22 in this embodiment is installed on the pawl rack 9-2, and the grating scale 9-22 is matched with the grating scale reading and writing card 9-211.

[0073] There are multiple sets of the positioning claw structures 9-24 in this embodiment, and these multiple sets of positioning claw structures 9-24 are all installed on the pawl rack 9-2.

[0074] The pawl structure 9-21 in this embodiment is movably arranged on the pawl linear guide rail 9-23 and can slide left and right.

[0075] The working process of the pallet handling mechanism in this embodiment is as follows: 1) The positioning claw structure 9-24 positions the two pallet assemblies 9-11. The linear motor stator 9-25 extends to position the two pallet assemblies 9-11. The positioning claw structure 9-24 resets. The linear motor mover 9-212 is energized to generate magnetic force with the linear motor stator 9-25, and the pawl structure 9-21 is pushed to move on the pawl linear guide rail 9-23. After completion, the grating scale reading and writing card 9-211 reads the coordinates through the grating scale 9-22; 2) Another set of positioning claw structure 9-24 positions the two pallet assemblies 9-11, and the pawl structure 9-21 resets to complete the handling work of the double pallets.

[0076] See Figures 16 to 20 , the pallet structure 13 in this embodiment includes a terminal clamping mechanism 13-1 and a wire harness conveying mechanism 13-2. The terminal clamping mechanism 13-1 is installed on the wire harness conveying mechanism 13-2, and the wire harness plug 13-3 and the wire harness body 13-4 are both arranged on the wire harness conveying mechanism 13-2.

[0077] The terminal clamping mechanism 13-1 in this embodiment includes a tray slider mounting plate 101, a steel ball slider 102, a tray linear guide 103, a right slider mounting plate 104, a tray linear guide mounting plate 105, a left slider mounting plate 106, a left jaw 107, a right jaw 108, a right roller 109, a left roller 110, a locking tongue 111, a left spring 112 and a right spring 113. The steel ball slider 102, the tray linear guide mounting plate 105 and the locking tongue 111 are all mounted on the tray slider mounting plate 101, and the tray linear guide 103 is mounted on the tray linear guide mounting plate 105.

[0078] In this embodiment, the left slider mounting plate 106 and the right slider mounting plate 104 are both arranged on the tray linear guide 103. The left roller 110 and the left jaw 107 are mounted on the left slider mounting plate 106, the right roller 109 and the right jaw 108 are mounted on the right slider mounting plate 104, and the left spring 112 and the right spring 113 are respectively arranged on the left slider mounting plate 106 and the right slider mounting plate 104.

[0079] The wire harness conveying mechanism 13-2 in this embodiment includes a tray bottom plate 201, V-shaped wheels 202, V-shaped wheel mounting plates 203, steel ball slide rails 204, locking tongue grooves 205, a wire harness plug jig 206 and a wire harness body jig 207. The V-shaped wheel mounting plates 203 are mounted on the tray bottom plate 201, and the V-shaped wheels 202, the steel ball slide rails 204, the locking tongue grooves 205, the wire harness plug jig 206 and the wire harness body jig 207 are all mounted on the V-shaped wheel mounting plates 203; there are four V-shaped wheels 202 and two steel ball slide rails 204.

[0080] In this embodiment, the wire harness plug 13-3 is placed on the wire harness plug jig 206, and the outer shell of the wire harness body 13-4 is arranged on the wire harness body jig 207 in the wire harness conveying mechanism 13-2.

[0081] On the wire harness body 13-4 in this embodiment, there are a clamping point A for the terminal clamping position, a clamping point B for the terminal pin clamping position and a clamping point C for the wire harness clamping position. The clamping point A for the terminal clamping position of the wire harness body 13-4 is positioned by the left jaw 107 and the right jaw 108 in the terminal clamping mechanism 13-1.

[0082] Through the above description, those skilled in the art can already implement it.

[0083] In addition, it should be noted that for the specific embodiments described in this specification, the shapes, names, etc. of their parts and components can be different. The above content described in this specification is only an example of the structure of the present utility model. Any equivalent changes or simple changes made according to the structure, features, and principles conceived in the patent of the present utility model are included within the protection scope of the patent of the present utility model. Those skilled in the art of the present utility model can make various modifications, supplements, or use similar methods for substitution to the specific embodiments described, as long as they do not deviate from the structure of the present utility model or exceed the scope defined by this claims, they should all fall within the protection scope of the present utility model.

Claims

1. A terminal angle adjustment and assembly mechanism for a wiring harness, comprising a gripping manipulator structure (6), a base 1 (7) and a base 2 (8), wherein one side of the gripping manipulator structure (6) is fixed to the base 1 (7), and the other side of the gripping manipulator structure (6) is fixed to the base 2 (8), characterized in that: The invention also comprises a wiring harness terminal angle adjustment mechanism (1), a tray opening mechanism (2), a wiring harness plug transfer structure (3), a wiring harness plug visual structure (4), a wiring harness terminal visual structure (5), a tray transport mechanism (9) and a transition plate (10), wherein the tray opening mechanism (2) and the wiring harness plug transfer structure (3) are both mounted on a base (7), the wiring harness plug visual structure (4) is arranged on the base (7), and the wiring harness plug visual structure (4) is located above the wiring harness plug transfer structure (3); the wiring harness terminal visual structure (5) is connected to the wiring harness plug through the transition plate (10). The wiring harness terminal visual structure (5) is fixed on the second base (8), and is located above the wiring harness terminal angle adjustment mechanism (1); a tray transport mechanism (9) is arranged between the wiring harness terminal angle adjustment mechanism (1) and the tray opening mechanism (2); the wiring harness terminal angle adjustment mechanism (1) comprises a matching upper wiring harness terminal clamping mechanism (11) and a lower wiring harness body rotating mechanism (12); the upper wiring harness terminal clamping mechanism (11) is connected to the second base (8) through a transition plate (10), and the lower wiring harness body rotating mechanism (12) is arranged on the second base (8); the tray opening mechanism (2) is arranged between the wiring harness terminal angle adjustment mechanism (1) and the tray opening mechanism (2); The mechanism (2) includes an opening linear guide rail 1 (2-21), an opening slider mounting plate (2-22), a frame (2-23), an opening cylinder (2-24), a moving plate (2-25), a roller (2-26), a left clamping jaw (2-27), a right clamping jaw (2-28), an opening linear guide rail 2 (2-29) and a forward cylinder (2-32), wherein the opening linear guide rail 1 (2-21) is fixed to the frame (2-23), the opening slider mounting plate (2-22) is arranged on the opening linear guide rail 1 (2-21), and the opening linear guide rail 2 (2-2 9) is arranged on the opening slider mounting plate (2-22), the left clamping jaw (2-27) and the right clamping jaw (2-28) are arranged on the opening linear guide rail 2 (2-29), the roller (2-26) is arranged on the left clamping jaw (2-27) and the right clamping jaw (2-28) for opening the left clamping jaw (2-27) and the right clamping jaw (2-28), the opening cylinder (2-24) is installed on the opening slider mounting plate (2-22), the moving plate (2-25) is connected to the opening cylinder (2-24), and the forward cylinder (2-32) is installed on the frame (2-23).

2. The terminal angle adjustment and assembly mechanism for a wiring harness according to claim 1, characterized in that: The upper wiring harness terminal clamping mechanism (11) comprises a base plate (110), a linear guide rail (111), an upper cylinder (112), a slider mounting plate (113), a main synchronous pulley (114), a slave synchronous pulley (115), a gear (118), a rack (119), a servo motor (120), a clamping jaw (121), a clamping jaw (122), a linear guide rail (126) and a rack (127), wherein the linear guide rail (111) is mounted on the base plate (110), the upper cylinder (112) is fixed on the base plate (110), and the slider mounting plate (113) is arranged on the linear guide rail (111). ), a main synchronous pulley (114) and a slave synchronous pulley (115) are both arranged on a slider mounting plate (113), the main synchronous pulley (114) is connected to the slave synchronous pulley (115), the servo motor (120) is connected to the main synchronous pulley (114), the gear (118) is connected to the slave synchronous pulley (115), the gear (118) is meshed with rack 1 (119) and rack 2 (127) at the same time, the rack 1 (119) is connected to clamp 2 (122), the clamp 1 (121) and clamp 2 (122) are connected to linear guide 2 (126), and the rack 2 (127) is connected to clamp 1 (121).

3. The terminal angle adjustment and assembly mechanism for a wiring harness according to claim 1, characterized in that: The lower harness body rotating mechanism (12) comprises a lower base plate (1210), a lower linear guide rail (1211), a lower cylinder (1212), a lower slider mounting plate (1213), a lower servo motor (1214), a lower connecting plate (1215), a gear 1 (1216), a gear 2 (1217), an annular gear ring assembly (1218), an annular guide rail (1219), a cylinder connecting plate 1 (1220), a clamping claw cylinder (1221), a clamping claw (1222), a cylinder mounting plate 1 (1223), a cylinder 1 (1224), a clamping claw connecting plate 1 (1225), a wire harness body rotating mechanism (1212), ... wire harness body rotating mechanism (1212), a lower linear guide rail (1211), a lower cylinder A harness clamping claw 1 (1226), a harness clamping claw 2 (1227), a clamping claw connecting plate 2 (1228), a cylinder 2 (1229) and a cylinder mounting plate 2 (1230), a lower linear guide rail (1211) and a lower cylinder (1212) are all mounted on the lower bottom plate (1210), a lower slider mounting plate (1213) is arranged on the lower linear guide rail (1211), a lower connecting plate (1215) is fixed on the lower slider mounting plate (1213), a lower servo motor (1214) is mounted on the lower connecting plate (1215), and a gear 1 (1216) is connected to the lower servo motor (1214). The gear 2 (1217) and the annular guide rail (1219) are both mounted on the lower connecting plate (1215), the gear 1 (1216) meshes with the gear 2 (1217), the annular gear ring assembly (1218) is disposed on the annular guide rail (1219), the annular gear ring assembly (1218) meshes with the gear 2 (1217), the cylinder connecting plate 1 (1220) is disposed on the annular guide rail (1219), the clamping claw cylinder (1221) is mounted on the cylinder connecting plate 1 (1220), and the clamping claw (1222) is mounted on the clamping claw cylinder (1221); the cylinder mounting plate 1 (1223) is mounted On the lower slider mounting plate (1213), cylinder one (1224) is fixed on cylinder mounting plate one (1223), clamp connecting plate one (1225) is connected to cylinder one (1224), and wire harness clamp one (1226) is installed on clamp connecting plate one (1225); cylinder mounting plate two (1230) is installed on the lower slider mounting plate (1213), cylinder two (1229) is fixed on cylinder mounting plate two (1230), clamp connecting plate two (1228) is installed on cylinder two (1229), and wire harness clamp two (1227) is installed on clamp connecting plate two (1228).

4. The terminal angle adjustment and assembly mechanism for a wiring harness according to claim 1, characterized in that: The pallet transport mechanism (9) comprises a pallet guide rail frame (9-1), a pallet V-shaped guide rail (9-12), a claw frame (9-2), a claw structure (9-21), a claw linear guide rail (9-23), a positioning claw structure (9-24), a linear motor stator (9-25) and a plurality of pallet assemblies (9-11); the pallet V-shaped guide rail (9-12) is mounted on the pallet guide rail frame (9-1); the plurality of pallet assemblies (9-11) are slidably arranged on the pallet V-shaped guide rail (9-12); the claw structure (9-21), the claw linear guide rail (9-23), the positioning claw structure (9-24) and the linear motor stator (9-25) are mounted on the claw frame (9-2); and the claw structure (9-21) is movably arranged on the claw linear guide rail (9-23); The pusher claw structure (9-21) includes a grating ruler reading and writing card (9-211), a linear motor mover (9-212), a transport cylinder (9-213), a transport linear guide rail (9-214), a pusher claw one (9-215), a pusher claw two (9-216), a pusher claw linear guide rail slider mounting plate (9-217), a transport cylinder mounting plate (9-218) and a pusher claw slider mounting plate (9-219), wherein the transport cylinder mounting plate (9-218) is fixed to the pusher claw linear guide rail slider mounting plate (9-217). The transport cylinder (9-213) and the transport linear guide rail (9-214) are both mounted on the transport cylinder mounting plate (9-218), the claw slider mounting plate (9-219) is arranged on the transport linear guide rail (9-214), the claw one (9-215) and the claw two (9-216) are respectively arranged on the claw slider mounting plate (9-219); the grating ruler read-write card (9-211) and the linear motor mover (9-212) are both fixed on the claw linear guide slider mounting plate (9-217); The positioning claw structure (9-24) comprises a positioning claw cylinder (9-241), a guide rail (9-242), a positioning claw 1 (9-243), a positioning claw 2 (9-244), a transport mounting plate (9-245), a cylinder connecting piece (9-246) and a transport slider mounting plate (9-247). The guide rail (9-242) is arranged on the transport mounting plate (9-245), the cylinder connecting piece (9-246) is arranged on the transport mounting plate (9-245), the positioning claw cylinder (9-241) is mounted on the cylinder connecting piece (9-246), the transport slider mounting plate (9-247) is arranged on the guide rail (9-242), and the positioning claw 1 (9-243) and the positioning claw 2 (9-244) are respectively arranged on the transport slider mounting plate (9-247).

5. The terminal angle adjustment and assembly mechanism for a wiring harness according to claim 1, characterized in that: There are two wiring harness terminal angle adjustment mechanisms (1), and both wiring harness terminal angle adjustment mechanisms (1) are connected to the second base (8).

6. The terminal angle adjustment and assembly mechanism for a wiring harness according to claim 1, characterized in that: The upper wiring harness terminal clamping mechanism (11) further comprises an NG placement seat (116) and an optical fiber sensor (117), wherein the optical fiber sensor (117) is fixed on the NG placement seat (116).

7. The terminal angle adjustment and assembly mechanism for a wiring harness according to claim 4, characterized in that: The pusher claw structure (9-21) is movably arranged on the pusher claw linear guide rail (9-23) and can slide left and right.

8. The terminal angle adjustment and assembly mechanism for a wiring harness according to claim 4, characterized in that: The positioning claw structures (9-24) are multiple sets, and the multiple sets of positioning claw structures (9-24) are all installed on the claw frame (9-2).

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