Wire harness pay-out conveyance device

Abstract

The utility model discloses a kind of wire harness pay-off handling devices, including pedestal, handling assembly, guide component, alignment zero component and control assembly, handling assembly and alignment zero component are installed on pedestal, guide component is installed on alignment zero component, three are connected with control assembly;Alignment zero component includes alignment cylinder and the zeroing gripper of installation at its output, alignment cylinder includes the alignment seat body of measurement rod and displacement sensor, for grabbing wire harness and calibrating reference zero point;Guide component includes guide cylinder and the guide gripper of installation at its output, for replacing zeroing gripper and calibrating after grabbing wire harness;Handling assembly includes sliding table and handling gripper installed on sliding table, for replacing guide gripper and grabbing wire harness and moving to next working mechanism;The present scheme solves the problem that existing technology lacks accurate calibration mechanism for wire harness reference zero point in wire harness pay-off handling device and calibration and handling link is insufficient in continuity.

Description

Technical Field

[0001] This utility model relates to the technical field of wire harness handling equipment, specifically to a wire harness delivery and handling device. Background Technology

[0002] In the processing of automotive wiring harnesses, electronic wiring harnesses, etc., wiring harness delivery and handling devices are the core equipment for realizing the automated flow of wiring harnesses. Existing devices mostly complete the delivery and handling of wiring harnesses through the cooperation of multiple mechanisms, which can realize the automated transmission of wiring harnesses to a certain extent and has advantages such as reducing the intensity of manual labor and improving production efficiency.

[0003] However, existing wire harness feeding and conveying devices still have some shortcomings. When feeding and conveying wire harnesses, existing devices lack a precise calibration mechanism for the wire harness reference zero point, and the connection between calibration and conveying is poor. This results in a large deviation in the reference position of the wire harness after feeding, making it difficult to accurately position it during subsequent conveying. This positioning deviation will further affect the processing accuracy of subsequent processes, ultimately affecting the quality and consistency of the finished wire harness product. Utility Model Content

[0004] The purpose of this application is to provide a wire harness laying and conveying device to solve the problems in the prior art where the wire harness laying and conveying device lacks a precise calibration mechanism for the wire harness reference zero point and the connection between calibration and conveying is insufficient.

[0005] One embodiment of this utility model provides a wire harness delivery and handling device, including a base, a handling component, a guiding component, an alignment and zeroing component, and a control component. The handling component, the guiding component, and the alignment and zeroing component are all mounted on the base, and the handling component, the guiding component, and the alignment and zeroing component are all electrically connected to the control component. The alignment and zeroing component is used to pick up the wire harness from the external wire feeding mechanism and calibrate the reference zero point of the wire harness. The guide component is used to take over from the alignment and zeroing component to pick up the calibrated wire harness and place it on the transport component. The transport component is used to take over from the guide component to pick up the calibrated wire harness and transport it to the next working mechanism. The alignment and zeroing assembly includes an alignment cylinder mounted on the base and a zeroing gripper movably mounted on the output end of the alignment cylinder. The alignment cylinder has an alignment seat, which includes a measuring rod and a displacement sensor for monitoring the measuring rod. The guiding assembly includes a guide cylinder mounted on the base and a guide gripper movably mounted on the output end of the guide cylinder. The conveying assembly includes a slide mounted on the base and a conveying gripper movably mounted on the slide.

[0006] In one embodiment, the alignment seat includes a take-up groove that connects to the measuring rod, and the displacement sensor is built into the measuring rod.

[0007] In one embodiment, the zero-finding gripper further includes a sliding groove disposed on the output end of the alignment cylinder, and the zero-finding gripper is slidably connected in the sliding groove.

[0008] In one embodiment, the zero-finding gripper includes a first clamping part and a second clamping part that slide synchronously outward or synchronously inward. Both the first clamping part and the second clamping part are provided with zero-finding clamping ports. When the first clamping part and the second clamping part slide synchronously inward and abut against each other, the two zero-finding clamping ports form a zero-finding wire harness port. The zero-finding wire harness port is collinear with the axis of the take-up groove and is opposite to the port of the take-up groove to grip the wire harness of the external wire feeding mechanism, which facilitates the calibration of the reference zero point of the wire harness.

[0009] In one embodiment, the guide gripper includes a first guide gripper and a second guide gripper that open outwards or close inwards simultaneously. Both the first and second guide grippers have guide clamping openings. When the first and second guide grippers close inwards simultaneously and abut against each other, the two guide clamping openings form a guide wire harness opening to take over from the alignment and zeroing component in gripping the calibrated wire harness. The guide wire harness opening is positioned opposite to the zeroing wire harness opening.

[0010] In one embodiment, the transport gripper includes a first transport gripper and a second transport gripper that open outwards or close inwards simultaneously. Both the first and second transport grippers have transport clamping openings. When the first and second transport grippers close inwards simultaneously and abut against each other, the two transport clamping openings form a transport wire harness opening to take over from the guide component in gripping the calibrated wire harness.

[0011] In one embodiment, the conveying assembly further includes a conveying cylinder disposed on the slide, and the conveying gripper is movably disposed on the output end of the conveying cylinder.

[0012] In one embodiment, the alignment and zeroing assembly further includes an adjusting cylinder disposed on the base. The alignment cylinder is mounted on the output end of the adjusting cylinder and is disposed on the base via the adjusting cylinder.

[0013] In one embodiment, the alignment and zeroing assembly is equipped with a first proximity sensor for monitoring the opening and closing state of the zeroing gripper, the guide assembly is equipped with a second proximity sensor for monitoring the opening and closing state of the guide gripper, the starting and ending ends of the slide are each equipped with a third proximity sensor for monitoring the position of the transport gripper, and the end of the measuring rod is equipped with a laser displacement sensor for detecting whether the wire harness has reached the reference zero point. The first proximity sensor, the second proximity sensor, the third proximity sensor, and the laser displacement sensor are all electrically connected to the control assembly.

[0014] In one embodiment, the control component includes a main control chip, a signal conditioning circuit, a solenoid valve control module, and a servo control unit. The signal conditioning circuit is electrically connected to the first proximity sensor, the second proximity sensor, the third proximity sensor, and the laser displacement sensor, and is used to filter and level-convert the raw signals output by each sensor. The main control chip is used to receive the signal processed by the signal conditioning circuit and perform logical operations. The solenoid valve control module is electrically connected to the main control chip and is also connected to the alignment cylinder, the guide cylinder, and the drive cylinder. The servo control unit is electrically connected to the main control chip and is connected to the drive mechanism of the slide.

[0015] Beneficial effects: This invention connects the take-up groove of the positioning body to the measuring rod, and embeds a displacement sensor in the measuring rod. The first and second clamping parts of the zero-finding gripper move synchronously to form a zero-finding wire bundle opening collinear with the axis of the take-up groove. This allows the wire bundle to accurately enter the take-up groove and stably contact the measuring rod. The displacement sensor and laser displacement sensor then efficiently and accurately capture the wire bundle position signal, avoiding reference position deviations caused by the lack of a dedicated calibration structure. Simultaneously, the control component controls the relay gripping of the zero-finding gripper, guide gripper, and transport gripper via solenoid valves. The guide wire bundle opening of the guide gripper is positioned opposite to the zero-finding wire bundle opening of the zero-finding gripper, and the transport gripper accurately receives the wire bundle transferred by the guide component. The orderly connection between each link ensures that the calibrated wire bundle maintains its reference state throughout the transfer process, improving the seamless connection between calibration and transport. This invention also installs the alignment cylinder on the output end of the adjusting cylinder to cooperate with the control component to control the adjusting cylinder to adjust the position of the alignment cylinder, avoiding the situation where calibration cannot be completed due to the wire harness being too short, thus improving the device's adaptability to wire harnesses of different lengths and enhancing its overall versatility and flexibility. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present utility model; Figure 2 for Figure 1 A schematic diagram of the overall structure from another perspective; Figure 3 This is a schematic diagram of the part where the first and second transport claws abut against each other in this utility model.

[0018] The components include: 1. Base; 2. Transfer assembly; 21. Slide table; 22. Transfer gripper; 221. First transfer gripper; 222. Second transfer gripper; 223. Transfer wire harness opening; 23. Transfer cylinder; 3. Guide assembly; 31. Guide cylinder; 32. Guide gripper; 321. First guide gripper; 322. Second guide gripper; 323. Guide wire harness opening; 4. Alignment and zeroing assembly; 41. Alignment cylinder; 411. Sliding groove; 42. Zeroing gripper; 421. First clamping part; 422. Second clamping part; 423. Zeroing wire harness opening; 43. Alignment seat; 431. Measuring rod; 44. Adjustment cylinder. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of the stated features. Additionally, the use of "and / or" or "and / or" throughout the text implies three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0022] Please refer to Figures 1-3 One embodiment of this utility model provides a wire harness delivery and handling device, including a base 1, a handling component 2, a guiding component 3, an alignment and zeroing component 4, and a control component. The handling component 2, the guiding component 3, and the alignment and zeroing component 4 are all mounted on the base 1, and the handling component 2, the guiding component 3, and the alignment and zeroing component 4 are all electrically connected to the control component. The alignment and zero-finding component 4 is used to pick up the wire harness (not shown) from the external wire feeding mechanism and calibrate the reference zero point of the wire harness (not shown). The guide component 3 is used to take over from the alignment and zero-finding component 4 to pick up the calibrated wire harness (not shown) and place it on the transport component 2. The transport component 2 is used to take over from the guide component 3 to pick up the calibrated wire harness (not shown) and transport it to the next working mechanism. The alignment and zeroing component 4 includes an alignment cylinder 41 mounted on the base 1 and a zeroing gripper 42 movably mounted on the output end of the alignment cylinder 41. The alignment cylinder 41 is provided with an alignment seat 43, which includes a measuring rod 431 and a displacement sensor (not shown) for monitoring the measuring rod 431. The guide component 3 includes a guide cylinder 31 mounted on the base 1 and a guide gripper 32 movably mounted on the output end of the guide cylinder 31. The transport component 2 includes a slide 21 mounted on the base 1 and a transport gripper 22 movably mounted on the slide 21.

[0023] It should be noted that, in actual use, the control logic of the control component for the aforementioned components is as follows: When the external wire feeding mechanism delivers the wire harness (not shown) to the working area of ​​the alignment and zero-finding component 4, the control component drives the alignment cylinder 41 to open and grab the wire harness (not shown) using the zero-finding gripper 42, while simultaneously moving the wire harness (not shown) towards the alignment seat 43. At this time, the wire harness (not shown) contacts the measuring rod 431 of the alignment seat 43 and generates displacement. The displacement sensor (not shown) transmits the detection signal to the control component. After the control component confirms that the wire harness (not shown) has reached the reference zero point through signal processing, it controls the zero-finding gripper 42 to maintain the clamping state to lock the calibration position. After calibration, the control component drives the guide cylinder 31 to move the guide gripper 32 to the wire harness (not shown) position and close, taking over from the zero-finding gripper 42 to grab the calibrated wire harness (not shown); at the same time, the control cylinder 41 drives the zero-finding gripper 42 to open and reset, and then the control guide gripper 32 moves the wire harness (not shown) to the corresponding position of the transport component 2. After the guide gripper 32 places the wire harness (not shown) in place, the control component drives the transport gripper 22 to close to grab the wire harness (not shown), and at the same time controls the guide cylinder 31 to drive the guide gripper 32 to open and reset; finally, the control component controls the slide table 21 to drive the transport gripper 22 to move along the preset trajectory, accurately transporting the wire harness (not shown) to the next working mechanism, completing one wire feeding and transport process.

[0024] In this embodiment, the cooperation between the measuring rod 431 and the displacement sensor (not shown) in the alignment and zeroing component 4 can directly provide accurate detection basis for the zero-point calibration of the wire harness (not shown), so as to capture the position change of the wire harness (not shown) in real time during the entire calibration process and achieve accurate calibration of the reference position. In addition, by controlling the actions of each component through the control component, the zeroing gripper 42, the guide gripper 32 and the transport gripper 22 can be used to achieve seamless connection between the calibration and transport links, thereby accurately controlling the action rhythm of each component, ensuring that the next component can immediately follow after the previous component completes the operation, keeping the position of the wire harness (not shown) stable during the handover process, so that the calibrated reference state can be accurately transmitted and avoiding position deviation caused by loose connection of links.

[0025] In one embodiment, the alignment seat 43 includes a take-up groove (not shown) that connects to the measuring rod 431, and the displacement sensor (not shown) is built into the measuring rod 431.

[0026] In one embodiment, the zero-finding gripper 42 further includes a sliding groove 411 disposed on the output end of the alignment cylinder 41, and the zero-finding gripper 42 is slidably connected in the sliding groove 411.

[0027] It should be noted that, in the initial state, the alignment cylinder 41 is in the extended state; when the control component needs to control the zero-finding gripper 42 to open and grab the wire harness (not shown), and at the same time drive the wire harness (not shown) to move towards the alignment seat 43, it can first directly control the operation of the alignment cylinder 41 to control the retraction of the output end of the alignment cylinder 41, thereby driving the sliding groove 411 on the output end to retract synchronously. Simultaneously, it can also directly control the first clamping part 421 and the second clamping part 422 of the zero-finding gripper 42 to slide synchronously inward on the sliding groove 411 to grab the wire harness (not shown); in addition, the specific control methods of the zero-finding gripper 42, the guide gripper 32 and the transport gripper 22 can be achieved by connecting an external solenoid valve, which is connected to the control component, allowing the control component to directly control the working state of the corresponding gripper.

[0028] In one embodiment, the zero-finding gripper 42 includes a first clamping part 421 and a second clamping part 422 that slide synchronously outward or synchronously inward. Both the first clamping part 421 and the second clamping part 422 are provided with zero-finding clamping openings. When the first clamping part 421 and the second clamping part 422 slide synchronously inward and abut against each other, the two zero-finding clamping openings form a zero-finding wire harness opening 423. The zero-finding wire harness opening 423 is collinear with the axis of the take-up groove (not shown) and is arranged opposite to the port of the take-up groove (not shown) to grab the wire harness (not shown) of the external wire feeding mechanism, so as to facilitate the calibration of the reference zero point of the wire harness (not shown).

[0029] In one embodiment, the guide gripper 32 includes a first guide gripper 321 and a second guide gripper 322 that open outwards or close inwards simultaneously. Both the first guide gripper 321 and the second guide gripper 322 are provided with guide clamping openings. When the first guide gripper 321 and the second guide gripper 322 close inwards simultaneously and abut against each other, the two guide clamping openings form a guide wire harness opening 323 to take over from the alignment and zeroing component 4 in gripping the calibrated wire harness (not shown). The guide wire harness opening 323 is arranged opposite to the zeroing wire harness opening 423.

[0030] It should be noted that the guide gripper 32 itself can also be movably mounted on the cylinder to adjust the position of the guide gripper 32 according to the actual processing requirements; in addition, the number of zero-finding gripper 42, guide gripper 32 and transport gripper 22 can be adjusted according to the processing requirements.

[0031] In one embodiment, the alignment and zero-finding component 4 further includes an adjusting cylinder 44 disposed on the base 1, and the alignment cylinder 41 is mounted on the output end of the adjusting cylinder 44. The alignment cylinder 41 is disposed on the base 1 through the adjusting cylinder 44.

[0032] It should be noted that the alignment cylinder 41 is mounted on the output end of the adjusting cylinder 44. When the length of the wiring harness (not shown) is limited, the adjusting cylinder 44 can be controlled by the control component to adjust the position of the alignment cylinder 41 accordingly, so as to avoid the situation where calibration cannot be achieved due to the short length of the wiring harness (not shown).

[0033] In this embodiment, the measuring rod 431 is connected to the take-up groove (not shown) of the positioning body 43. A displacement sensor (not shown) is built into the measuring rod 431. With the synchronous operation of the first clamping part 421 and the second clamping part 422 set in the sliding groove 411, a zero-finding wire bundle opening 423 collinear with the axis of the take-up groove (not shown) is formed. This allows the wire bundle (not shown) to accurately enter the groove and stably contact the measuring rod 431. The displacement sensor (not shown) can also directly capture the displacement signal, improving the accuracy and stability of the reference zero-point calibration. In addition, the first and second guide claws 322 of the guide claw 32 open and close synchronously to form a guide wire bundle opening 323 opposite to the zero-finding wire bundle opening 423. With the help of the control components and the precise control of the solenoid valves on each gripper, the guide gripper 32 and the zero-finding gripper 42 can be precisely aligned, so that the position of the wire harness (not shown) on the zero-finding gripper 42 is consistent with the position on the guide gripper 32. With the help of the transport gripper 22 during the transport process, the wire harness (not shown) maintains the reference state throughout the wire feeding and transport process, avoiding positional deviations that may occur due to connection problems. In addition, the alignment cylinder 41 is installed at the output end of the adjusting cylinder 44. When the length of the wire harness (not shown) is limited, the position of the alignment cylinder 41 can be adjusted by the control components to adapt to wire harnesses (not shown) of different lengths, thereby improving the applicability and flexibility of the device.

[0034] In one embodiment, the transport gripper 22 includes a first transport gripper 221 and a second transport gripper 222 that open outwards or close inwards simultaneously. Both the first transport gripper 221 and the second transport gripper 222 are provided with transport clamping openings. When the first transport gripper 221 and the second transport gripper 222 close inwards simultaneously and abut against each other, the two transport clamping openings form a transport wire harness opening 223 to take over from the guide component 3 to grip the calibrated wire harness (not shown).

[0035] In one embodiment, the conveying assembly 2 further includes a conveying cylinder 23 disposed on the slide table 21, and the conveying gripper 22 is movably disposed on the output end of the conveying cylinder 23.

[0036] In one embodiment, the alignment and zeroing component 4 is provided with a first proximity sensor for monitoring the opening and closing state of the zeroing gripper 42, the guide component 3 is provided with a second proximity sensor for monitoring the opening and closing state of the guide gripper 32, the starting end and the ending end of the slide table 21 are both provided with a third proximity sensor for monitoring the position of the transport gripper 22, and the end of the measuring rod 431 is provided with a laser displacement sensor for detecting whether the wire harness (not shown) has reached the reference zero point. The first proximity sensor, the second proximity sensor, the third proximity sensor and the laser displacement sensor are all electrically connected to the control component.

[0037] It should be noted that, initially, the first proximity sensor detects that the zero-finding gripper 42 is open, the second proximity sensor detects that the guide gripper 32 is open, and the third proximity sensor detects that the transport gripper 22 is located at the starting end of the slide table 21; when the control component drives the zero-finding gripper 42 to close and grip the wire harness (not shown), the first proximity sensor captures the gripper closure signal and transmits it to the control component, which confirms that the gripping action is complete; when the guide gripper 32 takes over gripping, the second proximity sensor feeds back the gripper closure signal to the control component, and the control component then controls the zero-finding gripper 42 to open; when When the transport gripper 22 moves along the slide table 21, the third proximity sensor at the starting end of the slide table 21 first detects the signal that the transport gripper 22 has left. When the transport gripper 22 reaches the ending end, the third proximity sensor at the ending end detects the gripper in place signal and transmits it to the control component. The control component controls the transport gripper 22 to open and release the wire harness (not shown). At the same time, the laser displacement sensor monitors the distance between the wire harness (not shown) and the end of the measuring rod 431 in real time. When the wire harness (not shown) reaches the reference zero point, the laser displacement sensor transmits a trigger signal to the control component. The control component locks the position of the zero-finding gripper 42 to complete the calibration.

[0038] In one embodiment, the control component includes a main control chip, a signal conditioning circuit, a solenoid valve control module, and a servo control unit. The signal conditioning circuit is electrically connected to the first proximity sensor, the second proximity sensor, the third proximity sensor, and the laser displacement sensor, and is used to filter and level-convert the raw signals output by each sensor. The main control chip is used to receive the signal processed by the signal conditioning circuit and perform logical operations. The solenoid valve control module is electrically connected to the main control chip and is also connected to the alignment cylinder 41, the guide cylinder 31, and the drive cylinder, respectively. The servo control unit is electrically connected to the main control chip and is connected to the drive mechanism of the slide table 21.

[0039] It should be noted that in the initial state, the signal conditioning circuit is in a signal-receiving state, the solenoid valve control module does not output drive signals to each cylinder, and the servo control unit is in a standby state. When each sensor detects a signal, the original signal is first transmitted to the signal conditioning circuit. After filtering to remove noise and level conversion to adapt to the signal requirements of the main control chip, it is then transmitted to the main control chip. After receiving the processed signal, the main control chip determines the current working state through logic operations. If it is necessary to control the retraction of the positioning cylinder 41, it sends a command to the solenoid valve control module. The solenoid valve control module then controls the solenoid valve corresponding to the positioning cylinder 41 to open, driving the positioning cylinder 41 to move. If it is necessary to control the movement of the slide table 21, the main control chip sends displacement and speed commands to the servo control unit. The servo control unit adjusts the drive mechanism of the slide table 21 according to the commands, so that the slide table 21 drives the transport gripper 22 to move according to preset parameters, ensuring that the actions of each component accurately match the operating requirements of the device.

[0040] Working principle: After the device is started, in the initial state, the alignment cylinder 41 is in the extended state, and the zero-finding gripper 42, the guide gripper 32, and the transport gripper 22 are all in the open state. The first proximity sensor detects the open state of the zero-finding gripper 42, the second proximity sensor detects the open state of the guide gripper 32, and the third proximity sensor at the starting end of the slide table 21 detects that the transport gripper 22 is located at the starting end of the slide table 21.

[0041] When the external wire feeding mechanism delivers the wire harness (not shown) to the working area of ​​the alignment and zeroing component 4, the solenoid valve corresponding to the alignment cylinder 41 is activated, and the output end of the alignment cylinder 41 retracts, causing the sliding groove 411 on it to retract synchronously; at the same time, the first clamping part 421 and the second clamping part 422 of the zeroing gripper 42 slide inward synchronously on the sliding groove 411, and the two zeroing gripping ports form the zeroing wire harness opening 423, which closes to grasp the wire harness (not shown); the output end of the alignment cylinder 41 continues to retract, driving the zeroing gripper that grasps the wire harness (not shown) 42 moves toward the alignment seat 43 until the wire harness (not shown) enters the take-up groove (not shown) of the alignment seat 43 and contacts the measuring rod 431; the wire harness (not shown) pushes the measuring rod 431 to produce displacement, and the displacement sensor (not shown) built into the measuring rod 431 and the laser displacement sensor at the end of the measuring rod 431 synchronously monitor the signal. When the wire harness (not shown) reaches the reference zero point, the laser displacement sensor triggers the signal, the zero-finding gripper 42 maintains the clamping state, locks the calibration position, and completes the reference zero point calibration.

[0042] After calibration, the solenoid valve corresponding to the guide cylinder 31 is turned on, the guide cylinder 31 is activated, and the guide gripper 32 is moved to the position of the wire harness (not shown); at the same time, the first guide gripper 321 and the second guide gripper 322 of the guide gripper 32 close inwards, and the two guide gripping ports form the guide wire harness port 323, which takes over from the zero-finding gripper 42 to grab the calibrated wire harness (not shown); after the second proximity sensor detects the closing signal of the guide gripper 32, the solenoid valve corresponding to the alignment cylinder 41 is reversed, the output end of the alignment cylinder 41 extends and resets, and at the same time, the first gripping part 421 and the second gripping part 422 of the zero-finding gripper 42 slide outwards and return to the open state. The first proximity sensor detects the open state of the zero-finding gripper 42; the guide cylinder 31 is activated, and the guide gripper 32 that grabs the wire harness (not shown) moves towards the transport assembly 2, and the wire harness (not shown) is transferred to the corresponding position of the transport assembly 2.

[0043] After the guide gripper 32 moves the wire harness (not shown) to the corresponding position, the solenoid valve corresponding to the transfer cylinder 23 is turned on, the transfer cylinder 23 is activated, and the first transfer gripper 221 and the second transfer gripper 222 of the transfer gripper 22 close inward simultaneously, forming a wire harness transfer opening 223 with the two transfer gripping openings, which closes to grasp the wire harness (not shown). After the transfer gripper 22 completes the grasping, the solenoid valve corresponding to the guide cylinder 31 is reversed, and the guide cylinder 31 drives the guide gripper 32 to open and reset. The second proximity sensor detects the open state of the guide gripper 32. The drive mechanism of the slide table 21 is activated, which drives the transfer gripper 22 that grasps the wire harness (not shown) to move from the starting end of the slide table 21 to the ending end of the slide table 21. When the transfer gripper 22 leaves the starting end of the slide table 21, the third proximity sensor at the starting end detects the gripper leaving signal. When the transfer gripper 22 reaches the ending end of the slide table 21, the third proximity sensor at the ending end detects the gripper in place signal.

[0044] After the third proximity sensor at the end of the slide table 21 detects the gripper's position signal, the first and second grippers of the transport gripper 22 slide outwards synchronously, opening to release the wire harness (not shown) and sending it to the next working mechanism. After the transport gripper 22 completes gripping, the solenoid valve corresponding to the guide cylinder 31 reverses, and the guide cylinder 31 drives the guide gripper 32 to open and reset. The second proximity sensor detects the open state of the guide gripper 32. The drive mechanism of the slide table 21 starts, driving the transport gripper 22 that grips the wire harness (not shown) to move from the start end of the slide table 21 to the end end of the slide table 21. When the transport gripper 22 leaves the start end of the slide table 21, the third proximity sensor at the start end detects the gripper leaving signal. When the transport gripper 22 reaches the end end of the slide table 21, the third proximity sensor at the end detects the gripper's position signal.

[0045] After the third proximity sensor at the end of the slide table 21 detects the gripper's positioning signal, the first and second transport grippers 221 of the transport gripper 22 slide outwards synchronously, opening and releasing the wire harness (not shown), and sending the wire harness (not shown) to the next working mechanism; after the wire harness (not shown) is released, the slide table 21 drive mechanism starts in reverse, driving the transport gripper 22 from the end of the slide table 21 back to the beginning of the slide table 21, until the third proximity sensor at the beginning of the slide table 21 detects the transport gripper 22 again, the slide table 21 stops moving, and the transport gripper 22 remains open.

[0046] At this point, one wire feeding and conveying process is completed, and the device returns to its initial state, waiting for the next external wire feeding mechanism to deliver wire, repeating the above workflow.

[0047] Beneficial effects: This invention connects the measuring rod 431 to the take-up groove (not shown) of the positioning body 43, and integrates a displacement sensor (not shown) within the measuring rod 431. The first clamping part 421 and the second clamping part 422 of the zero-finding gripper 42 work synchronously to form a zero-finding wire bundle opening 423 collinear with the axis of the take-up groove (not shown). This allows the wire bundle (not shown) to accurately enter the take-up groove (not shown) and stably contact the measuring rod 431. Furthermore, the displacement sensor (not shown) and a laser displacement sensor efficiently and accurately capture the position of the wire bundle (not shown). The signal avoids the reference position deviation caused by the lack of a dedicated calibration structure; at the same time, the control component controls the relay gripping of the zero-finding gripper 42, the guide gripper 32, and the transport gripper 22 through the solenoid valve. The guide wire harness opening 323 of the guide gripper 32 is set opposite to the zero-finding wire harness opening 423 of the zero-finding gripper 42. The transport gripper 22 accurately receives the wire harness (not shown) transferred by the guide component 3. The actions between each link are orderly connected, so that the calibrated wire harness (not shown) always maintains the reference state during the transfer process, improving the connection between the calibration and transport links. This invention also installs the alignment cylinder 41 on the output end of the adjusting cylinder 44 to cooperate with the control component to control the adjusting cylinder 44 to adjust the position of the alignment cylinder 41, avoiding the situation where calibration cannot be completed due to the wire harness (not shown) being too short, improving the device's adaptability to wire harnesses (not shown) of different lengths, and enhancing the overall versatility and flexibility.

[0048] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A wire harness delivery and conveying device, characterized in that, It includes a base, a transport component, a guide component, an alignment and zeroing component, and a control component. The transport component, the guide component, and the alignment and zeroing component are all mounted on the base, and the transport component, the guide component, and the alignment and zeroing component are all electrically connected to the control component. The alignment and zeroing component is used to pick up the wire harness from the external wire feeding mechanism and calibrate the reference zero point of the wire harness. The guide component is used to take over from the alignment and zeroing component to pick up the calibrated wire harness and place it on the transport component. The transport component is used to take over from the guide component to pick up the calibrated wire harness and transport it to the next working mechanism. The alignment and zeroing assembly includes an alignment cylinder mounted on the base and a zeroing gripper movably mounted on the output end of the alignment cylinder. The alignment cylinder has an alignment seat, which includes a measuring rod and a displacement sensor for monitoring the measuring rod. The guiding assembly includes a guide cylinder mounted on the base and a guide gripper movably mounted on the output end of the guide cylinder. The conveying assembly includes a slide mounted on the base and a conveying gripper movably mounted on the slide.

2. The wire harness feeding and conveying device according to claim 1, characterized in that, The alignment seat includes a take-up groove, which connects to the measuring rod, and the displacement sensor is built into the measuring rod.

3. The wire harness feeding and conveying device according to claim 2, characterized in that, The zero-finding gripper also includes a sliding groove disposed on the output end of the alignment cylinder, and the zero-finding gripper is slidably connected in the sliding groove.

4. The wire harness delivery and conveying device according to claim 3, characterized in that, The zero-finding gripper includes a first clamping part and a second clamping part that slide synchronously outward or synchronously inward. Both the first clamping part and the second clamping part are provided with zero-finding clamping ports. When the first clamping part and the second clamping part slide synchronously inward and abut against each other, the two zero-finding clamping ports form a zero-finding wire harness port. The zero-finding wire harness port is collinear with the axis of the take-up groove and is opposite to the port of the take-up groove to grip the wire harness of the external wire feeding mechanism, which facilitates the calibration of the reference zero point of the wire harness.

5. A wire harness feeding and conveying device according to claim 4, characterized in that, The guide gripper includes a first guide gripper and a second guide gripper that open outwards or close inwards simultaneously. Both the first guide gripper and the second guide gripper are provided with guide clamping openings. When the first guide gripper and the second guide gripper close inwards simultaneously and abut against each other, the two guide clamping openings form a guide wire harness opening to take over from the alignment and zeroing component in gripping the calibrated wire harness. The guide wire harness opening is arranged opposite to the zeroing wire harness opening.

6. The wire harness feeding and conveying device according to claim 1, characterized in that, The transport gripper includes a first transport gripper and a second transport gripper that open outwards or close inwards simultaneously. Both the first transport gripper and the second transport gripper are provided with transport clamping openings. When the first transport gripper and the second transport gripper close inwards simultaneously and abut against each other, the two transport clamping openings form a transport wire harness opening to take over from the guide component in gripping the calibrated wire harness.

7. A wire harness delivery and conveying device according to claim 6, characterized in that, The transport assembly also includes a transport cylinder disposed on the slide, and the transport gripper is movably disposed on the output end of the transport cylinder.

8. A wire harness delivery and conveying device according to claim 1, characterized in that, The alignment and zeroing assembly also includes an adjusting cylinder mounted on the base. The alignment cylinder is installed on the output end of the adjusting cylinder and is mounted on the base via the adjusting cylinder.

9. A wire harness feeding and conveying device according to claim 1, characterized in that, The alignment and zeroing assembly is equipped with a first proximity sensor for monitoring the opening and closing state of the zeroing gripper, the guide assembly is equipped with a second proximity sensor for monitoring the opening and closing state of the guide gripper, the starting and ending ends of the slide are each equipped with a third proximity sensor for monitoring the position of the transport gripper, and the end of the measuring rod is equipped with a laser displacement sensor for detecting whether the wire harness has reached the reference zero point. The first proximity sensor, the second proximity sensor, the third proximity sensor and the laser displacement sensor are all electrically connected to the control assembly.

10. A wire harness delivery and conveying device according to claim 9, characterized in that, The control component includes a main control chip, a signal conditioning circuit, a solenoid valve control module, and a servo control unit. The signal conditioning circuit is electrically connected to the first proximity sensor, the second proximity sensor, the third proximity sensor, and the laser displacement sensor, and is used to filter and level-convert the raw signals output by each sensor. The main control chip is used to receive the signal processed by the signal conditioning circuit and perform logical operations. The solenoid valve control module is electrically connected to the main control chip and is also connected to the alignment cylinder, the guide cylinder, and the drive cylinder. The servo control unit is electrically connected to the main control chip and is connected to the drive mechanism of the slide.

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