CN107255996B - A kind of automatic harness cladding control device and its autocontrol method - Google Patents
A kind of automatic harness cladding control device and its autocontrol method Download PDFInfo
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- CN107255996B CN107255996B CN201710539313.8A CN201710539313A CN107255996B CN 107255996 B CN107255996 B CN 107255996B CN 201710539313 A CN201710539313 A CN 201710539313A CN 107255996 B CN107255996 B CN 107255996B
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- harness
- cladding
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- module
- image
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
- H01B13/01236—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
- H01B13/01263—Tying, wrapping, binding, lacing, strapping or sheathing harnesses
- H01B13/0129—Sheathing harnesses with foil material
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37404—Orientation of workpiece or tool, surface sensor
Abstract
The present invention relates to harness coating equipment technical fields, specifically a kind of automatic harness cladding control device and its autocontrol method, including image capture module, processing module and control module, image capture module carries out Image Acquisition to harness cladding workbench, and the image of acquisition is sent to processing module；Processing module generates harness extreme coordinates and harness branch point coordinate by image is corresponding, it is stored in coordinate data table, path is coated according to harness and coordinate data table cooks up path planning table, control instruction, which is generated, according to path planning table is sent to control module, the control instruction that control module receiving processing module issues carrys out control action component and executes corresponding operating, completes the cladding of harness.High degree of automation of the present invention, control process is accurate, can substitute artificial harness cladding completely, effectively improve harness coating efficiency.
Description
Technical field
The present invention relates to harness coating equipment technical field, specifically a kind of automatic harness cladding control device and its
Autocontrol method.
Background technique
As present labor cost is constantly soaring, manual operation is replaced with mechanical movement, is automatically completed specific
The automation control mode of operation is widely used in manufacturing industry, improves automatization level, reduces labor, is to increase enterprise
Industry competitiveness, the effective way for reducing manufacturing cost.In harness coating technology field, since the cladding process of harness is mechanization
Movement, completely available automation control complete the cladding of harness, but existing semi-automatic harness coating unit the degree of automation
It is not high, it is limited to the promotion of the production efficiency of enterprise.
Summary of the invention
The present invention for the low situation of process automation rate of current harness cladding adhesive plaster, provide it is a kind of may replace it is artificial
Automatic harness cladding control device and its autocontrol method.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions:
A kind of automatic harness cladding control device, including image capture module, processing module and control module,
The image capture module carries out Image Acquisition to harness cladding workbench, and the image of acquisition is sent to place
Manage module；
The image that the processing module acquires image capture module carries out image procossing, and the corresponding harness endpoint that generates is sat
Harness extreme coordinates and harness branch point coordinate are stored in coordinate data table, coated according to harness by mark and harness branch point coordinate
Path, which is ranked up harness extreme coordinates with harness branch point coordinate with coordinate data table, to be connected, planning path planning table, according to
Control instruction, which is generated, according to path planning table is sent to control module；
The control instruction that the control module receiving processing module issues carrys out control action component and executes corresponding operating, complete
At the cladding of harness.
In certain specific embodiments of the invention, the processing module includes image processing module, path planning
Processing module,
The image processing module handles image, generates harness extreme coordinates, and to the adhesive tape on harness
State is judged；
The path planning processing module calculates harness branch point coordinate according to harness extreme coordinates, and generates path
Planning table.
In certain specific embodiments of the invention, the processing module further includes adhesive tape selecting module, adhesive tape choosing
It selects when module coats harness and is judged using wide adhesive tape or narrow adhesive tape.
In certain specific embodiments of the invention, the automatic harness cladding control device further includes storage mould
Block, memory module storage coordinate data table, path planning table and the account table.
In certain specific embodiments of the invention, the control module includes cladding action control module, direction
Rotation control module smoothes out with the fingers line action control module and tensioning control module,
The cladding action control module realizes that harness cladding requires for control action component；
The direction rotates control module and rotates for control action component, thus the side of control selections harness cladding
To；
Described smoothes out with the fingers line action control module for the scattered harness of control action component aggregates；
The tensioning control module reduces harness to the pulling force of harness endpoint holding position for control action component.
In certain specific embodiments of the invention, the image capture module include the first image capture module and
Second image capture module, the first image capture module setting harness point on it can acquire entire harness cladding workbench
The position of cloth, second image capture module, which is arranged in, can acquire the position that action component does local motion.
In certain specific embodiments of the invention, the image capture module includes camera.
In certain specific embodiments of the invention, the action component includes setting on harness cladding workbench
Clamping device, support device and be arranged in harness cladding workbench above first cladding head, second cladding head, rotating dress
It sets,
The clamping device setting harness coats the two sides of workbench, and clamps the endpoint at harness both ends respectively；
The support device is arranged at the branch point of harness, is used to support the branch point of harness and realizes harness branch
The up and down motion of point；
It is installed with wide adhesive tape on the first cladding head, the cladding for carrying out wide adhesive tape to harness operates；
It is installed with narrow adhesive tape on the second cladding head, the cladding for carrying out narrow adhesive tape to harness operates；
The first cladding head of rotating device driving and the second cladding head rotation, the first cladding head of control and the second cladding
Position on the front, rear, left and right direction of head, so that the first cladding head and the second cladding head be made to carry out the harness of lower section sandwiched
Cladding.
The present invention also provides a kind of autocontrol method of automatic harness cladding control device, the autocontrol methods
Include:
S1. the image on harness cladding workbench is obtained；
S2. image is handled, obtains harness extreme coordinates；
S3. harness branch point coordinate, the harness extreme coordinates and harness branch that will be obtained are calculated according to harness extreme coordinates
Point coordinate is stored in coordinate data table；
S4. path is coated according to the harness of setting, and combines coordinate data table to harness extreme coordinates and harness branch point
Coordinate is ranked up connected, generation path planning table；
S5. control instruction is converted by path planning table, so that control action component executes cladding movement to complete harness
Cladding.
In certain specific embodiments of the invention, in step S5, the cladding movement that control action component executes includes:
S51. selection coats harness from harness endpoint with the cladding head of wide adhesive tape or narrow adhesive tape；
S52. cladding movement is interrupted when reaching harness branch point, dicing tape simultaneously unclamps the harness at branch point；
S53. switching harness coats direction, and control cladding head, which moves to different location, to be continued to coat harness, until complete
At the cladding of whole harness.
The present invention due to using the technology described above, is allowed to compared with prior art, have the following advantages that and actively imitate
Fruit:
Automatic harness cladding control device and control method in the present invention coat image on workbench by acquisition harness,
Harness extreme coordinates and harness branch point coordinate are generated, and is converted to the precise informations such as coordinate data table and path planning table, from
And optionally control corresponding actions component and carry out different cladding movements to harness according to selected cladding path, automation
Degree is high, and control process is accurate, can substitute artificial harness cladding completely, effectively improve harness coating efficiency.
Detailed description of the invention
Fig. 1 is the module frame chart that automatic harness coats control device in the present invention；
Fig. 2 is the structural schematic diagram that automatic harness coats control device in the present invention；
Fig. 3 is the partial schematic diagram that automatic harness coats control device in the present invention；
Fig. 4 is the flow diagram of autocontrol method in the present invention.
Specific embodiment
Technical solution proposed by the present invention is further described below in conjunction with the drawings and specific embodiments.According to following
Illustrate and claims, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified shape
Formula and use non-accurate ratio, be only used for conveniently, lucidly aid in illustrating the embodiment of the present invention purpose.
The present invention is directed to the process of harness cladding, coats the image on workbench by acquisition harness, generates harness endpoint
Coordinate and harness branch point coordinate, and coordinate is accordingly converted to what coordinate data table and path planning table etc. conveniently accurately controlled
Data carry out different claddings to harness so as to export control instruction control corresponding actions component according to selected cladding path
Movement, to effectively improve the degree of automation of cladding process.The present invention is carried out with attached drawing with reference to embodiments further
Explanation.
Embodiment 1
As shown in Figure 1 to Figure 3, automatic harness of the invention cladding control device mainly includes image capture module, processing
Module and control module.
Image capture module is to carry out Image Acquisition for coating workbench to harness, and the image of acquisition is sent to place
Manage module.In the present invention, to improve position precision to meet automatic harness cladding control and require, image capture module includes first
Image capture module and the second image capture module, wherein the setting of the first image capture module can acquire entire harness cladding
The position that harness is distributed on workbench, for acquiring the coordinate distribution on entire harness cladding workbench, the second Image Acquisition mould
Block, which is arranged in, can acquire the position that action component does local motion, it is generally preferable to can acquire the cephalomotor position of cladding for setting
It sets, at this point, the second image capture module is used to carry out Image Acquisition to the local location that cladding head moves to set certainly
The position of image need to be acquired at other by setting.Specifically, the image capture module in the present invention can be selected camera, camera etc. and use
It in the equipment of acquisition image, is not specifically limited herein, is subject to and is able to achieve the Image Acquisition that harness coats workbench.
Processing module is mainly to carry out image procossing to the image for acquiring image capture module, corresponding to generate harness endpoint
Harness extreme coordinates and harness branch point coordinate are stored in coordinate data table, according still further to harness by coordinate and harness branch point coordinate
Cladding path, which is ranked up harness extreme coordinates with harness branch point coordinate with coordinate data table, to be connected, planning path planning
Table generates control instruction according to path planning table and is sent to control module.If being divided with modularization to it, in the present invention
Processing module includes image processing module, path planning processing module, adhesive tape selecting module, and image processing module is used for image
It is handled, workbench is coated as coordinate plane using harness, the position at harness endpoint is corresponded to and generates harness extreme coordinates, and
The state of adhesive tape on harness is judged, that is, judges whether adhesive tape when cladding cuts off；Path planning processing module is used for
Harness branch point coordinate is calculated according to harness extreme coordinates, and generates path planning table, in addition, adhesive tape selecting module is to line
Beam is judged when coating using wide adhesive tape or narrow adhesive tape.
The control instruction that control module receiving processing module issues carrys out control action component and executes corresponding operating, completes harness
Cladding comprising cladding action control module, direction rotate control module, smooth out with the fingers line action control module and tensioning control mould
Block, cladding action control module realize that harness cladding requires for control action component；Direction rotates control module for controlling
Action component rotation, thus the direction of control selections harness cladding；Line action control module is smoothed out with the fingers for control action component aggregates
Scattered harness, and be tensioned control module and reduce harness to the pulling force of harness endpoint holding position for control action component.
Action component is the specific component for executing cladding movement, mainly includes clamping device, support device, the first cladding
Head, the second cladding head and rotating device.
Wherein, on harness cladding workbench, clamping device setting coats work in harness for clamping device, support device setting
Make the two sides of platform, the clamping device of harness cladding workbench two sides clamps the endpoint at harness both ends respectively；Support device setting exists
At the branch point of harness, it is used to support the branch point of harness and realizes the up and down motion of harness branch point；Clamping device can be selected
Air cylinder structure realizes the clamping of harness, and support device then can control shift fork with cylinder to support branch point, certainly, also can be selected
Other are able to achieve the device that harness clamps, supports harness, are not specifically limited herein.
The top of harness cladding workbench is then arranged in first cladding head, the second cladding head, rotating device, for example, can be
Rail structure is arranged in the two sides that harness coats workbench, and setting can be along the supporting beam that sliding rail moves, by the first packet on rail structure
It covers head, the second cladding head, rotating device or other control module, processing module, image capture module etc. and is all lifted on support
Liang Shang, to facilitate the cladding to different harness.
It is installed with wide adhesive tape on first cladding head, the cladding for carrying out wide adhesive tape to harness operates, when the wide glue of needs
When band cladding, the wide adhesive tape cladding of the first cladding head.
It is installed with narrow adhesive tape on second cladding head, the cladding for carrying out narrow adhesive tape to harness operates, when needing with narrow glue
When band cladding, the second cladding head is coated with narrow adhesive tape.
Rotating device is then used to drive the first cladding head and the second cladding head rotation, to control the first cladding head and second
Position of the head on the direction of front, rear, left and right is coated, so that the first cladding head and second be enable to coat head to the line of lower section sandwiched
Shu Jinhang different angle, different direction, the cladding of different adhesive tape width degree.
The problem of in view of data storage, automatic harness cladding control device of the invention further includes memory module, storage
Module stores coordinate data table, path planning table and account table.In addition, the present invention can be also used for equipped with display module
Display personnel use the display interface (man-machine interface) of equipment, for operator to the behaviour of automatic harness cladding control device
Control, such as user's login interface, Debugging interface, parameter setting interface, automatic running interface, user's login interface can limit not
To the operating right of this equipment, Debugging interface only has maintenance personal just and the function, parameter can be used operator with identity
The parameter setting that interface is communicated for system software and PLC, operator's use is set when automatic running interface is used for daily production
Standby operation interface.
The structural schematic diagram of automatic harness cladding control device as shown in Figures 2 and 3, with 6 harness endpoints and 4 lines
For the harness of beam branch point, wherein X31, X32, X33, X34, X35, X36 are harness endpoint, are clamped with clamping device；X37,
X38, X39, X40 are the branch point of harness, use support device；First cladding head X41 is used for the wrapping task of wide adhesive tape, the
Two cladding head X42 are used for the wrapping task of narrow adhesive tape；Rotating device X43 can to cladding head X41 or X42 realize it is forward and backward, left,
The selection of right direction；Image capture module 21 is mounted on the front end of position X44 and X45, for acquiring image, wherein at X44
Image capture module is used to acquire the harness coordinate distribution on entire harness cladding workbench, and the image capture module at X45 is used
Image Acquisition is carried out in the local location moved to cladding head.
Firstly, obtaining picture by image capture module 21, image procossing then is carried out using image processing module 41, it is raw
At harness coordinate (namely generation X31, X32, X33, X34, X35, seat of the harness endpoint of X36 on harness cladding workbench
Cursor position), coordinate is generated using the harness branch point coordinate for being calculated by X37, X38, X39, X40 and with harness extreme coordinates
Tables of data sorts coordinate points, carries out line between coordinate points according to the shape of harness, analyzes cladding process, generates path rule
Table is drawn, the first cladding head of starting or the second cladding head coat harness since harness endpoint is by cladding path, when branch to be reached
When point, adhesive plaster is cut off to and unclamped the harness at branch point, the first cladding head or the second cladding are then changed by rotating device
The position or orientation of head, continuation according to the above method coats harness, until harness is all covered to complete.
Embodiment 2
As shown in figure 3, being automatically controlled the present invention also provides a kind of autocontrol method of automatic harness cladding control device
Method specifically includes:
S1. the image on harness cladding workbench is obtained；
S2. image is handled, obtains harness extreme coordinates；
S3. harness branch point coordinate, the harness extreme coordinates and harness branch that will be obtained are calculated according to harness extreme coordinates
Point coordinate is stored in coordinate data table；
S4. path is coated according to the harness of setting, and combines coordinate data table to harness extreme coordinates and harness branch point
Coordinate is ranked up connected, generation path planning table；
S5. control instruction is converted by path planning table, so that control action component executes cladding movement to complete harness
Cladding.
On the basis of above-mentioned harness encapsulation steps, in step s 5, the cladding movement that control action component executes is also
Include:
Selection coats harness from harness endpoint with the cladding head of wide adhesive tape or narrow adhesive tape；
Cladding movement is interrupted when reaching harness branch point, dicing tape simultaneously unclamps the harness at branch point；
Switch harness and coat direction, control cladding head, which moves to different location, to be continued to coat harness, until completing complete
The cladding of portion's harness.
Above cladding movement can selectively be executed according to specific setting or path planning or cladding process etc..This
Outside, cladding movement may also include the pulling force for assembling scattered harness or reduction harness to harness endpoint holding position, the above manipulation process
The manipulation of control device can be all coated to automatic harness according to the operational order that operator inputs, such as user's login interface is adjusted
Interface, parameter setting interface, automatic running interface etc. are tried, user's login interface can limit the operator of different identity to this
The operating right of equipment, Debugging interface only have maintenance personal just and the function can be used, and parameter interface is used for system software and PLC
The parameter setting of communication, automatic running interface are used for the operation interface that operator when daily production uses equipment.
Those skilled in the art should be understood that the present invention can be implemented without departing from this with many other concrete forms
The spirit or scope of invention, disclosed above is only the preferred embodiment of the present invention.There is no detailed descriptionthes to own for preferred embodiment
Details, do not limit the invention to the specific embodiments described.Obviously, according to the content of this specification, can make very much
Modifications and variations.These embodiments are chosen and specifically described to this specification, be principle in order to better explain the present invention and
Practical application, so that one of ordinary skill in the art be enable to utilize the present invention well.The present invention is only by claims and its complete
The limitation of portion's range and equivalent, those skilled in the art can as defined by the following claims spirit of that invention and
Within the scope of make change and modification.
Claims (10)
1. a kind of automatic harness coats control device, which is characterized in that including image capture module, processing module and control mould
Block,
The image capture module carries out Image Acquisition to harness cladding workbench, and the image of acquisition is sent to processing mould
Block；
The image that the processing module acquires image capture module carries out image procossing, it is corresponding generate harness extreme coordinates and
Harness extreme coordinates and harness branch point coordinate are stored in coordinate data table by harness branch point coordinate, coat path according to harness
Harness extreme coordinates are ranked up with harness branch point coordinate with coordinate data table and are connected, planning path planning table, according to road
Diameter planning table generates control instruction and is sent to control module；
The control instruction that the control module receiving processing module issues carrys out control action component and executes corresponding operating, completes line
The adhesive tape cladding of beam and cutting off for the adhesive tape.
2. a kind of automatic harness according to claim 1 coats control device, which is characterized in that the processing module packet
Image processing module, path planning processing module are included,
The image processing module handles image, generates harness extreme coordinates, and to the adhesive tape on harness
The state of cutting off is judged；
The path planning processing module calculates harness branch point coordinate according to harness extreme coordinates, and generates path planning
Table.
3. a kind of automatic harness according to claim 1 coats control device, which is characterized in that the processing module is also
Including adhesive tape selecting module, judged when adhesive tape selecting module coats harness using wide adhesive tape or narrow adhesive tape.
4. a kind of automatic harness according to claim 1 coats control device, which is characterized in that the automatic harness packet
Covering control device further includes memory module, memory module storage coordinate data table, path planning table and the account table.
5. a kind of automatic harness according to claim 1 coats control device, which is characterized in that the control module packet
Cladding action control module, direction is included to rotate control module, smooth out with the fingers line action control module and tensioning control module,
The cladding action control module realizes that harness cladding requires for control action component；
The direction rotates control module and rotates for control action component, thus the direction of control selections harness cladding；
Described smoothes out with the fingers line action control module for the scattered harness of control action component aggregates；
The tensioning control module reduces harness to the pulling force of harness endpoint holding position for control action component.
6. a kind of automatic harness according to claim 1 coats control device, which is characterized in that the Image Acquisition mould
Block includes the first image capture module and the second image capture module, the described first image capture module setting can acquire it is whole
The position of harness distribution on a harness cladding workbench, the second image capture module setting are done can acquire action component
The position of local motion.
7. a kind of automatic harness according to claim 1 or 6 coats control device, which is characterized in that the image is adopted
Collecting module includes camera.
8. a kind of automatic harness according to claim 1 coats control device, which is characterized in that the action component packet
Include the clamping device being arranged on harness cladding workbench, support device and the first packet being arranged in above harness cladding workbench
Head, the second cladding head, rotating device are covered,
The clamping device setting harness coats the two sides of workbench, and clamps the endpoint at harness both ends respectively；
The support device is arranged at the branch point of harness, is used to support the branch point of harness and realizes harness branch point
It moves up and down；
It is installed with wide adhesive tape on the first cladding head, the cladding for carrying out wide adhesive tape to harness operates；
It is installed with narrow adhesive tape on the second cladding head, the cladding for carrying out narrow adhesive tape to harness operates；
The first cladding head of rotating device driving and the second cladding head rotation, the first cladding head of control and the second cladding head
Position on the direction of front, rear, left and right, so that the first cladding head and the second cladding head be made to coat the harness of lower section sandwiched.
9. a kind of autocontrol method of automatic harness cladding control device, which is characterized in that the autocontrol method packet
It includes:
S1. the image on harness cladding workbench is obtained；
S2. image is handled, obtains harness extreme coordinates；
S3. harness branch point coordinate is calculated according to harness extreme coordinates, obtained harness extreme coordinates and harness branch point is sat
Mark deposit coordinate data table；
S4. path is coated according to the harness of setting, and combines coordinate data table to harness extreme coordinates and harness branch point coordinate
It is ranked up connected, generation path planning table；
S5. control instruction is converted by path planning table, so that control action component executes cladding movement to complete the packet of harness
It covers.
10. a kind of autocontrol method of automatic harness cladding control device according to claim 9, which is characterized in that step
In S5, the cladding movement that control action component executes includes:
S51. selection coats harness from harness endpoint with the cladding head of wide adhesive tape or narrow adhesive tape；
S52. cladding movement is interrupted when reaching harness branch point, dicing tape simultaneously unclamps the harness at branch point；
Switch harness and coat direction, control cladding head, which moves to different location, to be continued to coat harness, until completing whole lines
The cladding of beam.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710539313.8A CN107255996B (en) | 2017-07-04 | 2017-07-04 | A kind of automatic harness cladding control device and its autocontrol method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710539313.8A CN107255996B (en) | 2017-07-04 | 2017-07-04 | A kind of automatic harness cladding control device and its autocontrol method |
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| CN107255996B true CN107255996B (en) | 2019-07-26 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7180529B2 (en) * | 2019-05-10 | 2022-11-30 | 日立金属株式会社 | Wire harness manufacturing equipment |
| CN110976205A (en) * | 2019-11-28 | 2020-04-10 | 深圳市世宗自动化设备有限公司 | Dispensing path control method and device, computer equipment and storage medium thereof |
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| CN106227932A (en) * | 2016-07-20 | 2016-12-14 | 陕西科技大学 | A kind of matching process based on CAD platform automotive wire bundle cladding and internal diameter computational methods thereof |
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| JP4176977B2 (en) * | 2000-09-28 | 2008-11-05 | 矢崎総業株式会社 | Terminal fitting inspection equipment |
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| CN102072911A (en) * | 2009-11-19 | 2011-05-25 | 新明和工业株式会社 | Detecting device for coated electric wires and electric wire processor provided with device |
| JP2011107016A (en) * | 2009-11-19 | 2011-06-02 | Shinmaywa Industries Ltd | Sheathed wire inspection device and wire processing machine equipped with the same |
| CN103592312A (en) * | 2013-11-14 | 2014-02-19 | 无锡港湾网络科技有限公司 | On-line detection method for cables on basis of machine vision |
| CN104316538A (en) * | 2014-11-07 | 2015-01-28 | 北京凯瑞德图像技术有限责任公司 | Flickering seam detection method and device for cable cladding process |
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