CN107425396B - Visual guide end inserting mechanism - Google Patents
Visual guide end inserting mechanism Download PDFInfo
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- CN107425396B CN107425396B CN201710748150.4A CN201710748150A CN107425396B CN 107425396 B CN107425396 B CN 107425396B CN 201710748150 A CN201710748150 A CN 201710748150A CN 107425396 B CN107425396 B CN 107425396B
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- clamping
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a visual guiding end inserting mechanism, which comprises a sheath visual module, an end inserting module, a transverse plate, a moving module and a jig module; the transverse plate is vertically arranged on the frame, the sheath vision module and the inserting end module are arranged on the transverse plate, and the installation direction of the sheath camera of the sheath vision module is parallel to the installation direction of the inserting end connecting plate of the inserting end module; and the sheath camera of the sheath vision module is matched with the jig module, the jig module is slidably mounted on the moving module, and the moving module is vertically mounted on the workbench surface. The invention integrally realizes the measurement of the plastic sheath, and feeds back the measurement data to the control system, thereby completing the end inserting operation of the whole sheath, monitoring the change of the end inserting moment at any time during the end inserting operation, realizing automatic intelligent end inserting and solving the problem puzzling the domestic harness enterprises for many years.
Description
Technical Field
The invention belongs to the field of wire harness insertion plastic sheaths, and particularly relates to a visual guide end inserting mechanism.
Background
At present, domestic harness enterprises all have good under-line needed by the jacket, and the material flows are transported to a streamline area to manually finish the end insertion, so that the number of products is large, the labor intensity of end insertion workers is high, and the quality is unstable.
Disclosure of Invention
The invention aims to solve the technical problems of high labor intensity, difficult quality assurance and the like of the existing manual end inserting mechanism, thereby providing a visual guide end inserting mechanism.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the visual guiding end inserting mechanism comprises a sheath visual module, an end inserting module, a transverse plate, a moving module and a jig module; the transverse plate is vertically arranged on the frame, the sheath vision module and the inserting end module are arranged on the transverse plate, and the installation direction of the sheath camera of the sheath vision module is parallel to the installation direction of the inserting end connecting plate of the inserting end module; and the sheath camera of the sheath vision module is matched with the jig module, the jig module is slidably mounted on the moving module, and the moving module is vertically mounted on the workbench surface.
The sheath vision module comprises an upper transverse plate, a sheath support plate, a sheath camera fixing plate, a sheath linear module, a sheath camera mounting seat, a sheath light source fixing plate, a sheath sliding rail, a sheath sliding block, a sheath reinforcing plate, a sheath camera, a sheath light source, a sheath vertical plate, an adjusting pull rod and a fixed pull lug; one end of the upper transverse plate is arranged on the frame, and the lower end of the upper transverse plate is vertically connected with the transverse plate through the sheath support plate; a sheath camera fixing plate is vertically arranged on the lower end face of the free end of the upper transverse plate, a sheath linear module is fixedly arranged on the lower part of the outer side face of the sheath camera fixing plate, the sheath linear module is parallel to the transverse plate, a sheath camera mounting seat is arranged on a sliding block of the sheath linear module, a sheath light source fixing plate is fixed on the sheath camera mounting seat, and the sheath light source fixing plate is connected with a sheath light source; a sheath sliding rail is arranged at the lower part of the inner side surface of the sheath camera fixing plate, a sheath sliding block is arranged on the sheath sliding rail in a sliding manner, and the sheath sliding block is connected with the sheath light source fixing plate through a sheath reinforcing plate; the sheath camera is slidably arranged at the lower end of the sheath camera mounting seat and is parallel to the upper transverse plate, and the axis of the sheath camera is coincident with the axis of the sheath light source; one end of the upper end face of the upper transverse plate is fixed with a fixed pull lug, the other end of the upper end face of the upper transverse plate is contacted with a sheath vertical plate, and the sheath vertical plate is vertically arranged on the frame; an adjusting pull rod is obliquely arranged between the vertical plate of the sheath and the fixed pull lug. The position relation between the upper transverse plate and the horizontal plane can be adjusted by changing the tightness degree of the adjusting pull rod.
The end-inserting module is provided with a plurality of connecting rods, the device comprises a spigot transverse moving assembly, a spigot up-and-down moving assembly, a clamping assembly and an insertion moving assembly; the inserted end transverse moving assembly is arranged on the transverse plate and is connected with a spline shaft inserted into the moving assembly through an inserted end fixing block A and an inserted end fixing block B; the inserted end transverse moving assembly is connected with an inserted end connecting plate of the inserted moving assembly through an inserted end mounting plate; the inserting end up-and-down moving assembly is arranged on an inserting end vertical plate of the inserting moving assembly; the clamping component is arranged on the inserting end lifting plate of the inserting end up-and-down moving component.
The inserted end transverse moving assembly comprises an inserted end motor I, an inserted end driving wheel, an inserted end driven wheel, an inserted end synchronous belt I, an inserted end tensioning block and an inserted end mounting plate; the inserted end Ma Da is vertically arranged on the transverse plate, an output shaft of the inserted end motor I is connected with an inserted end driving wheel, the inserted end driving wheel is connected with an inserted end driven wheel through an inserted end synchronous belt I, the inserted end driven wheel is hinged on an inserted end tensioning block through a cantilever pin, and the inserted end tensioning block is arranged on the transverse plate; the inserted end mounting plate is fixed on the inserted end synchronous belt I, and the inserted end mounting plate sliding mounting is on the linear slide rail I of diaphragm, is fixed with the inserted end connecting plate at the vertical lower extreme of inserted end mounting plate.
The inserting and moving assembly comprises an inserting end connecting plate, an inserting end fixing block A, an inserting end fixing block B, a spline shaft, an inserting end synchronous driving wheel, an inserting end synchronous driven wheel, an inserting end synchronous belt II, an inserting end vertical plate, an inserting end sliding rail and an inserting end motor II; the end, close to the inserted end mounting plate, of the inserted end connecting plate is provided with an inserted end synchronous driven wheel, the inserted end synchronous driven wheel is connected with an inserted end synchronous driving wheel through an inserted end synchronous belt II, and the inserted end synchronous driving wheel is hinged to the end, far away from the inserted end mounting plate, of the inserted end connecting plate; the spline shaft vertically passes through the inserted end connecting plate and the inserted end synchronous driving wheel, one end of the spline shaft is hinged to the inserted end fixing block A, the inserted end fixing block A is arranged at the lower end of the transverse plate, the other end of the spline shaft is connected with an output shaft of the inserted end motor II through a coupler, the inserted end motor II is fixed on the inserted end fixing block A, and the inserted end fixing block A is vertically fixed at the lower end of the transverse plate and is parallel to the inserted end fixing block B; the inserted end connecting plate is provided with an inserted end sliding rail which is parallel to the inserted end synchronous belt II; the inserting end side plate is vertically fixed on the inserting end vertical plate.
The inserting end up-and-down moving assembly comprises an inserting end side plate, an inserting end bottom plate, an inserting end air cylinder, an inserting end lifting plate and an inserting end wire clamping fixing plate; the lower extreme horizontal installation at the inserted end curb plate has the inserted end bottom plate, is located the vertical inserted end cylinder of installing in the position between the inserted end curb plate on the inserted end bottom plate, and the piston cylinder of inserted end cylinder upwards and install the inserted end on the piston rod and lift the board, and the inserted end is lifted the board and is fixed with inserted end clamp line fixed plate down the terminal surface, is fixed with the inserted end clamp line cylinder of clamping assembly on the inserted end clamp line fixed plate.
The clamping assembly comprises an inserted end wire clamping cylinder, a clamping jaw fixing block, clamping jaw supporting legs and clamping jaws; the inserted end wire clamping cylinder is fixed on the inserted end wire clamping fixing plate, each finger of the inserted end wire clamping cylinder is vertically fixed with a clamping jaw fixing block, each clamping jaw fixing block is provided with a clamping jaw supporting leg, the lower end of each clamping jaw supporting leg is provided with a clamping jaw, and the two clamping jaws are arranged oppositely.
The movable module comprises a fixed vertical plate, a linear guide rail, a ball screw, a ball servo motor, a movable fixed plate and a short slide rail; the fixed vertical plate is vertically arranged on the frame, a linear guide rail and a ball screw are vertically and parallelly arranged on the fixed vertical plate, and the ball screw is connected with an output shaft of the ball servo motor; one end of the movable fixing plate is fixedly connected with a nut of the ball screw, and the other end of the movable fixing plate is arranged on a sliding block of the linear guide rail; a T-shaped short sliding rail is fixed on the upper end surface of the movable fixing plate; the V-shaped sliding rail block of the jig module is slidably mounted on the short sliding rail.
The positioning guide sleeve is arranged on the positioning guide block, and the positioning guide block is arranged on the positioning guide sleeve; the positioning guide block is arranged in the mounting hole at the lower part of the movable fixing plate, and the needle-shaped air cylinder is slidably arranged in the hole of the positioning guide block; the piston rod of the needle type cylinder corresponds to the positioning guide sleeve, and the positioning guide sleeve is arranged in the mounting hole of the V-shaped sliding rail block. After the piston rod of the needle type cylinder is inserted into the positioning guide sleeve, the system is stopped, and the braking positioning function of the V-shaped sliding rail block is realized.
The jig module comprises a V-shaped sliding rail block, a jig bottom plate, a sheath clamping plate A, a sheath bottom plate, a sheath clamping plate B, a linear guide shaft and an elbow clamp; the V-shaped sliding rail block is slidably arranged on the short sliding rail through a V-shaped pulley; the jig bottom plate is fixed on the V-shaped sliding rail block, the sheath bottom plate is arranged on the jig bottom plate, the sheath clamping plate A and the sheath clamping plate B are arranged on the sheath bottom plate, the sheath clamping plate B is connected with the elbow clamp through the linear guide shaft, and the sheath clamping plate B is inserted into the sheath clamping plate A and slides in the sheath clamping plate A.
According to the invention, the sheath vision module is used for performing vision calibration, the spatial position relation among the modules is converted into a coordinate system, the pin head transverse movement (X direction) is completed through the pin end transverse movement assembly of the pin end module, the jig assembly moves up and down (Y direction) is completed through the moving module, the terminal insertion (Z direction) is completed through the insertion moving assembly and the clamping assembly of the pin end module, and the modules are mutually matched to complete the pin end operation of the whole plastic sheath.
The clamping component of the inserted end transverse moving component transversely moves to the judging station, the clamping claw moves downwards to grab the wire harness, then moves upwards and transversely to the inserted end position, the spline housing slides on the spline in the transverse moving process to play a supporting role, after moving to the inserted end position, the inserted end motor II is started, the spline shaft rotates to drive the inserted end synchronous belt II to move, the inserted end vertical plate moves along with the inserted end synchronous belt II, the clamping component arranged on the inserted end vertical plate realizes the inserted end action of the inserted pin clamping claw, the ball servo motor is started after the horizontal one-row insertion is completed, the plastic is displaced up and down, and the inserted end of the next row of holes is carried out. The circulation is performed in this way, so that the controlled movement in the X/Y/Z directions is realized, and the automatic end inserting operation is realized. When the vision measurement module operates, the jig moving module moves to the image taking station to take a picture, and moves to the inserting station to wait after taking the picture, the difference of plastic mounting positions is considered, and the sheath camera can be adjusted along the X-axis transverse movement under the action of the sheath linear module. The invention integrally realizes the measurement of the plastic sheath, and feeds back the measurement data to the control system, thereby completing the end inserting operation of the whole sheath, monitoring the change of the end inserting moment at any time during the end inserting operation, realizing automatic intelligent end inserting and solving the problem puzzling the domestic harness enterprises for many years.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of the visual guide end inserting mechanism of the present invention.
Fig. 2 is a schematic structural view of the vision module of the sheath of the present invention.
Fig. 3 is a schematic diagram of a plug-in module according to the present invention.
Fig. 4 is a schematic diagram of a second embodiment of the plug-in module of the present invention.
Fig. 5 is a schematic diagram of a mobile module according to the present invention.
Fig. 6 is a schematic structural diagram of the fixture module of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-6, a vision guiding end inserting mechanism, a sheath vision module 36-2, an end inserting module 36-3, a cross plate 36-4, a moving module 37-1 and a jig module 37-3; the transverse plate 36-4 is vertically arranged on the frame, the protective sleeve visual module 36-2 and the inserting end module 36-3 are arranged on the transverse plate 36-4, and the installation direction of a protective sleeve camera of the protective sleeve visual module 36-2 is parallel to the installation direction of the inserting end connecting plate 36-3-7 of the inserting end module 36-3; and the sheath camera of the sheath vision module 36-2 is matched with the jig module 37-3, the jig module 37-3 is slidably mounted on the moving module 37-1, and the moving module 37-1 is vertically mounted on the working table.
The sheath vision module 36-2 comprises an upper transverse plate 36-2-1, a sheath support plate 36-2-2, a sheath camera fixing plate 36-2-3, a sheath linear module 36-2-4, a sheath camera mounting seat 36-2-5, a sheath light source fixing plate 36-2-6, a sheath sliding rail 36-2-7, a sheath sliding block 36-2-8, a sheath reinforcing plate 36-2-9, a sheath camera 36-2-10, a sheath light source 36-2-11, a sheath vertical plate 36-2-12, an adjusting pull rod 36-2-13 and a fixed pull lug 36-2-14; one end of the upper transverse plate 36-2-1 is arranged on the frame, and the lower end of the upper transverse plate 36-2-1 is vertically connected with the transverse plate 36-4 through the sheath support plate 36-2-2; the lower end face of the free end of the upper transverse plate 36-2-1 is vertically provided with a sheath camera fixing plate 36-2-3, the lower part of the outer side face of the sheath camera fixing plate 36-2-3 is fixedly provided with a sheath linear module 36-2-4, the sheath linear module 36-2-4 is parallel to the transverse plate 36-4, a sheath camera mounting seat 36-2-5 is arranged on a sliding block of the sheath linear module 36-2-4, the sheath camera mounting seat 36-2-5 is fixedly provided with a sheath light source fixing plate 36-2-6, and the sheath light source fixing plate 36-2-6 is connected with a sheath light source 36-2-11; the lower part of the inner side surface of the sheath camera fixing plate 36-2-3 is provided with a sheath sliding rail 36-2-7, the sheath sliding rail 36-2-7 is provided with a sheath sliding block 36-2-8 in a sliding way, and the sheath sliding block 36-2-8 is connected with the sheath light source fixing plate 36-2-6 through a sheath reinforcing plate 36-2-9; the sheath camera 36-2-10 is slidably mounted at the lower end of the sheath camera mount 36-2-5 and parallel to the upper cross plate 36-2-1, and the axis of the sheath camera 36-2-10 coincides with the axis of the sheath light source 36-2-11; one end of the upper end face of the upper transverse plate 36-2-1 is fixed with a fixed pull lug 36-2-14, the other end of the upper end face of the upper transverse plate 36-2-1 is contacted with the sheath vertical plate 36-2-12, and the sheath vertical plate 36-2-12 is vertically arranged on the frame; an adjusting pull rod 36-2-13 is obliquely arranged on the vertical sleeve plate 36-2-12 and the fixed pull lug 36-2-14. The position relation between the upper transverse plate and the horizontal plane can be adjusted by changing the tightness degree of the adjusting pull rod.
The inserted end module 36-3 comprises an inserted end transverse moving assembly, an inserted end up-and-down moving assembly, a clamping assembly and an inserted moving assembly; the inserted end transverse moving assembly is arranged on the transverse plate 36-4 and is connected with the spline shaft 36-3-10 inserted into the moving assembly through the inserted end fixing block A36-3-8 and the inserted end fixing block B36-3-9; the inserted end transverse moving assembly is connected with an inserted end connecting plate 36-3-7 of the inserted moving assembly through an inserted end mounting plate 36-3-6; the plug end up-and-down moving assembly is mounted on the plug end riser 36-3-14 of the plug end moving assembly; the clamping assembly is mounted on the spigot lifting plate 36-3-19 of the spigot up and down moving assembly.
The inserted end transverse moving assembly comprises an inserted end motor I36-3-1, an inserted end driving wheel 36-3-2, an inserted end driven wheel 36-3-3, an inserted end synchronous belt I36-3-4, an inserted end tensioning block 36-3-5 and an inserted end mounting plate 36-3-6; the inserting motor I36-3-1 is vertically arranged on the transverse plate 36-4, an output shaft of the inserting motor I36-3-1 is connected with the inserting driving wheel 36-3-2, the inserting driving wheel 36-3-2 is connected with the inserting driven wheel 36-3-3 through the inserting synchronous belt I36-3-4, the inserting driven wheel 36-3-3 is hinged on the inserting tensioning block 36-3-5 through a cantilever pin, and the inserting tensioning block 36-3-5 is arranged on the transverse plate 36-4; the inserted end mounting plate 36-3-6 is fixed on the inserted end synchronous belt I36-3-4, the inserted end mounting plate 36-3-6 is slidably mounted on the linear slide rail I36-4-2 of the transverse plate 36-4, and the inserted end connecting plate 36-3-7 is vertically fixed at the lower end of the inserted end mounting plate 36-3-6.
The inserting and moving assembly comprises an inserting end connecting plate 36-3-7, an inserting end fixing block A36-3-8, an inserting end fixing block B36-3-9, a spline shaft 36-3-10, an inserting end synchronous driving wheel 36-3-11, an inserting end synchronous driven wheel 36-3-12, an inserting end synchronous belt II 36-3-13, an inserting end vertical plate 36-3-14, an inserting end sliding rail 36-3-16 and an inserting end motor II 36-3-25; the end, close to the inserted end mounting plate 36-3-6, of the inserted end connecting plate 36-3-7 is provided with an inserted end synchronous driven wheel 36-3-12, the inserted end synchronous driven wheel 36-3-12 is connected with an inserted end synchronous driving wheel 36-3-11 through an inserted end synchronous belt II 36-3-13, and the inserted end synchronous driving wheel 36-3-11 is hinged to one end, far away from the inserted end mounting plate 36-3-6, of the inserted end connecting plate 36-3-7; the spline shaft 36-3-10 vertically penetrates through the spigot connecting plate 36-3-7 and the spigot synchronous driving wheel 36-3-11, one end of the spline shaft 36-3-10 is hinged to the spigot fixing block A36-3-8, the spigot fixing block A36-3-8 is arranged at the lower end of the transverse plate 36-4, the other end of the spline shaft 36-3-10 is connected with an output shaft of the spigot motor II 36-3-25 through a coupler, the spigot motor II 36-3-25 is fixed to the spigot fixing block A36-3-8, and the spigot fixing block A36-3-8 is vertically fixed at the lower end of the transverse plate 36-4 and parallel to the spigot fixing block B36-3-9; the inserted end connecting plate 36-3-7 is provided with an inserted end sliding rail 36-3-16, and the inserted end sliding rail 36-3-16 is parallel to the inserted end synchronous belt II 36-3-13; the inserted end sliding rail 36-3-16 is slidably provided with an inserted end vertical plate 36-3-14, the upper end of the inserted end vertical plate 36-3-14 is fixed on the inserted end synchronous belt II 36-3-13, and the inserted end side plate 36-3-15 is vertically fixed on the inserted end vertical plate 36-3-14.
The inserting end up-and-down moving assembly comprises inserting end side plates 36-3-15, inserting end bottom plates 36-3-17, inserting end air cylinders 36-3-18, inserting end lifting plates 36-3-19 and inserting end wire clamping fixing plates 36-3-20; the lower end of the inserted end side plate 36-3-15 is horizontally provided with an inserted end bottom plate 36-3-17, the inserted end bottom plate 36-3-17 is vertically provided with an inserted end air cylinder 36-3-18 at a position between the inserted end side plates 36-3-15, a piston cylinder of the inserted end air cylinder 36-3-18 faces upwards, a piston rod of the inserted end air cylinder is provided with an inserted end lifting plate 36-3-19, the lower end face of the inserted end lifting plate 36-3-19 is fixedly provided with an inserted end wire clamping fixing plate 36-3-20, and the inserted end wire clamping air cylinder 36-3-21 of the clamping assembly is fixedly arranged on the inserted end wire clamping fixing plate 36-3-20.
The clamping assembly comprises an inserted end wire clamping cylinder 36-3-21, a clamping jaw fixing block 36-3-22, clamping jaw supporting legs 36-3-23 and clamping jaws 36-3-24; the inserted end wire clamping air cylinder 36-3-21 is fixed on the inserted end wire clamping fixing plate 36-3-20, each finger of the inserted end wire clamping air cylinder 36-3-21 is vertically fixed with a clamping jaw fixing block 36-3-22, each clamping jaw fixing block 36-3-22 is provided with a clamping jaw supporting leg 36-3-23, the lower end of each clamping jaw supporting leg 36-3-23 is provided with a clamping jaw 36-3-24, and the two clamping jaws 36-3-24 are oppositely arranged.
The moving module 37-1 comprises a fixed vertical plate 37-1-1, a linear guide rail 37-1-2, a ball screw 37-1-3, a ball servo motor 37-1-4, a moving fixed plate 37-1-5 and a short slide rail 37-1-6; the fixed vertical plate 37-1-1 is vertically arranged on the frame, the fixed vertical plate 37-1-1 is vertically and parallelly provided with a linear guide rail 37-1-2 and a ball screw 37-1-3, and the screw of the ball screw 37-1-3 is connected with the output shaft of the ball servo motor 37-1-4; one end of the movable fixing plate 37-1-5 is fixedly connected with a nut of the ball screw 37-1-3, and the other end of the movable fixing plate 37-1-5 is arranged on a sliding block of the linear guide rail 37-1-2; a T-shaped short slide rail 37-1-6 is fixed on the upper end surface of the movable fixing plate 37-1-5; the V-shaped slide rail block 37-3-1 of the jig module 37-3 is slidably mounted on the short slide rail 37-1-6.
In order to realize the braking and positioning functions of the V-shaped sliding rail blocks, the moving module 37-1 further comprises a limiting assembly, wherein the limiting assembly comprises a needle-shaped air cylinder, a positioning guide sleeve and a positioning guide block; the positioning guide block is arranged in the mounting hole at the lower part of the movable fixing plate, and the needle-shaped air cylinder is slidably arranged in the hole of the positioning guide block; the piston rod of the needle type cylinder corresponds to the positioning guide sleeve, and the positioning guide sleeve is arranged in the mounting hole of the V-shaped sliding rail block. After the piston rod of the needle type cylinder is inserted into the positioning guide sleeve, the system is stopped, and the braking positioning function of the V-shaped sliding rail block is realized.
The jig module 37-3 comprises a V-shaped sliding rail block 37-3-1, a jig bottom plate 37-3-2, a sheath clamping plate A37-3-3, a sheath bottom plate 37-3-4, a sheath clamping plate B37-3-5, a linear guide shaft 37-3-6 and an elbow clamp 37-3-7; the V-shaped sliding rail block 37-3-1 is slidably arranged on the short sliding rail 37-1-6 through a V-shaped pulley; the jig bottom plate 37-3-2 is fixed on the V-shaped slide rail block 37-3-1, the sheath bottom plate 37-3-4 is arranged on the jig bottom plate 37-3-2, the sheath clamping plate A37-3-3 and the sheath clamping plate B37-3-5 are arranged on the sheath bottom plate 37-3-4, the sheath clamping plate B37-3-5 is connected with the elbow clamp 37-3-7 through the linear guide shaft 37-3-6, and the sheath clamping plate B37-3-5 is inserted into the sheath clamping plate A37-3-3 and slides in the sheath clamping plate A37-3-3.
According to the invention, the sheath visual module 36-2 is used for visual calibration, the spatial position relation among the modules is converted into a coordinate system, the insertion needle head transverse movement (X direction) is completed through the insertion end transverse movement assembly of the insertion end module 36-3, the up-and-down movement (Y direction) of the jig assembly is completed through the movement module 37-1, the terminal insertion (Z direction) is completed through the insertion movement assembly and the clamping assembly of the insertion end module 36-3, and the insertion end operation of the whole plastic sheath is completed through the mutual cooperation of the modules.
The clamping component of the inserted end transverse moving component transversely moves to the orientation judging station, the clamping claw 36-3-24 moves downwards to grab the wire harness, then moves upwards and transversely to the inserted end position, a spline sleeve slides on a spline in the transverse moving process to play a supporting role, after moving to the inserted end position, the inserted end motor II 36-3-25 is started, the spline shaft rotates to drive the inserted end synchronous belt II 36-3-13 to move, the inserted end vertical plate 36-3-14 moves along with the spline shaft, the clamping component arranged on the inserted end vertical plate 36-3-14 realizes the inserted end action of the inserting needle clamping jaw, the ball servo motor 37-1-4 is started after the horizontal one row of inserting is completed, and plastic is vertically displaced to insert the next row of holes. The circulation is performed in this way, so that the controlled movement in the X/Y/Z directions is realized, and the automatic end inserting operation is realized. When the vision measurement module operates, the jig moving module moves to the image taking station to take a picture, and after shooting, the jig moving module moves to the end inserting station to wait, and the sheath camera can transversely move along the X axis to be adjusted under the action of the sheath linear module 36-2-4 in consideration of the difference of plastic installation positions.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (8)
1. The utility model provides a vision guide inserted end mechanism which characterized in that: the device comprises a sheath vision module (36-2), an inserting end module (36-3), a transverse plate (36-4), a moving module (37-1) and a jig module (37-3); the transverse plate (36-4) is vertically arranged on the frame, the sheath vision module (36-2) and the inserting end module (36-3) are arranged on the transverse plate (36-4), and the installation direction of a sheath camera of the sheath vision module (36-2) is parallel to the installation direction of the inserting end connecting plate (36-3-7) of the inserting end module (36-3); the sheath camera of the sheath vision module (36-2) is matched with the jig module (37-3), the jig module (37-3) is slidably arranged on the moving module (37-1), and the moving module (37-1) is vertically arranged on the workbench surface;
the sheath vision module (36-2) comprises an upper transverse plate (36-2-1), a sheath support plate (36-2-2), a sheath camera fixing plate (36-2-3), a sheath linear module (36-2-4), a sheath camera mounting seat (36-2-5), a sheath light source fixing plate (36-2-6), a sheath sliding rail (36-2-7), a sheath sliding block (36-2-8), a sheath reinforcing plate (36-2-9), a sheath camera (36-2-10), a sheath light source (36-2-11), a sheath vertical plate (36-2-12), an adjusting pull rod (36-2-13) and a fixed pull lug (36-2-14); one end of the upper transverse plate (36-2-1) is arranged on the frame, and the lower end of the upper transverse plate (36-2-1) is vertically connected with the transverse plate (36-4) through the sheath support plate (36-2-2); a sheath camera fixing plate (36-2-3) is vertically arranged on the lower end face of the free end of the upper transverse plate (36-2-1), a sheath linear module (36-2-4) is fixedly arranged on the lower portion of the outer side face of the sheath camera fixing plate (36-2-3), the sheath linear module (36-2-4) is parallel to the transverse plate (36-4), a sheath camera mounting seat (36-2-5) is arranged on a sliding block of the sheath linear module (36-2-4), a sheath light source fixing plate (36-2-6) is fixed on the sheath camera mounting seat (36-2-5), and the sheath light source fixing plate (36-2-6) is connected with a sheath light source (36-2-11); a sheath sliding rail (36-2-7) is arranged at the lower part of the inner side surface of the sheath camera fixing plate (36-2-3), a sheath sliding block (36-2-8) is arranged on the sheath sliding rail (36-2-7) in a sliding manner, and the sheath sliding block (36-2-8) is connected with the sheath light source fixing plate (36-2-6) through a sheath reinforcing plate (36-2-9); the sheath camera (36-2-10) is slidably arranged at the lower end of the sheath camera mounting seat (36-2-5) and is parallel to the upper transverse plate (36-2-1), and the axis of the sheath camera (36-2-10) coincides with the axis of the sheath light source (36-2-11); one end of the upper end face of the upper transverse plate (36-2-1) is fixed with a fixed pull lug (36-2-14), the other end of the upper end face of the upper transverse plate (36-2-1) is contacted with a sheath vertical plate (36-2-12), and the sheath vertical plate (36-2-12) is vertically arranged on the frame; an adjusting pull rod (36-2-13) is obliquely arranged between the sheath vertical plate (36-2-12) and the fixed pull lug (36-2-14);
the inserted end module (36-3) comprises an inserted end transverse moving assembly, an inserted end up-and-down moving assembly, a clamping assembly and an inserted moving assembly; the inserted end transverse moving assembly is arranged on the transverse plate (36-4) and is connected with a spline shaft (36-3-10) inserted into the moving assembly through an inserted end fixing block A (36-3-8) and an inserted end fixing block B (36-3-9); the inserted end transverse moving assembly is connected with an inserted end connecting plate (36-3-7) inserted into the moving assembly through an inserted end mounting plate (36-3-6); the inserting end up-and-down moving assembly is arranged on an inserting end vertical plate (36-3-14) of the inserting moving assembly; the clamping assembly is mounted on a spigot lifting plate (36-3-19) of the spigot up and down moving assembly.
2. The visual guide end-insertion mechanism of claim 1, wherein: the inserted end transverse moving assembly comprises an inserted end motor I (36-3-1), an inserted end driving wheel (36-3-2), an inserted end driven wheel (36-3-3), an inserted end synchronous belt I (36-3-4), an inserted end tensioning block (36-3-5) and an inserted end mounting plate (36-3-6); the inserting end motor I (36-3-1) is vertically arranged on the transverse plate (36-4), an output shaft of the inserting end motor I (36-3-1) is connected with the inserting end driving wheel (36-3-2), the inserting end driving wheel (36-3-2) is connected with the inserting end driven wheel (36-3-3) through the inserting end synchronous belt I (36-3-4), the inserting end driven wheel (36-3-3) is hinged on the inserting end tensioning block (36-3-5) through a cantilever pin, and the inserting end tensioning block (36-3-5) is arranged on the transverse plate (36-4); the inserting end mounting plate (36-3-6) is fixed on the inserting end synchronous belt I (36-3-4), the inserting end mounting plate (36-3-6) is slidably mounted on the linear sliding rail I (36-4-1) of the transverse plate (36-4), and the inserting end connecting plate (36-3-7) is vertically fixed at the lower end of the inserting end mounting plate (36-3-6).
3. The visual guide end-insertion mechanism of claim 2, wherein: the inserting and moving assembly comprises an inserting end connecting plate (36-3-7), an inserting end fixing block A (36-3-8), an inserting end fixing block B (36-3-9), a spline shaft (36-3-10), an inserting end synchronous driving wheel (36-3-11), an inserting end synchronous driven wheel (36-3-12), an inserting end synchronous belt II (36-3-13), an inserting end vertical plate (36-3-14), an inserting end sliding rail (36-3-16) and an inserting end motor II (36-3-25); an inserted end synchronous driven wheel (36-3-12) is arranged at one end, close to the inserted end mounting plate (36-3-6), of the inserted end connecting plate (36-3-7), the inserted end synchronous driven wheel (36-3-12) is connected with an inserted end synchronous driving wheel (36-3-11) through an inserted end synchronous belt II (36-3-13), and the inserted end synchronous driving wheel (36-3-11) is hinged at one end, far away from the inserted end mounting plate (36-3-6), of the inserted end connecting plate (36-3-7); the spline shaft (36-3-10) vertically penetrates through the inserted end connecting plate (36-3-7) and the inserted end synchronous driving wheel (36-3-11), one end of the spline shaft (36-3-10) is hinged to the inserted end fixing block A (36-3-8), the inserted end fixing block A (36-3-8) is installed at the lower end of the transverse plate (36-4), the other end of the spline shaft (36-3-10) is connected with an output shaft of the inserted end motor II (36-3-25) through a coupler, the inserted end motor II (36-3-25) is fixed to the inserted end fixing block A (36-3-8), and the inserted end fixing block A (36-3-8) is vertically fixed to the lower end of the transverse plate (36-4) and is parallel to the inserted end fixing block B (36-3-9); the inserted end connecting plate (36-3-7) is provided with an inserted end sliding rail (36-3-16), and the inserted end sliding rail (36-3-16) is parallel to the inserted end synchronous belt II (36-3-13); the inserting end sliding rail (36-3-16) is slidably provided with an inserting end vertical plate (36-3-14), the upper end of the inserting end vertical plate (36-3-14) is fixed on the inserting end synchronous belt II (36-3-13), and the inserting end side plate (36-3-15) is vertically fixed on the inserting end vertical plate (36-3-14).
4. The visual guide end-insertion mechanism of claim 2, wherein: the inserting end up-and-down moving assembly comprises an inserting end side plate (36-3-15), an inserting end bottom plate (36-3-17), an inserting end air cylinder (36-3-18), an inserting end lifting plate (36-3-19) and an inserting end wire clamping fixing plate (36-3-20); the lower end of the inserted end side plate (36-3-15) is horizontally provided with an inserted end bottom plate (36-3-17), the inserted end bottom plate (36-3-17) is vertically provided with an inserted end air cylinder (36-3-18) at a position between the inserted end side plates (36-3-15), a piston cylinder of the inserted end air cylinder (36-3-18) is upward and a piston rod of the inserted end air cylinder is provided with an inserted end lifting plate (36-3-19), the lower end surface of the inserted end lifting plate (36-3-19) is fixedly provided with an inserted end clamping line fixing plate (36-3-20), and the inserted end clamping line fixing plate (36-3-20) is fixedly provided with an inserted end clamping line air cylinder (36-3-21) of the clamping component.
5. The visual guide tip mechanism of claim 2 or 4, wherein: the clamping assembly comprises an inserted end wire clamping cylinder (36-3-21), a clamping jaw fixing block (36-3-22), clamping jaw supporting legs (36-3-23) and clamping jaws (36-3-24); the inserting end wire clamping cylinder (36-3-21) is fixed on the inserting end wire clamping fixing plate (36-3-20), each finger of the inserting end wire clamping cylinder (36-3-21) is vertically fixed with a clamping jaw fixing block (36-3-22), each clamping jaw fixing block (36-3-22) is provided with a clamping jaw supporting leg (36-3-23), the lower end of each clamping jaw supporting leg (36-3-23) is provided with a clamping jaw (36-3-24), and the two clamping jaws (36-3-24) are oppositely arranged.
6. The visual guide end-plugging mechanism according to claim 5, wherein: the mobile module (37-1) comprises a fixed vertical plate (37-1-1), a linear guide rail (37-1-2), a ball screw (37-1-3), a ball servo motor (37-1-4), a mobile fixed plate (37-1-5) and a short slide rail (37-1-6); the fixed vertical plate (37-1-1) is vertically arranged on the frame, the fixed vertical plate (37-1-1) is vertically and parallelly provided with a linear guide rail (37-1-2) and a ball screw (37-1-3), and the screw of the ball screw (37-1-3) is connected with the output shaft of the ball servo motor (37-1-4); one end of the movable fixing plate (37-1-5) is fixedly connected with a nut of the ball screw (37-1-3), and the other end of the movable fixing plate (37-1-5) is arranged on a sliding block of the linear guide rail (37-1-2); a T-shaped short slide rail (37-1-6) is fixed on the upper end surface of the movable fixing plate (37-1-5); the V-shaped slide rail block (37-3-1) of the jig module (37-3) is slidably mounted on the short slide rail (37-1-6).
7. The visual guide end-plugging mechanism according to claim 6, wherein: the positioning guide sleeve is arranged on the positioning guide block, and the positioning guide block is arranged on the positioning guide sleeve; the positioning guide block is arranged in the mounting hole at the lower part of the movable fixing plate, and the needle-shaped air cylinder is slidably arranged in the hole of the positioning guide block; the piston rod of the needle type cylinder corresponds to the positioning guide sleeve, and the positioning guide sleeve is arranged in the mounting hole of the V-shaped sliding rail block.
8. The visual guide end-insertion mechanism of claim 1, wherein: the jig module (37-3) comprises a V-shaped sliding rail block (37-3-1), a jig bottom plate (37-3-2), a sheath clamping plate A (37-3-3), a sheath bottom plate (37-3-4), a sheath clamping plate B (37-3-5), a linear guide shaft (37-3-6) and an elbow clamp (37-3-7); the V-shaped sliding rail block (37-3-1) is slidably arranged on the short sliding rail (37-1-6) through a V-shaped pulley; the jig bottom plate (37-3-2) is fixed on the V-shaped sliding rail block (37-3-1), the sheath bottom plate (37-3-4) is arranged on the jig bottom plate (37-3-2), the sheath clamping plate A (37-3-3) and the sheath clamping plate B (37-3-5) are arranged on the sheath bottom plate (37-3-4), the sheath clamping plate B (37-3-5) is connected with the elbow clamp (37-3-7) through the linear guide shaft (37-3-6), and the sheath clamping plate B (37-3-5) is inserted into the sheath clamping plate A (37-3-3) and slides in the sheath clamping plate A (37-3-3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710748150.4A CN107425396B (en) | 2017-08-28 | 2017-08-28 | Visual guide end inserting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710748150.4A CN107425396B (en) | 2017-08-28 | 2017-08-28 | Visual guide end inserting mechanism |
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| CN107425396A CN107425396A (en) | 2017-12-01 |
| CN107425396B true CN107425396B (en) | 2023-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108233152A (en) * | 2018-03-26 | 2018-06-29 | 昆山沪光汽车电器股份有限公司 | A kind of terminal slot machine |
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| EP1056167A2 (en) * | 1999-05-27 | 2000-11-29 | Harness System Technologies Research, Ltd. | Terminal mounting machine and apparatus for manufacturing wire harness |
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