CN113118730A - Mechanism and method for automatically assembling automobile wire harness - Google Patents
Mechanism and method for automatically assembling automobile wire harness Download PDFInfo
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- CN113118730A CN113118730A CN202110522104.9A CN202110522104A CN113118730A CN 113118730 A CN113118730 A CN 113118730A CN 202110522104 A CN202110522104 A CN 202110522104A CN 113118730 A CN113118730 A CN 113118730A
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- wire
- wire harness
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- plugging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a mechanism for automatically assembling an automobile wire harness, which comprises an intelligent wire harness collecting device, a wire plugging and smoothing integrated manipulator, a double-layer power supply wiring board, an industrial robot and an anti-loosening counterweight. The wire harness collecting device is characterized in that an industrial robot is matched with a wire plugging and smoothing integrated manipulator to grab the wire harness which is plugged with various plug connectors on an automatic production line in the previous process, and the wire harness is automatically plugged into the intelligent wire harness collecting device at different positions on a wiring board according to a wire harness assembly structure which is pre-arranged in a wire harness production process. And repeatedly grabbing the next wire harness semi-finished product with various plug connectors inserted therein to perform wire plugging operation until all corresponding nodes of the wire harness are inserted into the corresponding intelligent wire harness collecting devices. The problems of high labor intensity, high labor cost, high interference of human factors, poor product consistency and the like in the manual assembly process of the automobile wire harnesses at home and abroad at present can be thoroughly solved through automatic operation.
Description
Technical Field
The invention relates to a mechanism and a method for automatically assembling an automobile wire harness, and belongs to the technical field of automobile part manufacturing.
Background
At present, the final assembly process of automobile wire harness production at home and abroad is manual assembly, which belongs to labor intensive work, and European and American automobile factories mainly select to build factories in developing countries with low labor cost for assembly. Workers stand at the same place to repeatedly and simply operate, and various occupational diseases such as wrist tenosynovitis, knee joint injury and the like are commonly caused. Meanwhile, the interference of human factors is large, so that the product quality consistency is not high. Moreover, the labor cost is increased year by year, so that the cost of the wire harness is increased year by year.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, provides a mechanism and an assembly method for automatically assembling an automobile wire harness, and solves the problems of high labor intensity, high labor cost, large interference of artificial factors, low efficiency, poor product consistency and the like in the assembly process of the automobile wire harness at home and abroad at present.
In order to solve the technical problem, the invention provides a mechanism for automatically assembling an automobile wire harness.
The intelligent wire harness collecting device is inserted into the double-layer belt power supply wiring board, the double-layer belt power supply wiring board is obliquely arranged at the front end of the industrial robot, the wire plugging and smoothing integrated manipulator is arranged at the front end of the industrial robot, a wire smoothing mechanism and a wire plugging mechanism at the front end of the wire plugging and smoothing integrated manipulator grab a wire harness which is plugged with various plug connectors on a front process automatic production line together, the wire harness is automatically inserted into the intelligent wire harness collecting device at different positions on the double-layer belt power supply wiring board according to a wire harness production process, and a next wire harness is repeatedly grabbed and subjected to wire plugging and wire smoothing operation until all nodes of the wire harness are inserted into the corresponding intelligent wire harness collecting device.
The intelligent type wire harness collecting device comprises a conveyor belt mechanism, a pressing mechanism and a control module.
The conveying belt mechanism and the pressing mechanism are installed on the intelligent type wire bundle collecting device frame, and the pressing mechanism is installed below the conveying belt mechanism.
The control module comprises a control module body, a short pin, an insulating sheath and a long pin. The short pins, the insulating sheath and the long pins are arranged below the control module body. The frame of the control module body is welded with the bottom of the frame of the intelligent wire harness collecting device into a whole.
After being inserted into the intelligent wire harness collection device, the wire harness is directly transmitted to the pressing mechanism below the frame of the intelligent wire harness collection device through the conveyor belt mechanism to be pressed.
The control module has wireless signal transmission and motor control functions, and the fixing and power supply device of the control module is a short pin and a long pin below the control module.
Two ends of a right belt pulley shaft of the right conveyor belt conveying wheel of the intelligent wire harness collecting device are propped by the pressing spring, so that the conveying wheel has a rebounding function, and the fact that the left conveyor belt and the right conveyor belt can clamp wire harnesses with different thicknesses is guaranteed.
After the industrial robot drives the wire inserting and smoothing integrated manipulator to insert the wire harness into the intelligent wire harness collecting device, the wire harness is transmitted to the bottom wire harness collecting groove through the left conveying belt and the right conveying belt under the driving of the conveying belt motor.
The flexible rubber shifting rods and the metal shifting rods on the front side and the rear side of the intelligent wire harness collecting device are closed in turn, so that the inserted wire harnesses can be clamped at different times, and the wire harnesses are prevented from falling off from the intelligent wire harness collecting device when the wire inserting and smoothing integrated manipulator smoothes out the wires.
After wiring of the wire harness is completed and the adhesive tape is wound, the intelligent wire harness collecting device receives a wireless signal instruction to simultaneously reverse the flexible rubber deflector rod and the metal deflector rod on the front side and the rear side and the left conveyor belt and the right conveyor belt above the metal deflector rod, the assembled whole wire harness is reversely sent out, and the whole wire harness finished product is conveniently taken out.
The conveying belt mechanism comprises three left belt pulleys, three right belt pulleys, a left conveying belt, a right conveying belt, a left belt pulley shaft, a conveying belt motor, a right belt pulley shaft and a compression spring.
The left conveying belt and the right conveying belt are respectively sleeved on the three left belt pulleys and the three right belt pulleys. The left belt pulley is in interference fit with the left belt pulley shaft, and the left belt pulley shaft is in clearance fit with the hole site of the intelligent wire harness collection device frame, so that the left belt pulley and the left belt pulley shaft can freely rotate in the side hole site of the intelligent wire harness collection device frame.
The left belt pulley shaft in the middle is welded with the output shaft of the conveyor belt motor into a whole, and the conveyor belt motor drives the left belt pulley to rotate forward and backward.
The right belt pulley shaft is in interference fit with the right belt pulley and is in clearance fit with the intelligent wire harness collecting device frame, so that the right belt pulley is guaranteed to rotate flexibly, and the right belt pulley shaft is prevented from being separated from two sides.
The three right belt wheel shafts are pressed towards the left by the six compression springs, so that the friction force between the belts can be utilized to drive the right conveyor belt to synchronously rotate when the left conveyor belt rotates, and the situation that the wire harness can be directly transmitted to the compression mechanism below the intelligent wire harness collecting device frame to be compressed after being inserted is ensured.
The cover plate is welded on the intelligent wire harness collection device frame to prevent six springs such as the compression spring from falling off.
The pressing mechanism comprises a rubber deflector rod, a metal deflector rod, a rear deflector rod pin, a front deflector rod transmission gear, a rear deflector rod transmission gear, a front deflector rod motor, a rear deflector rod motor and a middle fixing pin.
The rubber driving lever of the pressing mechanism is installed on the metal driving lever in a vulcanization mode, and the elasticity of the rubber ensures that the wiring harness is not damaged when being pressed. The left and right deflector rods are staggered front and back, so that hard interference is avoided when the left and right deflector rods rotate forward and backward.
The two middle fixing pins of the pressing mechanism are in clearance fit with the four gears in the middle of the front side and the rear side, and are in interference fit with the intelligent wire harness collecting device frame, so that the four gears in the middle of the front side and the rear side can normally rotate on the fixing pins.
The rear side shifting rod pin and the front side shifting rod pin are in interference fit with the metal shifting rod and the corresponding gear, and are in clearance fit with the frame of the intelligent wire harness collection device, so that the gear and the shifting rod can synchronously rotate and cannot interfere with the frame.
The rear driving lever motor and the front driving lever motor are both installed on the intelligent wire harness collection device frame in an interference fit mode, the motor shell is kept still when the motors rotate, and the gears on the motor shafts rotate to drive other gears to rotate.
The double-layer power supply wiring board comprises a negative electrode panel, a positive electrode panel and four insulating blocks, wherein the four insulating blocks are positioned at four corners between the negative electrode panel and the positive electrode panel. The positive electrode panel and the negative electrode panel both adopt a multilayer wire mesh structure and have the characteristic of electric conduction.
The long pin is inserted into the double-layer power supply wiring board and then contacts with the anode panel, and meanwhile, the insulating sheath ensures that the short circuit does not occur when the long pin passes through the cathode panel. The short pins are inserted into the double-layer power supply wiring board and then contacted with the negative electrode panel.
The plug wire straightening all-in-one manipulator is composed of a straightening mechanism and a plug wire mechanism. And the pin shaft of the wire plugging mechanism is welded and fixed on the output shaft of the rotating motor, is in interference fit with the base of the wire plugging mechanism and is in clearance fit with the base of the wire smoothing mechanism. The shell of the rotating motor is welded on the base of the wire smoothing mechanism, and the motor shaft of the rotating motor can drive the wire plugging mechanism to integrally rotate upwards when rotating.
The movable claw of the wire plugging mechanism is loosened during wire smoothing, the mechanism integrally rotates upwards by 70 degrees, and the wire plugging mechanism is guaranteed not to interfere with the intelligent wire harness collecting device during wire smoothing. When in wire smoothing, the movable claw of the wire smoothing mechanism is loosened, but the wire bundle is prevented from falling off and the clamping strip is closed. After the wire is stroked in place, the wire inserting mechanism rotates downwards by 70 degrees, the wire inserting mechanism moving claw and the wire stroking mechanism moving claw simultaneously clamp the wire harness again, and the wire harness is driven by the industrial robot to be inserted into the intelligent wire harness collecting device of the next node at the corresponding position of the wire harness.
The wire smoothing mechanism comprises a wire smoothing mechanism base, a wire smoothing mechanism moving claw, a wire smoothing moving claw motor, a wire smoothing moving claw stop block, a wire smoothing mechanism lead screw, an anti-drop clamping strip pin and an anti-drop clamping strip motor.
The wire stroking movable claw stop block and the wire stroking movable claw motor shell are welded on the wire stroking mechanism base. The upper part of the moving claw of the wire smoothing mechanism is matched with the lead screw of the wire smoothing mechanism through threads. An output shaft of the wire stroking movable claw motor is welded with a lead screw of the wire stroking mechanism into a whole, and the positive and negative rotation of the lead screw of the wire stroking mechanism is controlled by the motor.
The movable claw of the wire smoothing mechanism is arranged in the trapezoidal guide rail of the base cross beam of the wire smoothing mechanism, and moves in the trapezoidal guide rail of the base cross beam of the wire smoothing mechanism along with the forward and reverse rotation of the lead screw of the wire smoothing mechanism.
The anti-drop card strip pin welds the output of anti-drop card strip motor, is interference fit with the anti-drop card strip, and is clearance fit with the mechanism base of stroking out with the fingers line, is rotated along with the anti-drop card strip pin by motor control anti-drop card strip. When the anti-drop card strip motor drives the anti-drop card strip to rotate upwards and close, the wire harness can be prevented from being separated from the wire smoothing mechanism during wire smoothing.
The wire plugging mechanism comprises a wire plugging mechanism base, a wire plugging mechanism moving claw, a wire plugging moving claw motor, a wire plugging moving claw stop block, a wire plugging mechanism screw rod, a rotating motor and a wire plugging mechanism lifting pin shaft.
The plug wire moving claw stop block, the plug wire moving claw motor shell and the rotating motor shell are welded and installed on the plug wire mechanism base. The movable claw of the wire plugging mechanism is arranged in the trapezoidal guide rail of the base cross beam of the wire plugging mechanism.
The wire plugging mechanism screw rod is welded to the output end of the wire plugging movable claw motor, and the motor controls the positive and negative rotation of the wire plugging mechanism screw rod.
The movable claw of the wire plugging mechanism moves in the trapezoidal guide rail of the base cross beam of the wire plugging mechanism along with the forward and reverse rotation of the lead screw of the wire plugging mechanism.
An anti-loosening counterweight is arranged below the wire harness.
The invention also provides a method for automatically assembling the automobile wire harness by using the mechanism, which comprises the following steps:
1) grabbing the wire harness: the industrial robot drives the wire plugging and smoothing integrated manipulator to reach the position of a wire harness, and a movable claw of a wire plugging mechanism of the wire plugging mechanism moves inwards to clamp the wire harness. The movable claw of the wire smoothing mechanism moves inwards and clamps the wire harness. The wire plugging mechanism and the wire smoothing mechanism simultaneously clamp the wire harness and then the industrial robot can drive the wire plugging and smoothing integrated manipulator to move so as to perform the next wire plugging step.
2) Inserting wires: the wire inserting and smoothing integrated manipulator reaches the position of an intelligent wire harness collecting device to be inserted at the head of a wire harness, so that the intelligent wire harness collecting device is just positioned in the middle of a wire smoothing mechanism and a wire inserting mechanism of the wire inserting and smoothing integrated manipulator, and the industrial robot drives the wire inserting and smoothing integrated manipulator to insert the wire harness between a left conveyor belt and a right conveyor belt of the intelligent wire harness collecting device.
And moving claws of the wire plugging mechanism move outwards to loosen the clamped wire harness. The movable claw of the wire smoothing mechanism moves outwards to loosen a clamped wire harness, and meanwhile, the anti-falling strip clamping motor of the wire smoothing mechanism drives the anti-falling strip clamping to rotate upwards to be in contact with the movable claw of the wire smoothing mechanism, so that a cavity is formed to prevent the wire harness from falling off.
The wire plugging mechanism integrally rotates upwards by 70 degrees, so that the wire plugging and smoothing integrated manipulator is prevented from interfering with the intelligent wire harness clamp when moving.
3) Fixing the wire harness: after the control module of the intelligent wire harness collection device receives the wireless control signal aiming at the device, the conveyor belt motor is controlled to rotate to transmit the wire harness between the left conveyor belt and the right conveyor belt to the bottom.
The metal deflector rod and the rubber deflector rod above the metal deflector rod on the front side of the pressing mechanism are closed inwards to firmly press the wire harness transmitted to the bottom, so that the wire harness is prevented from being drawn out when the wire inserting and smoothing integrated mechanical hand performs wire smoothing on the next step. And the metal deflector rod at the rear side of the pressing mechanism and the rubber deflector rod above the metal deflector rod are opened upwards so as to press the next incoming wire harness.
4) Wire smoothing: and 2) loosening the movable claw of the wire smoothing mechanism after the step 2), forming a rectangular cavity among the wire harness anti-falling and anti-falling clamping strip, the movable claw of the wire smoothing mechanism and the base of the wire smoothing mechanism, and enabling the wire harness to freely slide in the rectangular cavity when the wire plugging and smoothing integrated manipulator moves so as to facilitate wire smoothing. The industrial robot drives the wire plugging and smoothing integrated manipulator to reach the position of the intelligent wire harness collecting device which needs wire plugging next to the wire harness.
5) Completing wire plugging of the wire harness in other intelligent wire harness collection devices: and (4) rotating the wire plugging mechanism downwards by 70 degrees, simultaneously clamping the wire plugging mechanism and the wire smoothing mechanism, and repeating the wire plugging, wire harness fixing and wire smoothing actions in the steps 2) to 4) until all nodes of the wire harness are arranged at the positions of the intelligent wire harness collecting device corresponding to the wiring board.
6) And repeating the steps 1) to 5) to finish the wire plugging work of the next wire harness on the wiring board.
7) After all wiring harness plugging is completed, and the rest adhesive tape winding, the ultrasonic welding of the wiring harness at a specific position, the insertion of the rest plug connectors and the like are completed manually, all intelligent wiring harness collecting devices on the double-layer power supply wiring board receive reverse wireless signals at the same time, and the front side deflector rod motor and the rear side deflector rod motor rotate reversely to drive the deflector rods to pull out the wiring harnesses to the position of the conveying belt. And a conveyor belt motor of the conveyor belt mechanism also rotates reversely, the assembled wire harness is conveyed out, and the wire harness product is off-line.
Has the advantages that: the automatic wire plugging and stroking device can realize automatic wire plugging and stroking of various wire harness machines with inserted plug connectors during wire harness production general assembly, improve production efficiency, reduce production cost and improve product quality consistency.
The wire harness collecting device is characterized in that an industrial robot is matched with a wire plugging and smoothing integrated manipulator to grab the wire harness which is plugged with various plug connectors on an automatic production line in the previous process, and the wire harness is automatically plugged into the intelligent wire harness collecting device at different positions on a wiring board according to a wire harness assembly structure which is pre-arranged in a wire harness production process. And repeatedly grabbing the next wire harness semi-finished product with various plug connectors inserted therein to perform wire plugging operation until all corresponding nodes of the wire harness are inserted into the corresponding intelligent wire harness collecting devices. The problems of high labor intensity, high labor cost, high interference of human factors, poor product consistency and the like in the manual assembly process of the automobile wire harnesses at home and abroad at present can be thoroughly solved through automatic operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the dual layer strip powered wiring board of the present invention;
FIG. 3 is a schematic structural view of a wire plugging and stroking integrated manipulator of the invention;
FIG. 4 is a perspective assembly view of the wire plugging and stroking integrated manipulator of the present invention;
FIG. 5 is a schematic diagram of an intelligent wire harness collection apparatus according to the present invention;
fig. 6 is a perspective assembly view of the intelligent line bundle collection device of the present invention.
In the figure: 1 intelligent wire harness collecting device, 11 conveyor belt mechanism, 110 left pulley shaft, 111 conveyor belt motor, 112 left conveyor belt, 113 left belt pulley, 114 right conveyor belt, 115 right belt pulley, 116 cover plate, 117 intelligent wire harness collecting device frame, 118 right pulley shaft, 119 hold-down spring, 12 hold-down mechanism, 1211 rubber deflector rod, 1212 metal deflector rod, 122 rear deflector rod pin, 123 front deflector rod pin, 124 front deflector rod transmission gear, 125 front deflector rod motor, 126 rear deflector rod motor, 127 rear deflector rod transmission gear, 128 middle fixing pin, 13 control module, 131 control module body, 132 short deflector rod, 133 insulating sheath, 134 long pin, 2 wire inserting and wire smoothing integrated manipulator, 21 wire smoothing mechanism, 211 wire smoothing mechanism base, 212 wire smoothing mechanism moving claw, 213 wire smoothing moving claw motor, 214 wire smoothing claw, 215 lead screw stopper, 216 anti-drop clamping strip, 217, and anti-drop clamping strip pin, 218 anti-drop card strip motor, 22 plug wire mechanism, 221 plug wire mechanism base, 222 plug wire mechanism moving claw, 223 plug wire moving claw motor, 224 plug wire moving claw stopper, 225 plug wire mechanism lead screw, 226 rotating motor, 227 plug wire mechanism pin shaft, 3 double-layer belt power supply wiring board, 31 negative pole panel, 32 positive pole panel, 33 insulating block, 4 wiring harness, 5 industrial robot, 6 anti-loose wire balance weight.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1-6, the invention provides a mechanism for automatically assembling an automobile wire harness, which comprises an intelligent wire harness collecting device 1, a wire plugging and smoothing integrated manipulator 2, a double-layer power supply wiring board 3, an industrial robot 5 and a wire loosing prevention counterweight 6.
The intelligent wire harness collecting device comprises an industrial robot 5, a wire inserting and smoothing integrated mechanical hand 2, a wire collecting device 1, a wire inserting and smoothing integrated mechanical hand, a wire collecting device 1, a wire and a wire reversing device, wherein the intelligent wire harness collecting device 1 of different nodes is inserted into a double-layer belt power supply wiring board 3, the double-layer belt power supply wiring board 3 is obliquely arranged at the front end of the industrial robot 5, the wire inserting and smoothing integrated mechanical hand 2 is driven by the industrial robot 5 to grab a wire harness 4, various plug connectors are inserted into an automatic production line of a previous process, the wire harness assembly structure is pre-arranged according to a wire harness production process, the wire harness collecting device 1 is automatically inserted into the intelligent wire harness collecting device 1 of different positions on the double-layer belt power supply wiring board 3, and the next.
The intelligent type wire harness collection device 1 comprises a conveyor belt mechanism 11, a pressing mechanism 12 and a control module 13.
The conveyor belt mechanism 11 and the pressing mechanism 12 are installed on the intelligent type wire bundle collecting device frame 117, and the pressing mechanism 12 is installed below the conveyor belt mechanism 11.
The control module 13 includes a control module body 131, a short pin 132, an insulating sheath 133, and a long pin 134. The short pins 132, the insulating sheath 133, and the long pins 134 are disposed under the control module body 131. The frame of the control module body 131 is welded to the bottom of the intelligent type wire harness collecting device frame 117.
After being inserted into the intelligent wire harness collection device 1, the wire harness 4 is directly transmitted to the pressing mechanism 12 below the intelligent wire harness collection device frame 117 through the transmission belt mechanism 11 for pressing.
The control module 13 has wireless signal transmission and motor control functions, and its fixing and power supply device is a short pin 132 and a long pin 134 below.
Two ends of a right belt pulley shaft 118 of a right belt pulley 115 on the right side of the intelligent type wire harness collecting device 1 are supported by a compression spring 119, so that the right belt pulley 115 has a rebound function, and the fact that the left conveying belt 112 and the right conveying belt 114 can clamp wire harnesses with different thicknesses is guaranteed.
After the industrial robot 5 drives the wire inserting and smoothing integrated manipulator 2 to insert the wire harness 4 into the intelligent wire harness collecting device 1, the wire harness 4 is driven by the conveyor motor 111 to transmit the wire harness 4 to the bottom wire harness accommodating groove through the left conveyor belt 112 and the right conveyor belt 114.
The flexible rubber shifting rods 1211 and the metal shifting rods 1212 on the front side and the rear side of the intelligent wire harness collecting device 1 are closed in turn to clamp the inserted wire harnesses 4 at different times, so that the wire harnesses 4 are prevented from falling off from the intelligent wire harness collecting device 1 when the wire inserting and smoothing integrated manipulator 2 performs smoothing on the wires.
After the wiring of the wire harness is finished and the adhesive tape is wound, the intelligent wire harness collecting device 1 receives a wireless signal instruction to simultaneously reverse the flexible rubber shifting rod 1211 and the metal shifting rod 1212 on the front side and the rear side and the left conveyor belt 112 and the right conveyor belt 114 above the flexible rubber shifting rod 1211 and the metal shifting rod 1212, and reversely send out the assembled whole wire harness, so that the finished product of the whole wire harness can be conveniently taken out.
The conveyor belt mechanism 11 includes three left and right pulleys 113 and 115, left and right conveyor belts 112 and 114, a left pulley shaft 110, a conveyor belt motor 111, a right pulley shaft 118, and a pressing spring 119.
The left conveyor belt 112 and the right conveyor belt 114 are respectively sleeved on three left pulleys 113 and three right pulleys 115. The left belt pulley 113 is in interference fit with the left belt pulley shaft 110, and the left belt pulley shaft 110 is in clearance fit with a hole of the intelligent type wire harness collection device frame 117, so that the left belt pulley 113 and the left belt pulley shaft 110 can freely rotate in a side hole of the intelligent type wire harness collection device frame 117.
The left pulley shaft 110 in the middle is welded with the output shaft of the conveyor belt motor 111 into a whole, and the conveyor belt motor 111 drives the left belt pulley 113 to rotate forward and backward.
The right pulley shaft 118 and the right pulley 115 are in interference fit, and are in clearance fit with the intelligent type wire harness collection device frame 117, so that the right pulley 115 is ensured to rotate flexibly, and the right pulley shaft 118 is prevented from being pulled out from two sides.
The three right pulley shafts 118 are pressed to the left by the six pressing springs 119, so that the left conveyor belt 112 can drive the right conveyor belt 114 to synchronously rotate by using the friction force between the belts when rotating, and the wiring harness 4 can be directly transmitted to the pressing mechanism 12 below the intelligent wiring harness collecting device frame 117 to be pressed after being inserted.
The cover plate 116 is welded to the smart-type wire harness collection device frame 117 to prevent 6 springs, such as the hold-down spring 119, from falling out.
The pressing mechanism 12 includes a rubber toggle 1211, a metal toggle 1212, a rear toggle pin 122, a front toggle pin 123, a front toggle transmission gear 124, a rear toggle transmission gear 127, a front toggle motor 125, a rear toggle motor 126, and an intermediate fixing pin 128.
The rubber driving rod 1211 of the pressing mechanism 12 is mounted on the metal driving rod 1212 in a vulcanization mode, and the elasticity of the rubber ensures that the wire harness is not damaged when being pressed. The left and right deflector rods are staggered front and back, so that hard interference is avoided when the left and right deflector rods rotate forward and backward.
Two middle fixing pins 128 of the pressing mechanism 12 are in clearance fit with the middle 4 gears on the front side and the rear side, and are in interference fit with the intelligent wire harness collecting device frame 117, so that the middle 4 gears on the front side and the rear side can normally rotate on the fixing pins.
The rear deflector rod pin 122 and the front deflector rod pin 123 are in interference fit with the metal deflector rod 1212 and the corresponding gear, and are in clearance fit with the frame 117 of the intelligent type wire harness collection device, so that the gear and the deflector rod rotate synchronously and are not interfered with the frame.
The rear deflector rod motor 126 and the front deflector rod motor 125 are both mounted on the intelligent wire harness collection device frame 117 by interference fit, which ensures that the motor housing remains stationary while the motor rotates, and the gear on the motor shaft rotates to drive other gears to rotate.
The double-layer strip power supply wiring board 3 includes a negative electrode panel 31, a positive electrode panel 32, and four insulating blocks 33, the four insulating blocks 33 being located at four corners between the negative electrode panel 31 and the positive electrode panel 32. The positive electrode panel 32 and the negative electrode panel 31 both adopt a multilayer wire mesh structure, and have the characteristic of electric conduction.
The long pins 134 are inserted into the double-layer strip power supply wiring board 3 and then contact the positive electrode panel 32, and the insulating sheath 133 ensures that the long pins 134 do not short-circuit when passing through the negative electrode panel 31. The stub pin 132 is inserted into the double-layer power supply wiring board 3 and then brought into contact with the negative electrode panel 31.
The wire plugging and smoothing integrated manipulator 2 is composed of a wire smoothing mechanism 21 and a wire plugging mechanism 22. The plug wire mechanism pin 227 is welded and fixed on the output shaft of the rotating motor 226, and is in interference fit with the plug wire mechanism base 221 and in clearance fit with the wire smoothing mechanism base 211. The housing of the rotating motor 226 is welded to the wire smoothing mechanism base 211, and the motor shaft thereof can drive the wire plugging mechanism 22 to rotate upward as a whole when rotating.
During wire smoothing, the movable claw 222 of the wire plugging mechanism is loosened, the whole mechanism rotates upwards by 70 degrees, and the wire plugging mechanism 22 is guaranteed not to interfere with the intelligent wire harness collecting device 1 during wire smoothing. When the wire is stroked, the movable claw 212 of the wire stroking mechanism 21 is released, but the anti-drop clip 216 is closed. After the wire is stroked in place, the wire plugging mechanism 22 rotates downwards by 70 degrees, the wire plugging mechanism movable claw 222 and the wire stroking mechanism movable claw 212 clamp the wire harness again at the same time, and the wire harness is driven by the industrial robot 5 to be inserted into the intelligent wire harness collecting device 1 of the next node at the corresponding position of the wire harness.
The wire smoothing mechanism 21 comprises a wire smoothing mechanism base 211, a wire smoothing mechanism moving claw 212, a wire smoothing moving claw motor 213, a wire smoothing moving claw stop block 214, a wire smoothing mechanism screw 215, an anti-falling clamping strip 216, an anti-falling clamping strip pin 217 and an anti-falling clamping strip motor 218.
The wire stroking movable claw stopper 214 and the wire stroking movable claw motor 213 are welded on the wire stroking mechanism base 211. The upper part of the movable claw 212 of the wire smoothing mechanism is matched with a screw 215 of the wire smoothing mechanism through threads. An output shaft of the wire stroking movable claw motor 213 is welded with a wire stroking mechanism screw 215 into a whole, and the positive and negative rotation of the wire stroking mechanism screw 215 is controlled by the motor.
The wire smoothing mechanism moving claw 212 is installed in a trapezoidal guide rail of the cross beam of the wire smoothing mechanism base 211, and the wire smoothing mechanism moving claw 212 moves in the trapezoidal guide rail of the cross beam of the wire smoothing mechanism base 211 along with the forward and reverse rotation of the wire smoothing mechanism screw 215.
The anti-falling clamping strip pin 217 is welded to the output end of the anti-falling clamping strip motor 218, is in interference fit with the anti-falling clamping strip 216, is in clearance fit with the wire smoothing mechanism base 211, and is controlled by the motor to rotate together with the anti-falling clamping strip pin 217. When the anti-falling clamping strip motor 218 drives the anti-falling clamping strip 216 to rotate upwards and close, the wire harness can be prevented from falling out of the wire smoothing mechanism 21 during wire smoothing.
The wire plugging mechanism 22 comprises a wire plugging mechanism base 221, a wire plugging mechanism moving claw 222, a wire plugging moving claw motor 223, a wire plugging moving claw stop block 224, a wire plugging mechanism screw rod 225, a rotating motor 226 and a wire plugging mechanism pin shaft 227.
The plug wire moving claw stopper 224, the plug wire moving claw motor 223 housing, and the rotating motor 226 housing are welded to the plug wire mechanism base 221. The wire plugging mechanism moving claw 222 is installed in a trapezoidal guide rail of a beam of the wire plugging mechanism base 221.
The wire plugging mechanism screw rod 225 is welded to the output end of the wire plugging movable claw motor 223, and the motor controls the forward and reverse rotation of the wire plugging mechanism screw rod 225.
The wire plugging mechanism moving claw 222 moves in the trapezoidal guide rail of the cross beam of the wire plugging mechanism base 221 along with the forward and reverse rotation of the wire plugging mechanism screw 225.
And a locking wire counterweight 6 is arranged below the wire harness 4.
The invention also provides a method for automatically assembling the automobile wire harness by using the mechanism, which comprises the following steps:
1) grabbing the wire harness: the industrial robot 5 drives the wire plugging and smoothing integrated manipulator 2 to reach the position of the wire harness 4, and the wire plugging mechanism moving claw 222 of the wire plugging mechanism 22 moves inwards to clamp the wire harness. The stroking mechanism movable claw 212 of the stroking mechanism 21 moves inward and clamps the wire harness. After the wire inserting mechanism 22 and the wire smoothing mechanism 21 simultaneously clamp the wire harness 4, the industrial robot 5 can drive the wire inserting and smoothing integrated manipulator 2 to move to perform the next wire inserting step.
2) Inserting wires: the wire plugging and smoothing integrated manipulator 2 reaches the position of an intelligent wire harness collecting device 1, where the head of a wire harness 4 is to be inserted, so that the intelligent wire harness collecting device 1 is just positioned in the middle of a wire smoothing mechanism 21 and a wire plugging mechanism 22 of the wire plugging and smoothing integrated manipulator 2, and the industrial robot 5 drives the wire plugging and smoothing integrated manipulator 2 to insert the wire harness 4 between a left conveyor belt 112 and a right conveyor belt 114 of the intelligent wire harness collecting device 1.
The wire insertion mechanism movable claws 222 of the wire insertion mechanism 22 move outward to release the clamped wire harness. The moving claw 212 of the wire smoothing mechanism 21 moves outwards to loosen the clamped wire harness, and meanwhile, the anti-falling strip clamping motor 218 of the wire smoothing mechanism 21 drives the anti-falling strip clamping 216 to rotate upwards to be in contact with the moving claw 212 of the wire smoothing mechanism, so that a cavity is formed to prevent the wire harness from falling off.
The wire plugging mechanism 22 integrally rotates upwards by 70 degrees, so that the wire plugging and stroking integrated manipulator 2 is prevented from interfering with the intelligent wire harness collecting device 1 when moving.
3) Fixing the wire harness: after the control module 13 of the intelligent type wire harness collection device 1 receives the wireless control signal for the device, the conveyor belt motor 111 is controlled to rotate to transmit the wire harness 4 between the left conveyor belt 112 and the right conveyor belt 114 to the bottom.
The metal deflector 1212 and the rubber deflector 1211 above the metal deflector 1212 at the front side of the pressing mechanism 12 are closed inwards to tightly press the wire harness 4 which is transmitted to the bottom, so that the wire harness is prevented from being drawn out when the wire plugging and stroking integrated manipulator 2 performs stroking on the wire. The metal deflector 1212 and the rubber deflector 1211 located above the metal deflector 1212 on the rear side of the pressing mechanism 12 are opened upward to press the next incoming wire harness 4.
4) Wire smoothing: after the step 2), the wire smoothing mechanism moving claw 212 of the wire smoothing mechanism 21 is loosened, a rectangular cavity is formed among the wire harness anti-drop clip 216, the wire smoothing mechanism moving claw 212 and the wire smoothing mechanism base 211, and the wire harness can freely slide in the rectangular cavity when the wire plugging and smoothing integrated manipulator 2 moves, so that the wire smoothing is convenient. The industrial robot 5 drives the wire plugging and smoothing integrated manipulator 2 to reach the position of the intelligent wire harness collecting device which needs wire plugging next to the wire harness.
5) Completing wire plugging of the wire harness in other intelligent wire harness collection devices: and (3) rotating the wire plugging mechanism 22 downwards by 70 degrees, simultaneously clamping the wire plugging mechanism 22 and the wire smoothing mechanism 21, and repeating the wire plugging, wire harness fixing and wire smoothing actions of the steps 2) to 4) until all nodes of the wire harness are arranged at the position of the intelligent wire harness collecting device corresponding to the wiring board.
6) And repeating the steps 1) to 5) to finish the wire plugging work of the next wire harness on the wiring board.
7) After all the wiring harnesses are plugged, the remaining adhesive tape winding and the wiring harnesses at specific positions are welded by manual work, the remaining plug connectors are plugged, and the like, all the intelligent wiring harness collecting devices 1 on the double-layer power supply wiring board 3 receive reverse wireless signals at the same time, and the front deflector rod motor 125 and the rear deflector rod motor 126 rotate in the reverse direction to drive the deflector rods to pull out the wiring harnesses to the position of the conveying belt. The conveyor motor 111 of the conveyor mechanism 11 also rotates in the reverse direction to convey the assembled wire harness out, and the wire harness product is taken off line.
According to the wire harness collecting device, the industrial robot is matched with the wire plugging and stroking integrated manipulator, the wire harness in the previous process is grabbed, and the wire harness is automatically inserted into the intelligent wire harness collecting device at different positions on the wiring board according to the pre-arranged wire harness assembling structure of the wire harness production process. And repeatedly grabbing the next wire harness semi-finished product with various plug connectors inserted therein and carrying out wire plugging operation until all corresponding nodes of the wire harness semi-finished product are inserted into the corresponding intelligent wire harness collecting devices. The problems of high labor intensity, high labor cost, high interference of human factors, poor product consistency and the like in the manual assembly process of the automobile wire harnesses at home and abroad at present are solved through automatic operation. The automatic wire plugging and smoothing device can realize automatic wire plugging and smoothing of various wire harnesses with inserted plug connectors during wire harness production final assembly, improve production efficiency, reduce production cost and improve product quality consistency.
The above-described embodiments of the invention are intended to be illustrative only and are not intended to be limiting, as all changes that come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (10)
1. A mechanism for automobile wire harness automatic assembly is characterized in that: the wire inserting and stroking integrated machine comprises an intelligent wire harness collecting device (1), a wire inserting and stroking integrated mechanical arm (2), a double-layer power supply wiring board (3), an industrial robot (5) and a check wire counterweight (6); the intelligent wire harness collecting device (1) is inserted into a double-layer strip power supply wiring board (3), the double-layer strip power supply wiring board (3) is obliquely arranged at the front end of an industrial robot (5), a wire plugging and smoothing integrated mechanical arm (2) is arranged at the front end of the industrial robot (5), a wire smoothing mechanism (21) and a wire plugging mechanism (22) at the front end of the wire plugging and smoothing integrated mechanical arm (2) jointly grab a wire harness (4) which is already plugged with various plug connectors on a front-process automatic production line, the wire harness collecting device is automatically inserted into the intelligent wire harness collecting device (1) at different positions on the double-layer strip power supply wiring board (3) according to a wire harness production process, and a next wire harness (4) is repeatedly grabbed and subjected to wire plugging and wire smoothing operation until all nodes of the wire harness (4) are all inserted into the corresponding intelligent wire harness collecting device (1).
2. The mechanism for automatic assembling of automotive wire harness according to claim 1, characterized in that: the intelligent wire harness collection device (1) comprises an intelligent wire harness collection device frame (117), a conveyor belt mechanism (11), a pressing mechanism (12) and a control module (13); the conveying belt mechanism (11) and the pressing mechanism (12) are arranged on the intelligent type wire bundle collecting device frame (117), and the pressing mechanism (12) is arranged below the conveying belt mechanism (11); the control module (13) comprises a control module body (131), a short pin (132), an insulating sheath (133) and a long pin (134); the short pin (132), the insulating sheath (133) and the long pin (134) are arranged below the control module body (131); the frame of the control module body (131) is welded with the bottom of the intelligent wire bundle collecting device frame (117) into a whole; after being inserted into the intelligent wire harness collection device (1), the wire harness (4) is directly transmitted to a pressing mechanism (12) below an intelligent wire harness collection device frame (117) through a conveying belt mechanism (11) for pressing; the control module (13) has wireless signal transmission and motor control functions, and the fixing and power supply device is a short pin (132) and a long pin (134) at the lower part; two ends of a right belt pulley shaft (118) of a right belt pulley (115) on the right side of the intelligent wire harness collecting device (1) are propped by a pressing spring (119), so that the right belt pulley (115) has a rebounding function, and a left conveying belt (112) and a right conveying belt (114) can clamp wire harnesses with different thicknesses; after the industrial robot (5) drives the wire inserting and smoothing integrated manipulator (2) to insert the wire harness (4) into the intelligent wire harness collecting device (1), the wire harness (4) is driven by the conveyor belt motor (111) to transmit the wire harness (4) to the bottom wire harness collecting groove through the left conveyor belt (112) and the right conveyor belt (114); the flexible rubber driving rods (1211) and the metal driving rods (1212) on the front side and the rear side of the intelligent wire harness collecting device (1) are closed in turn to clamp the wire harnesses (4) inserted at different times, so that the wire harnesses (4) are prevented from falling off from the intelligent wire harness collecting device (1) when the wire inserting and smoothing integrated manipulator (2) smoothes wires; after wiring of the wire harness is finished and the adhesive tape is wound, the intelligent wire harness collecting device (1) receives a wireless signal instruction to simultaneously reverse the flexible rubber deflector rod (1211) and the metal deflector rod (1212) on the front side and the back side and the left conveyor belt (112) and the right conveyor belt (114) above the flexible rubber deflector rod and the metal deflector rod, and the whole assembled wire harness is reversely sent out, so that the finished product of the whole wire harness can be conveniently taken out.
3. The mechanism for automatic assembling of automotive wire harness according to claim 2, characterized in that: the conveying belt mechanism (11) comprises three left belt pulleys (113) and three right belt pulleys (115), a left conveying belt (112) and a right conveying belt (114), a left belt pulley shaft (110), a conveying belt motor (111), a right belt pulley shaft (118) and a pressing spring (119); the left transmission belt (112) and the right transmission belt (114) are respectively sleeved on the three left belt pulleys (113) and the three right belt pulleys (115); the left belt pulley (113) is in interference fit with the left belt pulley shaft (110), and the left belt pulley shaft (110) is in clearance fit with a hole of the intelligent wire harness collection device frame (117), so that the left belt pulley (113) and the left belt pulley shaft (110) can freely rotate in a side hole of the intelligent wire harness collection device frame (117); the left belt pulley shaft (110) positioned in the middle is welded with the output shaft of the conveyor belt motor (111) into a whole, and the conveyor belt motor (111) drives the left belt pulley (113) to rotate forward and backward; the right pulley shaft (118) is in interference fit with the right pulley (115) and is in clearance fit with the intelligent type wire harness collection device frame (117), so that the right pulley (115) is ensured to rotate flexibly, and the right pulley shaft (118) is prevented from being separated from two sides; the three right belt wheel shafts (118) are pressed to the left by six pressing springs (119), so that the left conveyor belt (112) can drive the right conveyor belt (114) to synchronously rotate by using friction force between the belts when rotating, and the situation that the wiring harness (4) can be directly transmitted to the pressing mechanism (12) below the intelligent wiring harness collecting device frame (117) to be pressed after being inserted is ensured.
4. The mechanism for automatic assembling of automotive wire harness according to claim 2, characterized in that: the pressing mechanism (12) comprises a rubber deflector rod (1211), a metal deflector rod (1212), a rear deflector rod pin (122), a front deflector rod pin (123), a front deflector rod transmission gear (124), a rear deflector rod transmission gear (127), a front deflector rod motor (125), a rear deflector rod motor (126) and a middle fixing pin (128); a rubber driving lever (1211) of the pressing mechanism (12) is arranged on the metal driving lever (1212) in a vulcanization mode, and the elasticity of the rubber ensures that the wiring harness is not damaged when being pressed; the left deflector rod and the right deflector rod are staggered front and back, so that hard interference is avoided when the left deflector rod and the right deflector rod rotate forward and backward; two middle fixing pins (128) of the pressing mechanism (12) are in clearance fit with four gears in the middle of the front side and the rear side, and are in interference fit with the intelligent wire harness collecting device frame (117), so that the four gears in the middle of the front side and the rear side can normally rotate on the fixing pins; the rear shifting rod pin (122) and the front shifting rod pin (123) are in interference fit with the metal shifting rod (1212) and the corresponding gear, and are in clearance fit with the intelligent type wire harness collection device frame (117), so that the gear and the shifting rod can synchronously rotate and cannot interfere with the frame; the rear deflector rod motor (126) and the front deflector rod motor (125) are both arranged on the intelligent wire harness collection device frame (117) in an interference fit mode, so that the motor shell is kept still when the motors rotate, and the gears on the motor shafts rotate to drive other gears to rotate.
5. The mechanism for automatic assembling of automotive wire harness according to claim 1, characterized in that: the double-layer power supply wiring board (3) comprises a negative electrode panel (31), a positive electrode panel (32) and four insulating blocks (33), wherein the four insulating blocks (33) are positioned at four corners between the negative electrode panel (31) and the positive electrode panel (32); the positive electrode panel (32) and the negative electrode panel (31) both adopt a multi-layer wire mesh structure and have the characteristic of electric conduction; the long pin (134) is inserted into the double-layer wiring board (3) with power supply and then is contacted with the positive panel (32), and meanwhile, the insulating sheath (133) ensures that the long pin (134) does not generate short circuit when passing through the negative panel (31); the short pin (132) is inserted into the double-layer power supply wiring board (3) and then contacts the negative electrode panel (31).
6. The mechanism for automatic assembling of automotive wire harness according to claim 1, characterized in that: the wire plugging and smoothing integrated manipulator (2) is composed of a wire smoothing mechanism (21) and a wire plugging mechanism (22); a wire plugging mechanism pin shaft (227) is welded and fixed on an output shaft of the rotating motor (226), is in interference fit with a wire plugging mechanism base (221), and is in clearance fit with a wire smoothing mechanism base (211); the shell of the rotating motor (226) is welded on the wire smoothing mechanism base (211), and the motor shaft of the rotating motor can drive the wire plugging mechanism (22) to integrally rotate upwards when rotating; the movable claw (222) of the wire plugging mechanism is loosened during wire smoothing, the mechanism integrally rotates upwards by 70 degrees, and the wire plugging mechanism (22) is ensured not to interfere with the intelligent wire harness collecting device (1) during wire smoothing; when in wire stroking, the movable claw (212) of the wire stroking mechanism (21) is loosened, but the anti-drop clamping strip (216) is closed; after the wire is stroked in place, the wire inserting mechanism (22) rotates downwards by 70 degrees, the wire inserting mechanism moving claw (222) and the wire stroking mechanism moving claw (212) clamp the wire harness again at the same time, and the wire harness is driven by the industrial robot (5) to be inserted into the intelligent wire harness collecting device (1) of the next node at the corresponding position of the wire harness.
7. The mechanism for automatic assembling of automotive wire harness according to claim 6, characterized in that: the wire smoothing mechanism (21) comprises a wire smoothing mechanism base (211), a wire smoothing mechanism moving claw (212), a wire smoothing moving claw motor (213), a wire smoothing moving claw stop block (214), a wire smoothing mechanism screw rod (215), an anti-falling clamping strip (216), an anti-falling clamping strip pin (217) and an anti-falling clamping strip motor (218); a wire stroking movable claw stop block (214) and a wire stroking movable claw motor (213) shell are welded on a wire stroking mechanism base (211); the upper part of the movable claw (212) of the wire smoothing mechanism is matched with a screw rod (215) of the wire smoothing mechanism through threads; an output shaft of the wire stroking movable claw motor (213) is welded with a wire stroking mechanism screw rod (215) into a whole, and the motor controls the forward and reverse rotation of the wire stroking mechanism screw rod (215); the wire smoothing mechanism moving claw (212) is arranged in a trapezoidal guide rail of a cross beam of a wire smoothing mechanism base (211), and the wire smoothing mechanism moving claw (212) moves in the trapezoidal guide rail of the cross beam of the wire smoothing mechanism base (211) along with the forward and reverse rotation of a wire smoothing mechanism screw rod (215); the anti-falling clamping strip pin (217) is welded to the output end of the anti-falling clamping strip motor (218), is in interference fit with the anti-falling clamping strip (216), is in clearance fit with the wire smoothing mechanism base (211), and is controlled by the motor to rotate together with the anti-falling clamping strip pin (217); when the anti-falling clamping strip motor (218) drives the anti-falling clamping strip (216) to rotate upwards and close, the wire harness can be prevented from falling out of the wire smoothing mechanism (21) during wire smoothing.
8. The mechanism for automatic assembling of automotive wire harness according to claim 6, characterized in that: the wire plugging mechanism (22) comprises a wire plugging mechanism base (221), a wire plugging mechanism moving claw (222), a wire plugging moving claw motor (223), a wire plugging moving claw stop block (224), a wire plugging mechanism screw rod (225), a rotating motor (226) and a wire plugging mechanism pin shaft (227); the plug wire moving claw stop block (224), the plug wire moving claw motor (223) shell and the rotating motor (226) shell are welded and installed on the plug wire mechanism base (221); the wire plugging mechanism moving claw (222) is arranged in a trapezoidal guide rail of a cross beam of a wire plugging mechanism base (221); the wire plugging mechanism screw rod (225) is welded to the output end of the wire plugging movable claw motor (223), and the motor controls the positive and negative rotation of the wire plugging mechanism screw rod (225); the movable claw (222) of the wire plugging mechanism moves in the trapezoidal guide rail of the cross beam of the wire plugging mechanism base (221) along with the forward and reverse rotation of the wire plugging mechanism screw rod (225).
9. The mechanism for automatic assembling of automotive wire harness according to any one of claims 1 to 8, characterized in that: an anti-loosening counterweight (6) is arranged below the wire harness (4).
10. A method for automatically assembling an automotive wiring harness using the mechanism of any one of claims 1 to 9, characterized in that: the method comprises the following steps:
1) grabbing the wire harness: an industrial robot (5) drives a wire plugging and smoothing integrated manipulator (2) to reach the position of a wire harness (4), and a wire plugging mechanism moving claw (222) of a wire plugging mechanism (22) moves inwards to clamp the wire harness; a wire smoothing mechanism moving claw (212) of the wire smoothing mechanism (21) moves inwards and clamps a wire harness; after the wire inserting mechanism (22) and the wire smoothing mechanism (21) simultaneously clamp the wire harness (4), the industrial robot (5) can drive the wire inserting and smoothing integrated manipulator (2) to move to perform the next wire inserting step;
2) inserting wires: the wire inserting and smoothing integrated manipulator (2) reaches the position of an intelligent wire harness collecting device (1) where the head of a wire harness (4) is to be inserted, so that the intelligent wire harness collecting device (1) is just positioned in the middle of a wire smoothing mechanism (21) and a wire inserting mechanism (22) of the wire inserting and smoothing integrated manipulator (2), and the industrial robot (5) drives the wire inserting and smoothing integrated manipulator (2) to insert the wire harness (4) between a left conveyor belt (112) and a right conveyor belt (114) of the intelligent wire harness collecting device (1);
the movable claw (222) of the wire plugging mechanism (22) moves outwards to loosen the clamped wire harness; the wire smoothing mechanism moving claw (212) of the wire smoothing mechanism (21) moves outwards to loosen the clamped wire harness, and meanwhile, the anti-falling strip clamping motor (218) of the wire smoothing mechanism (21) drives the anti-falling strip clamping (216) to rotate upwards to be in contact with the wire smoothing mechanism moving claw (212), so that a cavity is formed to prevent the wire harness from falling off;
the wire plugging mechanism (22) integrally rotates upwards by 70 degrees, so that the wire plugging and smoothing integrated manipulator (2) is prevented from interfering with the intelligent wire harness collecting device (1) when moving;
3) fixing the wire harness: after a control module (13) of the intelligent wire harness collection device (1) receives a wireless control signal aiming at the device, a conveyor belt motor (111) is controlled to rotate to transmit a wire harness (4) between a left conveyor belt (112) and a right conveyor belt (114) to the bottom;
a metal deflector rod (1212) on the front side of the pressing mechanism (12) and a rubber deflector rod (1211) above the metal deflector rod are closed inwards to firmly press the wire harness (4) transmitted to the bottom, so that the wire harness is prevented from being drawn out when the wire plugging and smoothing integrated manipulator (2) performs smoothing; a metal deflector rod (1212) at the rear side of the pressing mechanism (12) and a rubber deflector rod (1211) above the metal deflector rod are opened upwards so as to press the next incoming wire harness (4);
4) wire smoothing: after the step 2), a wire smoothing mechanism moving claw (212) of the wire smoothing mechanism (21) is loosened, a rectangular cavity is formed among the wire harness anti-falling and anti-falling clamping strip (216), the wire smoothing mechanism moving claw (212) and a wire smoothing mechanism base (211), and the wire harness can freely slide in the rectangular cavity when the wire plugging and smoothing integrated manipulator (2) moves, so that the wire smoothing is convenient; the industrial robot (5) drives the wire plugging and smoothing integrated manipulator (2) to reach the position of the intelligent wire harness collecting device needing wire plugging next to the wire harness;
5) completing wire plugging of the wire harness in other intelligent wire harness collection devices: the wire plugging mechanism (22) rotates downwards by 70 degrees, the wire plugging mechanism (22) and the wire smoothing mechanism (21) are clamped simultaneously, and the wire plugging, wire harness fixing and wire smoothing actions in the steps 2) to 4) are repeated until all nodes of the wire harness are arranged at the position of the intelligent wire harness collecting device corresponding to the wiring board;
6) repeating the steps 1) to 5) to finish the wire plugging work of the next wire harness on the wiring board;
7) after all wiring harness plugging is completed, the rest adhesive tape winding and the wiring harness ultrasonic welding at a specific position are completed manually, the rest plug connectors are plugged, and the like, all intelligent wiring harness collecting devices (1) on the double-layer power supply wiring board (3) receive reverse rotation wireless signals at the same time, and the front deflector rod motor (125) and the rear deflector rod motor (126) rotate reversely to drive the deflector rods to pull out the wiring harnesses to the position of the conveying belt; and a conveyor motor (111) of the conveyor mechanism (11) also rotates reversely to convey the assembled wire harness out, and the wire harness product is off-line.
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| CN202110522104.9A CN113118730B (en) | 2021-05-13 | 2021-05-13 | Mechanism and method for automatically assembling automobile wire harness |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110522104.9A CN113118730B (en) | 2021-05-13 | 2021-05-13 | Mechanism and method for automatically assembling automobile wire harness |
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| CN115133463A (en) * | 2022-08-01 | 2022-09-30 | 中国重汽集团济南动力有限公司 | Quick wiring mechanism of car pencil |
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|---|---|
| CN113118730B (en) | 2022-05-03 |
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