KR20230099729A - Robot and vision based automation system for wiring harness inspecting and packaging - Google Patents

Abstract

A robot and vision-based wiring harness inspection and packaging automation system is provided. In one embodiment, a tray accommodating a housing and a wiring harness including one or more wires at predetermined intervals; a tray arranging unit in which the tray is installed at a preset position and an inspection product transfer unit for taking out the wiring harness loaded on the tray is disposed; A conveyor belt for transporting the wiring harness and a jig for housing seating installed on an upper surface of the conveyor belt are included, and the housing of the wiring harness transferred from the tray by the inspection product transfer unit is seated on the housing seating jig. a wiring harness conveying facility for moving the wiring harness by driving the conveyor belt after the conveyor belt is driven; a tension inspection unit disposed above the wiring harness transfer facility to automatically perform a tension inspection of the wiring harness; a vision inspection unit disposed on one side of an upper portion of the wiring harness transport facility to be spaced apart from the tension inspection unit by a predetermined distance, and automatically inspecting the wiring harness for incorrect wiring; a marking unit disposed on the one side of an upper part of the wiring harness transport facility to be spaced apart from the vision inspection unit by a predetermined distance, and marking lot information on the wiring harness; The wiring harness disposed on the one side of the upper part of the wiring harness transfer facility so as to be spaced apart from the marking unit by a predetermined distance and satisfying a predetermined criterion based on the inspection results of the tension inspection unit and the vision inspection unit. a determination unit including a defect transfer unit for passing the wiring harness that does not satisfy the preset standard in a state of being seated on the housing mounting jig, and taking out the housing mounting jig from the housing mounting jig; and a loading unit in which a good product transfer unit is disposed to take out the wiring harness that has passed through the determination unit from the jig for mounting the housing, and then transport and load the wiring harness into a packing box.

Description

Robot and vision-based wiring harness inspection and packaging automation system {ROBOT AND VISION BASED AUTOMATION SYSTEM FOR WIRING HARNESS INSPECTING AND PACKAGING}

The present invention relates to a wiring harness inspection and packaging automation system, and more particularly, to an inspection and packaging process automation system using robots and vision.

A wiring harness is a component that serves as a connector that transmits and receives electrical signals of electrical and electronic products. The composition of the wiring harness consists of a copper wire covered with polyvinyl chloride, a crimping terminal made of tin-plated oxygen-free copper, a housing made of polyethylene, TPA made of polypropylene, sponge foam made of polyurethane, insulation tube, insulation tape, It consists of a cotton tape, a ferrite core, a polypropylene support housing, and a temperature and photo sensor.

Manufacturing of the wiring harness is mostly carried out by hand, and since it is composed of various parts as described above and has a high assembly defect, a lot of time and personnel are put into product inspection.

Wiring harnesses that have been assembled are thoroughly inspected by humans for wire misconnection, terminal contacts, wires not inserted, incorrectly inserted, and TPA omitted, and the products that have been inspected are packed. For example, wire misconnection inspection uses a camera to check the color of the wire, terminal contact inspection requires a person to pull it by hand to check if it is disconnected, and inspection completed product packaging requires a person to separately wrap twice. do. There is a problem in that efficiency is lowered due to the inspection process performed manually as described above and human error is caused by humans. For example, a wiring harness for a large compressor requires 16 seconds or more of pure inspection time per product, so productivity is low, and there is a risk of not detecting defects because it relies on visual inspection.

In addition, there is a problem in that unnecessary packaging costs (time, labor costs) are additionally generated because the inspected products undergo secondary packaging separately through primary packaging.

The present invention is to solve the above problems, and provides a robot/vision-based wiring harness inspection/packaging automation system to secure the efficiency of the inspection process and prevent human errors.

The present invention includes a housing and a tray in which a wiring harness including one or more wires is accommodated at predetermined intervals; a tray arranging unit in which the tray is installed at a preset position and an inspection product transfer unit for taking out the wiring harness loaded on the tray is disposed; A conveyor belt for transporting the wiring harness and a jig for housing seating installed on an upper surface of the conveyor belt are included, and the housing of the wiring harness transferred from the tray by the inspection product transfer unit is seated on the housing seating jig. a wiring harness conveying facility for moving the wiring harness by driving the conveyor belt after the conveyor belt is driven; a tension inspection unit disposed above the wiring harness transfer facility to automatically perform a tension inspection of the wiring harness; a vision inspection unit disposed on one side of an upper portion of the wiring harness transport facility to be spaced apart from the tension inspection unit by a predetermined distance, and automatically inspecting the wiring harness for incorrect wiring; a marking unit disposed on the one side of an upper part of the wiring harness transport facility to be spaced apart from the vision inspection unit by a predetermined distance, and marking lot information on the wiring harness; The wiring harness disposed on the one side of the upper part of the wiring harness transfer facility so as to be spaced apart from the marking unit by a predetermined distance and satisfying a predetermined criterion based on the inspection results of the tension inspection unit and the vision inspection unit. a determination unit including a defect transfer unit for passing the wiring harness that does not satisfy the preset standard in a state of being seated on the housing mounting jig, and taking out the housing mounting jig from the housing mounting jig; and a loading unit in which a good product transfer unit is disposed that takes out the wiring harness that has passed through the determination unit from the jig for mounting the housing, transfers it to a packaging box, and loads the wiring harness; robots and vision-based wiring harness inspection and packaging automation provide the system.

According to one embodiment of the present invention, the tension test of the wiring harness can be automatically performed.

According to one embodiment of the present invention, a wiring harness inspection for incorrect wiring can be automatically performed through a vision inspection.

According to an embodiment of the present invention, the reliability of parts and the efficiency of the inspection process can be improved through automatic inspection, thereby increasing production volume.

According to one embodiment of the present invention, a wiring harness may be automatically introduced into an inspection process and a packaging process using a robot.

According to an embodiment of the present invention, human error can be prevented through robot-based job operation and inspection operation.

1 is a conceptual diagram of a robot and a vision-based wiring harness inspection and packaging automation system according to an embodiment of the present invention.
2 shows a tray loading unit and a tray aligning unit according to an embodiment of the present invention.
3 and 4 show a part of an automatic inspection facility according to an embodiment of the present invention.
5a and 5b show a robot gripper according to an embodiment of the present invention.
6 shows a housing of a wiring harness according to an embodiment of the present invention.
7 shows a housing mounting jig and a push pin for tensile testing according to an embodiment of the present invention.
8 shows a tray according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention are described in detail. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, but only the present embodiments make the disclosure of the present invention complete and provide the content of the present invention to those skilled in the art. It is provided to inform you more completely.

In this specification, when an element is referred to as being positioned 'above' or 'below' another element, this means that the element is positioned directly 'above' or 'below' another element, or an additional element is present between them. It includes all meanings that can be intervened.

In this specification, when an element is referred to as being located on the 'left' or 'right' of another element, this means that the one element is directly located on the 'left' or 'right' of another element, or an additional element is present between them. It includes all meanings that can be intervened.

In this specification, the term 'upper' or 'lower' is a relative concept established from the observer's point of view, and if the observer's point of view changes, 'upper' may mean 'lower', and 'lower' may mean 'upper' could mean

In this specification, the term 'automatic' includes movement without human intervention or movement of equipment by indirect control rather than direct physical force applied by a human or operator.

Hereinafter, the present invention will be described in detail with reference to the drawings.

1 is a conceptual diagram of a robot and a vision-based wiring harness inspection and packaging automation system according to an embodiment of the present invention.

Referring to FIG. 1, a robot and vision-based wiring harness inspection and packaging automation system according to an embodiment of the present invention includes an automatic inspection facility 10, an operating system 20, and a production management system unit (hereinafter, ' MES unit') 30, enterprise resource management and cloud server (hereinafter referred to as 'ERP and cloud server') 40, and a user terminal 50.

The automatic inspection facility 10 includes a tray loading unit 100, a tray arranging unit 200, a wiring harness transfer facility 300, a tensile inspection unit 400, a vision inspection unit 500, a marking unit 600, and a determination unit. 700, a good product loading unit 800, and a packaging unit 900.

The tray loading unit 100 functions to store trays in which wiring harnesses composed of housings and wires are accommodated at predetermined intervals and to transfer the trays to the tray arranging unit 200 .

The tray arranging unit 200 may align the trays transported by the tray loading unit 100, take out the wiring harness accommodated in the tray, and transport it to the wiring harness transfer facility 300. At this time, the tray from which the wiring harness is taken out may be taken out from the tray arranging unit 200 to the tray recovery unit 201 and automatically collected.

The wiring harness transport facility 300 may be configured such that the wiring harness taken out from the tray arranging unit 200 is seated and transported along a conveyor belt.

In addition, a tension inspection unit 400, a vision inspection unit 500, a marking unit 600, and a judgment unit 700 are sequentially disposed in the wiring harness transport facility 300, so that the wiring harness moving along the conveyor belt It can judge tensile inspection, vision inspection, marking of manufacturing information, and pass/fail.

The determination unit 700 determines pass/fail based on the information of the wiring harness inspected by the tensile inspection unit 400 and the vision inspection unit 500, and then the passing product is the conveyor of the wiring harness transport facility 300. It moves along the belt, and the defective products are taken out from the wiring harness transfer facility 300 and transferred to the defective loading unit 701.

In the non-defective product loading unit 800 , the wiring harness, which is a passable product passing through the determination unit 700 , is transferred to the non-defective product loading unit 800 and loaded into a packaging box provided in the non-defective product loading unit 800 .

The packaging unit 900 transfers the packaging box loaded with the wiring harness from the good product loading unit 800 and wraps the box, such as taping the box.

Signals and data generated from parts constituting the automatic inspection facility 10 can be transmitted to the operating system 20 through a wired/wireless network, and signals and data generated by the operating system 20 are transmitted to the automatic inspection facility 10 ) can be transmitted to all parts constituting the automatic inspection facility 10 through wired/wireless networks. Accordingly, the parts constituting the automatic inspection facility 10 are automatically operated by the operating system 20 to increase process efficiency.

Signals and data of the automatic inspection facility 10 transmitted to the operating system 20 can be visually output to the operator through the operation panel (OP Panel) 21. In addition, signals and data can be transmitted to the operating system 20 through the operating panel 21, so that the operator manipulates the operating panel 21 as needed to operate the automatic inspection facility 10 through the operating system 20. It is possible to increase work efficiency by controlling the constituent parts.

Among the signals and data transmitted to the operating system 20 , the data transmitted to the vision inspection unit 500 may be output through the vision monitor 22 and posted to the operator.

The operating system 20 can transmit signals and data transmitted from the automatic inspection facility 10 to the server 31 of the MES unit 30 through wired/wireless networks through proper processing, and the Data collected by the server 31 may be stored in the database 32 of the MES unit 30 .

Data collected in the MES unit 30 can be moved through ERP and cloud server 40 and user terminal 50 and wired/wireless networks, and automatically through ERP and cloud server 40 and user terminal 50 Data generated in the inspection facility 10 can be confirmed and utilized.

2 shows a tray loading unit and a tray aligning unit according to an embodiment of the present invention.

Referring to FIG. 2 , the tray loading unit 100 may include a space in which the tray 2 is loaded, and the tray 2 may be disposed on the tray loading unit lift 130 .

For example, a space in which trays 2 accommodating wiring harnesses composed of housings and electric wires at predetermined intervals can be stacked in multiple stages may be formed in the tray loading unit 100 . At this time, a tray loading part lift 130 may be disposed in the lower part of the space, and a structure in which the trays 2 are stacked in multiple stages on the loading part lift 130 may be applied.

In addition, the tray loading unit 100 has tray loading unit wheels 120 installed at the bottom thereof, so that a large number of multi-tiered trays 2 in which the wiring harnesses are accommodated can be stored and transported efficiently.

In addition, the tray loading unit 100 may further include a tray transfer unit 110 provided above the tray loading unit 100 to transfer the multi-stacked trays 2 one by one.

For example, as the tray transfer unit 110, vacuum pressure of suction or a robot with tongs capable of holding the tray 2 is applied, and the tray is moved to the tray loading unit without the need for a worker to manually transfer the tray 2. It can be transported from (100) to a desired area, so work efficiency and productivity can be increased.

For example, the robot may automatically move horizontally and vertically through the tray transfer unit horizontal rail 111 and the tray transfer unit vertical rail 112 .

The tray loading unit lift 130 may be raised and lowered by a lift motor 140 mounted on the tray loading unit 100 . For example, when the tray 2 disposed at the top among the trays 2 stacked in multiple stages is taken out by the tray transfer unit 110, the tray loading unit lift 130 rises and the robot lifts the tray 2. It can be driven to take out.

The tray 2 transferred from the tray loading unit 100 by the tray transfer unit 110 may be seated at a preset position of the tray arranging unit 200 and then fixed. At this time, the tray 2 seated at a preset position of the tray arranging unit 200 may be fixed by a suction of the tray arranging unit 200 or a clamp fixing the tray 2 so as not to move by external force. there is.

3 and 4 show a part of an automatic inspection facility according to an embodiment of the present invention.

Referring to FIGS. 3 and 4 , the tray arranging unit 200 , the wiring harness transport facility 300 , and the good product stacking unit 800 may be sequentially arranged in a line.

The tray arranging unit 200 may further include a test item transfer unit 210 provided above the tray arranging unit 200 to take out the wiring harness accommodated in the tray 2 fixed at a preset position.

For example, the inspection item transfer unit 210 guides the robot gripper (FIG. 5A, 3) to be described later, for example, in FIG. 5A, to move in the horizontal and vertical directions in order to take out the wiring harness. 211 and a vertical rail 212 for conveying the inspection product may be further included. At this time, after the robot tongs ( FIGS. 5A and 3 ) automatically take out the wiring harness from the tray 2 , the wiring harness may be transported to the next step.

The wiring harness transported from the tray arranging unit 200 by the inspection product transfer unit 210 may be seated on the conveyor belt 301 above the wiring harness transfer facility 300 . Accordingly, the wiring harness can be automatically moved within the wiring harness transfer facility 300 by driving the conveyor belt 301 .

For example, as shown in FIG. 7 to be described later, the wiring harness housing may be seated on a housing mounting jig (FIG. 7, 310) attached to the conveyor belt 301. Accordingly, the wiring harness can be moved by driving the conveyor belt 301 while being fixed to the housing mounting jig 310 .

A tensile inspection unit 400, a vision inspection unit 500, a marking unit 600, and a determination unit 700 may be sequentially disposed on one side of the upper portion of the wiring harness transfer facility 300.

For example, as shown in FIG. 7 to be described later, the tensile inspection unit 400 includes a push pin driver (FIG. 7, 410) and a push pin (FIG. 7, 411) operated by the push pin driver (FIG. 7, 410). can include

For example, when the housing of the wiring harness is seated on the housing mounting jig 310 and then fixed to reach the position of the push pin driving unit 410 of the tensile test unit 400, the push pin driving unit (FIG. 7, 410) drives the push pin (FIG. 7, 411) to automatically check whether the wire terminal (FIG. 6, 1g) of FIG. 6 to be described later is mounted in the housing hole (FIG. 6, 1F) with a bonding force greater than a predetermined level, As in the prior art, it is possible to automatically check the inspection result of the product without evaluating the bonding force between the wiring harness and the wire with the operator's senses, thereby preventing human errors and increasing the reliability of quality.

For example, the vision inspection unit 500 includes a camera sensor capable of determining the color and position of one or more wires coupled to the housing of the wiring harness, and the colors and the wires coupled to the harness are Incorrect connection inspection can be performed by checking the arrangement type coupled to the housing.

In addition, a vision monitor that outputs an image detected by the camera sensor is further included, so that the operator can monitor the inspection and determination that is automatically performed in the vision inspection unit, so that the operator does not directly visually check the wiring harness, so that the quality of the product is maintained. Since the status and inspection results can be checked, human error can be prevented and the reliability of quality can be increased.

For example, the determination unit 700 is disposed in the following order of the tension inspection unit 400 and the vision inspection unit 500, so that the wire terminal (FIG. 6, 1g) in the wiring harness tension inspection unit 400 is the housing Incorrect wiring inspection to determine whether the hole (FIG. 6, 1f) is mounted with a bonding force of a predetermined value or not, and the color of the wire coupled to the harness in the vision inspection unit 500 and the arrangement shape in which the wire is coupled to the housing Pass/fail judgment data according to the result may be delivered.

Accordingly, the determination unit 700 passes the passing product wiring harness according to the movement of the conveyor belt 301 without taking it out from the housing mounting jig (310 in FIG. 7) based on the pass/fail decision data. , The unqualified wiring harness can be taken out from the housing mounting jig (FIG. 7, 310), thereby preventing human error by reducing operator intervention and improving the efficiency of the inspection process to increase production.

In addition, the determination unit 700 may include a defective transfer unit 710 to take out the wiring harness.

For example, the defective transport unit 710 includes a vertical rail 711 of the defective transport unit and a horizontal rail of the defective transport unit guiding the robot tongs (FIGS. 5A and 3) to move horizontally and vertically, respectively, as shown in FIG. 712 is further included so that the robot gripper is easily driven along the three-dimensional coordinate axis, so that the disqualified product wiring harness is automatically removed from the housing mounting jig (310 in FIG. 7 ) by the decision of the determination unit 700. Since it can be taken out, human error can be prevented by reducing operator intervention, and the efficiency of the inspection process can be improved to increase production volume.

The good product loading unit 800 loads the wiring harness that has passed as a passing product in the judging unit 700 into the packaging box 820 disposed in the good product loading unit 800, and grasps the number of the loaded wiring harnesses. It can be controlled so that it can be automatically loaded as much as the set quantity.

For example, a good product transfer unit 810 may be included above the good product loading unit 800 to automatically take out the wiring harness from the housing mounting jig (310 in FIG. 7 ).

For example, the good product transporter 810 includes a good product transporter horizontal rail 811 and a good product transporter vertical rail for guiding the robot clamps (FIGS. 5A and 3) to be described later horizontally and vertically, for example, in FIG. 5A. (812) may be further included.

Accordingly, by enabling the robot gripper to be easily driven along the three-dimensional coordinate axis, the wiring harness that has automatically passed through as a qualified product is loaded into the packaging box 820, thereby improving process efficiency and increasing production volume.

The above facilities can increase work efficiency by manipulating and controlling the operating panel 21 as needed by the operator through the operating panel 21 connected through wired/wireless networks.

5a and 5b show a robot gripper according to an embodiment of the present invention.

Referring to FIG. 5A, the robot clamp unit 3 includes a robot arm 3a, a horizontal driving unit 3b, a wire clamp driving unit 3c, a housing clamp driving unit 3d, a wire clamp 3e, and a housing clamp 3f. includes

For example, the robot arm 3a may be combined with a vertical rail (212 of FIG. 3 ) of the inspection product transfer unit, a vertical rail of the defective transfer unit (711 of FIG. 3 ), and a vertical rail of the good product transfer unit (812 of FIG. 3 ). At this time, the robot arm 3a is guided by the vertical rail of the inspection product transfer unit (FIG. 3, 212), the defective transfer unit vertical rail (FIG. 3, 711), and the good product transfer unit vertical rail (FIG. 3, 812), and the robot gripper ( 3) can be precisely moved in the vertical direction. Accordingly, the robot gripper 3 can hold the wiring harness 1 at an accurate height.

In addition, the horizontal driving unit 3b is extended to have a predetermined length in the horizontal direction, is disposed below the robot arm 3a, and moves and rotates in the horizontal direction based on the robot arm 3a, so that the robot gripper 3 ) can be controlled in the horizontal direction. Accordingly, the wiring harness ( 1) can be caught.

The wire clip driving unit 3c is disposed below the horizontal driving unit 3b. The wire clip driver 3c may control the movement of the wire clip 3e located below the wire clip driver 3c.

The housing clamp driving unit 3d is disposed at a position corresponding to the wire clamp driving unit 3c at the lower part of the horizontal driving unit 3b. The housing tong driving unit 3d may control the movement of the housing tongs 3f located below the housing tong driving unit 3d.

For example, the wire clamp driving unit 3c is horizontally along the longitudinal direction of the horizontal driving unit 3b from the bottom of the horizontal driving unit 3b so that the position of the wire holder 3e is disposed at the proper position of the wire tie 1c. can move

For example, the housing claw drive unit 3d moves horizontally along the longitudinal direction of the horizontal drive unit 3b at the bottom of the horizontal drive unit 3b so that the housing clamp 3f is positioned at the proper position of the housing 1a. can

For example, the wire clip 3e is disposed so that a pair of flat plates face each other, and the horizontal motion of the two flat plates is controlled by the wire clamp driving unit 3c, so that the wire tie 1c of the wiring harness 1 ) can be extracted by pressing the part.

For example, the housing tongs 3f are arranged such that a pair of flat plates are extended to face each other, and the horizontal motion of the two flat plates is controlled by the housing tongs driving unit 3d to form a portion of the housing 1a of the wiring harness 1. can be extracted by pressing.

Referring to FIG. 5B , the robot clamp unit 3 controls the movements of the robot arm 3a, the horizontal drive unit 3b, the wire clamp drive unit 3c, and the housing clamp drive unit 3d, so that the wire clamp 3e is The wire tie 1c of the wiring harness 1 is taken out, and the housing tongs 3f take out the housing 1a, so that the wiring harness 1 can be moved stably.

6 shows a housing of a wiring harness according to an embodiment of the present invention.

Referring to FIG. 6 , the housing 1a has an upper flat polygonal plate-shaped housing cap 1d and a lower portion of the housing cap 1d having a width smaller than that of the housing cap 1d but having the same polygonal column as the housing cap 1d. It can be formed in the form of a housing bundle (1e) structure.

For example, the housing cap 1d and the housing assembly 1e may be formed in a trapezoidal column shape that becomes narrower as they extend toward the front.

For example, the housing assembly 1e may be formed with a housing hole 1f, which is a rectangular through hole formed in the front.

In addition, the wire terminal 1g connected to the wire 1b inserted from the rear of the housing 1a may be coupled to the inside of the housing hole 1f.

In addition, the number of housing holes 1f may be the same as the number of wires 1b coupled to the housing 1a. For example, when the number of wires 1b is three, three housing holes 1f may be formed in the housing assembly 1e.

7 shows a housing mounting jig according to an embodiment of the present invention.

Referring to FIG. 7(a) , the housing mounting jig 310 may be formed in the shape of a rectangular parallelepiped box.

For example, the housing seating portion 311 for accommodating the housing 1a may be provided at the center of the housing seating jig 310 . For example, the housing seating part 311 has a rectangular shape, has a predetermined length and width, and has a groove having a depth corresponding to the thickness of the housing 1a, so that the housing 1a can be stably received.

In addition, the housing seating jig 310 may be provided with a housing tong entrance 312 through which the housing tongs ( FIGS. 5A and 3F ) can enter and exit to the side of the housing seating portion 311 . For example, the housing tong entrance 312 may be formed in a rectangular space so that the housing tongs ( FIGS. 5A and 3F ) can easily pass therethrough.

Accordingly, the housing tongs (FIG. 5a, 3f) can automatically seat the housing 1a on the housing mounting jig 310 through the housing tongs entrance 312 and take it out.

In addition, the housing mounting jig 310 may have a wire passing portion 314 through which a plurality of wires 1b coupled to the rear portion of the housing 1a may pass. For example, the wire passage part 314 may extend backward from the housing seating part 311 . For example, a barrier rib may be installed in the wire passing portion 314 so that the plurality of wires 1b are separated and disposed so that the plurality of wires 1b are not short-circuited.

In addition, the wire passing portion 314 may be formed to have a narrower width than the width of the housing 1a, so that the housing 1a may be fixed to the housing seating portion 311 without passing through the wire passing portion 314.

When the housing 1a is seated and taken out of the housing seating portion 311, both corner portions formed at the rear of the housing seating portion 311 come into contact with the inside of the housing seating portion 311, and both corners of the housing 1a are brought into contact with each other. may be damaged. Accordingly, in the housing seating jig 310 , a housing corner seating portion groove 315 having a thickness extended from the housing seating portion 311 may be formed at the rear of the housing seating portion 311 . Accordingly, damage to the housing 1a can be prevented by preventing direct contact between the inner side of the housing seating portion 311 and both rear corners of the housing 1a.

The housing seating jig 310 may further include a push pin passing portion 313 for performing a tensile test by inserting the push pin 411 into the front of the housing 1a.

For example, as the push pin 411 extends from the push pin driving unit 410 located outside the housing seating jig 310, it may pass through the push pin passage portion 313 and reach the housing seating portion 311. there is. As such, the push pin 411 applies pressure to the wire terminal (FIG. 6, 1g) coupled to the inside of the housing hole (FIG. 6, 1f) of the housing assembly (FIG. 6, 1e) of FIG. 6, 1g) and/or whether the electric wire 1b is attached to the housing 1a with a bonding force greater than or equal to a predetermined level may be tested.

Referring to FIG. 7(b) , the push pin 411 extending from the push pin driving unit 410 passes through the push pin passage part 313 of the housing mounting jig 310 to reach the housing 1a and is tensioned. You can proceed with the test.

In addition, the wire passage part 314 is formed to have a narrower width than the width of the housing 1a, so that the housing 1a does not pass through the wire passage part 314 backward even when pressure is applied to the rear by the push pin 411. and can be stably fixed.

8 shows a tray according to an embodiment of the present invention.

Referring to FIG. 8 , the tray 2 may include an edge portion 2a and a seating groove 2b provided in an area defined by the edge portion 2a.

For example, the edge portion 2a is formed to have the highest height in the tray 2, so that the lower surface of the seating groove 2b does not come into direct contact with the bottom surface, thereby preventing damage to the seating groove 2b. A large amount of wiring harness can be accommodated.

For example, the seating groove 2b includes a first area 2b-1 in which the housing 1a is seated, a second area 2b- 2 extending from the first area 2b-1 to a predetermined length, and A third region 2b-3 extending from the second region 2b-2 to have a wider width than the second region 2b-2 may be included.

In addition, the first region 2b-1 extends from the center in the horizontal and vertical directions, respectively, so that a space in which the housing tongs (FIGS. 5a and 3f) according to FIG. 5a can easily hold the housing 1a is formed. It can have a cross (+) shape.

In addition, the third region ( 2b-3) is larger than the second region (2b-2) so that a space is formed in which the wire clip (Figs. 5a and 3e) according to Fig. 5a can easily hold the electric wire (1b ). Including a wide width, it can have a structure in which the wiring harness can be easily taken out by the housing tongs and the wire tongs without damaging the seating groove, so that a large amount of wiring harness can be connected to a robot and a vision-based of wiring harness inspection and packaging automation system.

As described above, the detailed description of the present invention has been made by the embodiments with reference to the accompanying drawings, but since the above-described embodiments have only been described as preferred examples of the present invention, it is believed that the present invention is limited only to the above embodiments. Should not be understood, the scope of the present invention should be understood as the following claims and equivalent concepts.

For example, the drawings are schematically shown with each component as the main body to aid understanding, and the thickness, length, number, etc. of each component shown may differ from the actual one in the progress of drawing. In addition, the material, shape, dimensions, etc. of each component shown in the above embodiment are only examples and are not particularly limited, and various changes are possible within a range that does not substantially deviate from the effects of the present invention.

1 : Wiring harness
1a: housing
1b: wires
1c: wire ties
1d: Housing cap
1e: Housing Bundle
1f: Housing hole
1g: wire terminal
2 : tray
2a: border portion
2b: seating groove
2b-1: first area
2b-2: Second area
2b-3: 3rd area
3: Robot tongs
3a: robot arm
3b: horizontal driving unit
3c: wire clip driving unit
3d: Housing tong drive unit
3e: wire clip
3f: Housing tongs
10: Automatic inspection facility
20: operating system
21: operation panel
22: vision monitor
30: MES part
31: server
32: database
40: ERP and cloud server
50: user terminal
100: tray loading unit
110: tray transfer unit
111: tray transport horizontal rail
112: tray transfer unit vertical rail
120: tray loading part wheel
130: tray loading part lift
140: lift motor
200: tray alignment unit
201: tray recovery unit
210: inspection product transfer unit
211: horizontal rail of inspection product transfer part
212: vertical rail of inspection product conveyance
300: wiring harness transfer facility
301: conveyor belt
310: housing mounting jig
311: housing seating part
312: housing clamp entrance
313: push pin passage
314: wire passage part
315: housing corner seating part groove
400: tensile inspection unit
410: push pin driving unit
411: push pin
500: vision inspection unit
600: marking unit
700: judging unit
701: bad loading part
710: defective transfer unit
711: defective transport vertical rail
712: defective transport horizontal rail
800: good product loading unit
810: good product transfer unit
820: packaging box
811: horizontal rail of the conveying part of the good product
812: vertical rail of good product conveyance
900: packaging unit

Claims (10)

a tray accommodating a housing and a wiring harness including one or more wires at predetermined intervals;
a tray arranging unit in which the tray is installed at a preset position and an inspection product transfer unit for taking out the wiring harness loaded on the tray is disposed;
A conveyor belt for transporting the wiring harness and a jig for housing seating installed on an upper surface of the conveyor belt are included, and the housing of the wiring harness transferred from the tray by the inspection product transfer unit is seated on the housing seating jig. a wiring harness conveying facility for moving the wiring harness by driving the conveyor belt after the conveyor belt is driven;
a tension inspection unit disposed above the wiring harness transfer facility to automatically perform a tension inspection of the wiring harness;
a vision inspection unit disposed on one side of an upper portion of the wiring harness transport facility to be spaced apart from the tension inspection unit by a predetermined distance, and automatically inspecting the wiring harness for incorrect wiring;
a marking unit disposed on one side of an upper portion of the wiring harness transfer facility to be spaced apart from the vision inspection unit by a predetermined distance, and marking lot information on the wiring harness;
The wiring harness disposed on the one side of the upper portion of the wiring harness transport facility to be spaced apart from the marking unit by a predetermined distance and satisfying a predetermined criterion based on the inspection results of the tension inspection unit and the vision inspection unit. a determination unit including a defective transfer unit for passing the wiring harness that does not satisfy the preset standard in a state of being seated on the housing mounting jig, and taking out the housing mounting jig from the housing mounting jig; and
a loading unit in which a good product transfer unit is disposed to take out the wiring harness that has passed through the determination unit from the jig for mounting the housing, and then transport and load the wiring harness into a packing box;
A robot and vision-based wiring harness inspection and packaging automation system comprising: automatically inspecting the quality of the wiring harness by an automatic inspection facility and taking out and packaging only good products.
The method of claim 1,
Further comprising a tray loading unit for supplying the tray in which the wiring harness is accommodated to a preset position of the tray aligning unit,
The tray loading unit includes a space for accommodating the trays in multiple stages and a tray transfer unit for transferring the trays to a preset position of the tray aligning unit, a robot and vision-based wiring harness inspection and packaging automation system.
The method of claim 1,
The inspection product transfer unit,
a robot gripper for taking out the wiring harness;
a vertical rail of the inspection product transfer unit for guiding vertical movement of the robot clamp unit; and
a horizontal rail of the inspection product transfer unit connected to the inspection product transfer unit vertical rail and guiding the horizontal movement of the robot gripper;
Including, robot and vision-based wiring harness inspection and packaging automation system.
The method of claim 1,
The defective transfer unit,
a robot gripper for taking out the wiring harness;
a vertical rail for guiding the movement of the robot gripper in a vertical direction; and
a horizontal rail of the defective conveying unit connected to the vertical rail of the defective conveying unit and guiding the horizontal movement of the robot tongs;
Including, robot and vision-based wiring harness inspection and packaging automation system.
The method of claim 1,
The good product transfer unit,
a robot gripper capable of taking out the wiring harness;
a vertical rail for guiding the movement of the robot tongs in a vertical direction; and
a good product transporter horizontal rail connected to the good product transporter vertical rail and guiding the horizontal movement of the robot tongs;
Including, robot and vision-based wiring harness inspection and packaging automation system.
The method of any one of claims 3 to 5,
The robot tongs,
a robot arm for guiding movement of the robot gripper in a vertical direction;
a horizontal driving unit disposed below the robot arm in a form having a predetermined length and controlling horizontal motion of the robot gripper as it moves and rotates in a horizontal direction with respect to the robot arm;
a housing gripper drive unit disposed under the horizontal drive unit and controlling a horizontal motion of the robot gripper for taking out the housing as the horizontal drive unit moves in the longitudinal direction;
a wire clip drive unit disposed under the horizontal drive unit at a position corresponding to the housing clip drive unit and controlling a horizontal motion of the robot gripper for taking out the wires as the horizontal drive unit moves in the longitudinal direction;
A pair of flat plates extending from the lower part of the housing clamp driving unit so as to face each other, a housing clamp for taking out the housing of the wiring harness by controlling a distance between the pair of flat plates by the housing clamp driving unit; and
A pair of flat plates extending from the bottom of the wire clamp driving unit to face each other, and a distance between the pair of flat plates is controlled by the wire clamp driving unit to take out the wires of the wiring harness;
Including, robot and vision-based wiring harness inspection and packaging automation system.
The method of claim 1,
The housing seating jig includes a housing seating portion having a groove corresponding to the shape of the housing of the wiring harness to stably seat the housing;
The housing tongs entry and exit portion formed as a space of a size that allows the housing tongs to enter and exit from the side of the housing seating portion and to hold the housing.
a push pin passing portion formed on a surface of the housing seating jig where the front portion of the housing is located so that a push pin for tensile testing can pass from the outside of the housing seating jig to the housing seating portion;
a wire passage part having a width narrower than that of the housing; and
It is formed at both rear corners of the housing and the inner side of the housing seating portion to secure a space so that both edges of the housing and the inside of the housing seating portion do not come into direct contact with each other, thereby preventing damage to the corners. ;
Including, robot and vision-based wiring harness inspection and packaging automation system.
The method of claim 1,
The tensile inspection unit,
a push pin for applying pressure to the wire terminal formed in the housing from the front to the rear of the housing to check whether the wire terminal is mounted in the housing hole formed in the housing with a bonding force greater than a predetermined level; and
a push pin driving unit controlling an operation of the push pin;
including,
The robot and vision-based wiring harness inspection and packaging automation system of claim 1 , wherein the tensile inspection unit detects a pressure applied to the push pin and evaluates a bonding force between the wire terminal and the housing.
The method of claim 1,
The vision inspection unit,
a camera sensor for distinguishing colors of the wires of the wiring harness; and
a vision monitor outputting an image sensed by the camera sensor;
The robot and vision-based wiring harness inspection and packaging automation system, including a robot and vision-based wiring harness inspection and packaging automation system for performing the erroneous wiring inspection by checking an arrangement in which one or more wires formed in the wiring harness are coupled to the housing.
The method of claim 1,
the tray,
The rim portion is formed to have the highest height, and a plurality of seating grooves are formed in the rim portion so that the lower surface of the seating groove does not directly contact the bottom surface,
The seating groove includes a first area in which the housing is seated, a second area extending a predetermined length from the first area, and a third area extending from the second area,
The first region has a cross (+) shape extending from the center in the horizontal direction and the vertical direction, respectively, so that a space in which the housing tongs can easily grip the housing is formed,
The third area includes a wider width than the second area so that a space in which the wire clip can easily grip the wire is formed,
A robot and vision-based wiring harness inspection and packaging automation system having a structure in which the wiring harness can be easily taken out by the housing tongs and the wire tongs without damaging the seating groove.

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