TWI804444B - Wire threading device and method - Google Patents

Abstract

The application relates to the technical field of wire threading, in particular to a wire threading device and a threading method. The wire threading device comprises a fixing mechanism, a feeding mechanism, a grasping mechanism and a vision module. The fixing mechanism is used to fix the end of the wire, and the end of the wire is provided with a jack; The feeding mechanism is used to provide pins; The gripping mechanism comprises a carrying assembly and a clamping assembly arranged at one end of the carrying assembly, and the clamping assembly is used for clamping pins; The vision module is relatively arranged with the fixing mechanism, and is used to collect the actual coordinate position of the wire socket, calculate the deviation value between the actual coordinate position and the preset coordinate position, and calculate the actual installation position of the handling assembly according to the deviation value; Among them, the handling assembly inserts the pin into the socket according to the actual installation position. The wire threading device can realize full-automatic operation, and ensure the accuracy of repeated threading and the yield.

Description

Needle threading device and needle threading method

The invention relates to the technical field of wire needle threading, in particular to a wire needle threading device and a needle threading method.

Because the spine needle is very thin, its diameter changes from 0.23mm to 0.58mm in taper, and the center hole of the wire rod at the assembly position is 0.56mm, which requires high assembly accuracy, and the positioning accuracy of general mechanisms is difficult to meet, and the defect rate is too high, so manual work is basically used in the industry Complete the assembly of the Spine needle. Hand-eye coordination is more flexible in manual work, which can meet the assembly precision requirements. However, there are certain uncertainties in manual operations, and it is still difficult to guarantee the yield rate.

The main purpose of the present invention is to provide a wire needle threading device and a needle threading method, the wire needle threading device can realize automatic operation, while ensuring the accuracy of repeated needle threading and the rate of good products.

In order to achieve the above purpose, in the first aspect, the embodiment of the present invention provides a wire needle threading device, including: a fixing mechanism, used for fixing the end of the wire, and the end of the wire is provided with a socket; a feeding mechanism for providing pins; A grabbing mechanism, including a handling component and a clamping component arranged at one end of the handling component, the clamping component is used to clamp the pin; and A vision module, which is arranged opposite to the fixing mechanism, is used to collect the actual coordinate position of the wire socket, calculate the deviation value between the actual coordinate position and the preset coordinate position, and calculate the actual position of the handling component according to the deviation value. installation location; Wherein, the handling assembly inserts the pin into the socket according to the actual installation position.

During implementation, the handling component has a preset installation position matching the preset coordinate position, and the actual installation position is obtained by adding the preset installation position and the deviation value.

During implementation, the vision module includes an image acquisition unit and an analysis and comparison unit, the image acquisition unit is used to capture the actual coordinate position of the wire end jack, and the analysis and comparison unit is used to compare the preset coordinates position and the actual coordinate position captured by the image acquisition unit to obtain the deviation value.

During implementation, the vision module further includes a ring light source located between the fixing mechanism and the image acquisition unit.

During implementation, the grabbing mechanism further includes a detection component for detecting whether the clamping component clamps the insertion pin.

When implemented, the securing mechanism includes: a support platform for supporting the wire; a first clamping component, arranged on the support platform, for initially fixing the end of the wire; and A second clamping assembly is arranged on one side of the support platform, and the second clamping assembly includes a base, a fixed jaw disposed on the base, and a driving member for driving the fixed jaw to open and close.

In practice, the wire fixing mechanism also includes a fixing frame, the supporting platform is slidably arranged on the fixing frame, and two sets of first clamping assemblies are arranged on the supporting platform, which are respectively used to fix the two ends of the wire .

In practice, the first clamping assembly includes an elastic clamping part, a movable pressing part and a positioning part arranged in a straight line.

When implemented, the fixed jaw includes: Two clamping plates are rotatably arranged on the base, and the two clamping plates are oppositely arranged, and the opposite side of the two clamping plates has a clamping portion for clamping the end of the wire; Two driving shafts are respectively arranged at the ends of the two clamping plates away from the clamping portion; and A driving plate is slidably arranged on the base, and the driving plate is provided with guide holes; Wherein, the driving shaft is slidably arranged in the guiding hole, and the output end of the driving member is connected with the driving plate.

In the second aspect, the embodiment of the present invention provides a wire needle threading method, which is applied to the above-mentioned wire needle threading device, including the following steps: The end of the wire is fixed by a fixing mechanism; Feeding the pins through the feeding mechanism; Collect the actual coordinate position of the wire jack through the vision module, calculate the deviation value between the actual coordinate position and the preset coordinate position, and calculate the actual installation position of the handling component according to the deviation value; The pin is clamped by the clamping component of the grabbing mechanism, and the handling component of the grabbing mechanism inserts the pin into the socket at the end of the wire according to the actual installation position.

In order to further understand the present invention, the preferred embodiments are given below, and the specific composition and the achieved effects of the present invention are described in detail below in conjunction with the drawings and figure numbers.

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the related technology, during the cutting, clamping, and handling process of the wire, the position of the wire jack will change under external influences, and the position of the center gap will also be offset to a certain extent. If not, it is easy for the spine needle to pierce the insulation layer of the wire and cause it to be scrapped, and the defect rate is too high. Therefore, the existing wire insertion pin only uses a semi-manual and semi-automatic operation method, that is, the pin insertion operation with uncertainty is completed manually . Although manual pin insertion can adjust the position of pin insertion according to the actual situation, it also has low work efficiency, and there are uncertainties in the status and technical level of workers, so the yield rate of pin insertion operations cannot be guaranteed.

As shown in Figures 1 to 6, an embodiment of the present invention provides a wire needle threading device, including a fixing mechanism 1, a feeding mechanism 2, a grabbing mechanism 3 and a visual module 4, wherein the fixing mechanism 1 is used to fix the wire a, the end of the wire a is provided with an insertion hole, the feeding mechanism 2 is used to provide pins, the grabbing mechanism 3 includes a handling assembly 31 and a clamping assembly 32 arranged at one end of the handling assembly 31, the clamping The fetching component 32 is used for clamping the pin, the visual module 4 is arranged opposite to the fixing mechanism 1, and is used to collect the actual coordinate position of the jack of the wire a, and calculate the deviation value between the actual coordinate position and the preset coordinate position, according to The deviation value calculates the actual installation position of the transport assembly 31 . Wherein, the transport assembly 31 inserts the pins into the sockets according to the actual installation position.

In the present invention, the wire a is initially positioned by the fixing mechanism 1, the pin provided by the feeding mechanism 2 is picked up by the clamping assembly 32 of the grabbing mechanism 3, and the actual position of the insertion hole at the end of the wire a is collected by the vision module 4. coordinate position, and calculate the deviation value with the preset coordinate position, so that the handling component 31 can be corrected to obtain the actual installation position, and the handling component 31 can insert the pin into the jack at the end of the wire rod a according to the actual installation position, which can realize Fully automatic operation, while ensuring the accuracy of repeated needle threading and the yield rate.

Specifically, the feeding mechanism 2 adopts a vibrating feeding tray, which is used to continuously output bulk needles from the vibrating tray to the needle-taking position, so as to be gripped by the gripping assembly 32 of the gripping mechanism 3 .

Among them, the pin is a titanium alloy needle-shaped part, which is assembled at the connection between the inside of the wire a and the connector, and is used to enhance the strength and bending fatigue resistance here.

In the embodiment of the present invention, the handling assembly 31 has a preset installation position that matches the preset coordinate position, and the actual installation position is obtained by adding the preset installation position and the deviation value.

In the present invention, the preset installation position of the handling component 31 corresponds to the preset coordinate position, that is, the handling component 31 can insert the pin into the preset coordinate position of the end of the wire a according to the preset installation position. The component 31 performs high-precision pin insertion operations based on the collected actual coordinate positions, which requires the design of complex programs. However, the present invention compares the collected actual coordinate positions with the preset coordinate positions to obtain a deviation value, and the deviation value is different from the preset The actual installation position can be obtained by adding the installation positions, which can be realized only by fine-tuning in a small range when the handling assembly 31 is inserted into the pin.

The transport component 31 in the present invention can be any transport component 31 with more than three axes, including but not limited to a four-axis robot arm, a six-axis robot arm, a displacement mechanism built by a three-axis linear module, and the like.

In the embodiment of the present invention, the vision module 4 includes an image acquisition unit 41 and an analysis and comparison unit 42, wherein: the image acquisition unit 41 is used to capture the actual coordinate position of the jack at the end of the wire a. The analysis and comparison unit 42 is used to compare the preset coordinate position with the actual coordinate position captured by the image acquisition unit 41 to obtain a deviation value.

In the present invention, the image acquisition unit 41 is used to take a photo of the position of the jack at the end of the wire rod a, so as to obtain the actual coordinate position of the jack at the end of the wire rod a. Specifically, the image acquisition unit 41 is a camera with a telecentric lens , and facing the end of the positioned wire a, the analysis and comparison unit 42 is a host computer connected with the conveying mechanism and built with a visual guidance program.

In the embodiment of the present invention, the vision module 4 further includes a ring light source 43 located between the fixing mechanism 1 and the image acquisition unit 41 .

In the present invention, the ring-shaped light source 43 faces the end of the wire rod a to supplement the light for the image captured by the camera and improve the clarity and accuracy of shooting.

In the embodiment of the present invention, the grasping mechanism 3 further includes a detection component 33 for detecting whether the clamping component 32 is clamping the insertion pin.

In the present invention, the detection component 33 is located between the fixing mechanism 1 and the feeding mechanism 2, and the grasping mechanism 3 stops at the detection component 33 after completing the grasping of the insertion pin, and detects the clamping component 32 through the detection component 33 , detect whether the clamping assembly 32 clamps the insertion pin, if the insertion pin is not clamped, it can perform secondary grasping or send an alarm to remind whether there is a problem with the feeding mechanism 2 or whether the insertion pin is used up.

In the embodiment of the present invention, the fixing mechanism 1 includes a supporting platform 11, a first clamping assembly 12 and a second clamping assembly 13, wherein the supporting platform 11 is used to support the wire a, and the first clamping assembly 12 is arranged on On the supporting platform 11, it is used to preliminarily fix the end of the wire rod a. The second clamping assembly 13 is arranged on one side of the supporting platform 11. The second clamping assembly 13 includes a base 131, and a fixing clamp is arranged on the base 131. The claw 132 and the driving member 133 that drives the fixed claw 132 to open and close.

In the present invention, the support wire a is placed on the support platform 11, and the end of the wire a can be manually supported, or the wire a can be transported to the support platform 11 through an upstream production line, and then passed through the first clamping assembly 12 The end of the wire a is preliminarily fixed, and then the drive member 133 of the second clamping assembly 13 controls the fixed jaw 132 to close, so that the fixed jaw 132 clamps the end of the wire a, and the wire a is precisely positioned.

In the embodiment of the present invention, the wire a fixing mechanism 1 also includes a fixing frame 14, the supporting platform 11 is slidably arranged on the fixing frame 14, and two sets of first clamping assemblies 12 are arranged on the supporting platform 11, which are respectively used for fixing the wire the two ends of a.

Specifically, the support platform 11 is slidably arranged on the fixed frame 14 along the width direction, and the drive assembly drives the support platform 11 to slide. The existing wire a generally needs to perform pin insertion operations on the two ends respectively, and the two first clips The holding assemblies 12 are arranged on the supporting platform 11 along the sliding direction of the supporting platform 11, and the two ends of the wire a are initially fixed by the two first holding assemblies 12 respectively. , and slide through the support platform 11 to carry out the pin insertion operation at the other end.

In the embodiment of the present invention, the first clamping assembly 12 includes an elastic clamping part 121 , a movable pressing part 122 and a positioning part 123 arranged in a straight line.

In the present invention, the elastic clamping part 121, the movable pressing part 122 and the positioning part 123 are arranged sequentially. The elastic clamping part 121 includes a fixed block, a movable block arranged on one side of the fixed block, and a spring arranged at the bottom of the movable block. , a clamping gap is formed between the fixed block and the movable block, by inserting the wire a between the fixed block and the movable block, under the elastic force of the spring, the movable block cooperates with the fixed block to clamp the wire a; The pressing part 122 includes a base plate and a pressing plate. One end of the pressing plate is connected to the base plate through a hinge, and the other end is connected to the base plate through clamping. The opposite surfaces of the base plate and the pressing plate are respectively provided with pressing grooves, and the wire a is placed between the base plate and the pressing plate. , by pressing the pressing plate on the wire a and clamping it with the bottom plate, thereby compressing and fixing the wire a; the positioning part 123 is a V-shaped groove, and the wire a is snapped into the V-shaped groove to realize positioning.

In the embodiment of the present invention, the fixed jaw 132 includes two clamping plates 1321, two driving shafts 1322 and a driving plate 1323, wherein the two clamping plates 1321 are rotatably arranged on the base 131, and the two The clamping plates 1321 are oppositely arranged, and the opposite sides of the two clamping plates 1321 have a clamping portion for clamping the end of the wire a, and the two driving shafts 1322 are respectively arranged on the two clamping plates 1321 away from the clamping portion The driving plate 1323 is slidably disposed on the base 131 , and the driving plate 1323 is provided with a guide hole 1324 .

Wherein, the driving shaft 1322 is slidably disposed in the guide hole 1324 , and the output end of the driving member 133 is connected with the driving plate 1323 .

In the present invention, the driving member 133 is connected with the driving plate 1323, so that the driving plate 1323 moves along a straight line. Specifically, in the present invention, the driving plate 1323 slides in the vertical direction, and the driving shaft 1322 is in the guide hole 1324. The movement of 1323 changes the position of the driving shaft 1322 in the guide hole 1324, so that the driving shaft 1322 drives the clamping plate 1321 to open and close, and completes the clamping and loosening of the wire rod a.

Specifically, the guide hole 1324 is an arc-shaped hole, which transforms the linear motion of the driving plate 1323 into the clamping motion of the clamping plate 1321 .

An embodiment of the present invention provides a method for threading a wire, which is applied to the above-mentioned needle threading device for the wire a, including the following steps: The end of the wire a is fixed by the fixing mechanism 1; Feeding the pins through the feeding mechanism 2; Collect the actual coordinate position of the wire a jack through the visual module 4, calculate the deviation value between the actual coordinate position and the preset coordinate position, and calculate the actual installation position of the handling component 31 according to the deviation value; The pin is picked up by the pinching assembly 32 of the grabbing mechanism 3 , and the handling component 31 of the grabbing mechanism 3 inserts the pin into the insertion hole at the end of the wire a according to the actual installation position.

Example 1 Step S1: Fixing the end of the wire by a fixing mechanism; Step S2: feeding the pins through the feeding mechanism; Step S3: collect the actual coordinate position of the wire jack through the visual module, calculate the deviation value between the actual coordinate position and the preset coordinate position, and calculate the actual installation position of the handling component according to the deviation value; Step S4: the pin is picked up by the clamping component of the grabbing mechanism, and the handling component of the grabbing mechanism inserts the pin into the socket at the end of the wire according to the actual installation position.

Example 2 Step S5: Fixing the end of the wire by a fixing mechanism; Step S6: feeding the pins through the feeding mechanism; Step S7: collect the actual coordinate position of the wire jack through the vision module, and calculate the deviation value between the actual coordinate position and the preset coordinate position; Step S8: the fixing mechanism fine-tunes the end of the wire according to the deviation value, so that the actual coordinate position of the socket matches the preset coordinate position; Step S9: the pin is picked up by the clamping component of the grabbing mechanism, and the pin is inserted into the socket at the end of the wire according to the preset installation coordinates.

Thereby, according to the automatic needle threading device provided by the embodiment of the present invention, the automatic needle threading device performs preliminary positioning on the wire through the fixing mechanism, and grasps the insertion needle provided by the feeding mechanism through the clamping component of the grasping mechanism, and through the visual model The group collects the actual coordinate position of the jack at the end of the wire, and calculates the deviation from the preset coordinate position, so that the handling component can be corrected to obtain the actual installation position, and the handling component inserts the pin into the end of the wire according to the actual installation position. In the socket, fully automatic operation can be realized, while ensuring the accuracy of repeated needle threading and the yield rate.

It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiment," "some embodiments," etc. mean that the described embodiments may include particular features, structures, or characteristics, but not necessarily Each embodiment includes that particular feature, structure or characteristic. Furthermore, such phrases are not necessarily referring to the same embodiment. Furthermore, where a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the purview of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments that are explicitly or not explicitly described.

It should be readily understood that "on", "above" and "over" in this disclosure should be interpreted in the broadest manner such that "on" means not only " directly on something", also includes the meaning of "on something" with intermediate features or layers in between, and "above" or "over" not only includes "on something" or " The meaning of "over" may also include the meaning of "above" or "over" without intervening features or layers (ie, directly on something).

In addition, spatially relative terms, such as "below", "below", "below", "above", "above", etc., may be used herein for convenience of description to describe the position of one element or feature with respect to other elements or features. relationship shown. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

To sum up, according to the content disclosed above, the present invention can clearly achieve the expected purpose of the invention, and provide a wire needle threading device and needle threading method, which is very practical and of industrial use value, and the invention patent is proposed according to the law Apply.

a: wire 1: Fixing mechanism 11: Support platform 12: The first clamping component 121: Elastic clamping part 122: Movable pressing part 123: Positioning Department 13: Second clamping component 131: base 132: fixed jaw 1321: clamping plate 1322: drive shaft 1323: drive plate 1324: guide hole 133: Driver 14: fixed frame 2: Feeding mechanism 3: grabbing mechanism 31: Handling components 32:Clamping components 33: Detection components 4: Vision module 41: Image acquisition unit 42: Analysis and comparison unit 43:Ring Light

Fig. 1 is a three-dimensional structural schematic diagram of a wire needle threading device provided by an embodiment of the present invention; Fig. 2 is a three-dimensional structural schematic diagram of a wire needle threading device provided by an embodiment of the present invention after the feeding mechanism is removed; Fig. 3 is a three-dimensional structural schematic diagram of another angle in Fig. 2; Fig. 4 is a schematic plan view of a fixing mechanism provided by an embodiment of the present invention; Fig. 5 is a three-dimensional schematic diagram of a fixing mechanism provided by an embodiment of the present invention; FIG. 6 is a schematic diagram of a partially enlarged structure at A of the wire needle threading device in FIG. 1 .

1: Fixing mechanism

2: Feeding mechanism

3: grabbing mechanism

41: Image acquisition unit

43:Ring Light

Claims (10)

A wire needle threading device, comprising: a fixing mechanism, used for fixing the end of the wire, and the end of the wire is provided with a socket; a feeding mechanism for providing pins; A grabbing mechanism, including a handling component and a clamping component arranged at one end of the handling component, the clamping component is used to clamp the pin; and A vision module, set opposite to the fixing mechanism, is used to collect the actual coordinate position of the wire rod jack, calculate the deviation value between the actual coordinate position and the preset coordinate position, and calculate the actual coordinate position of the handling component according to the deviation value. installation location; Wherein, the handling assembly inserts the pin into the socket according to the actual installation position. The wire needle threading device according to claim 1, wherein the conveying component has a preset installation position matching the preset coordinate position, and the actual installation position is obtained by adding the preset installation position and the deviation value. The wire needle threading device as described in claim 1, wherein the vision module includes an image acquisition unit and an analysis and comparison unit, the image acquisition unit is used to capture the actual coordinate position of the wire end jack, and the The analysis and comparison unit is used to compare the preset coordinate position with the actual coordinate position captured by the image acquisition unit to obtain the deviation value. The needle threading device according to claim 3, wherein the vision module further includes a ring light source located between the fixing mechanism and the image acquisition unit. The wire needle threading device according to claim 1, wherein the grabbing mechanism further includes a detection component for detecting whether the clamping component has clamped the insertion needle. The wire needle threading device as described in claim 1, wherein the fixing mechanism includes: a support platform for supporting the wire; a first clamping component, arranged on the support platform, for initially fixing the end of the wire; and A second clamping assembly is arranged on one side of the support platform, and the second clamping assembly includes a base, fixed jaws arranged on the base, and a driving member for driving the fixed jaws to open and close. The wire needle threading device as described in claim 6, wherein the wire fixing mechanism further includes a fixing frame, the supporting platform is slidably arranged on the fixing frame, and two sets of first clamping components are arranged on the supporting platform, respectively Used to secure both ends of the wire. The wire needle threading device according to claim 6, wherein the first clamping component includes an elastic clamping part, a movable pressing part and a positioning part arranged in a straight line. The wire needle threading device as described in Claim 6, wherein the fixed jaw includes: Two clamping plates are rotatably arranged on the base, and the two clamping plates are oppositely arranged, and the opposite side of the two clamping plates has a clamping portion for clamping the end of the wire; Two driving shafts are respectively arranged at the ends of the two clamping plates away from the clamping portion; and A driving plate is slidably arranged on the base, and the driving plate is provided with guide holes; Wherein, the driving shaft is slidably arranged in the guiding hole, and the output end of the driving member is connected with the driving plate. A wire needle threading method, applied to the wire needle threading device described in any one of items 1 to 9 of the aforementioned claims, comprising the following steps: The end of the wire is fixed by a fixing mechanism; Feeding the pins through the feeding mechanism; Collect the actual coordinate position of the wire jack through the vision module, calculate the deviation value between the actual coordinate position and the preset coordinate position, and calculate the actual installation position of the handling component according to the deviation value; The pin is clamped by the clamping component of the grabbing mechanism, and the handling component of the grabbing mechanism inserts the pin into the socket at the end of the wire according to the actual installation position.

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