CN107978950B

CN107978950B - Full-automatic double-end crimping terminal insertion machine

Info

Publication number: CN107978950B
Application number: CN201711290446.2A
Authority: CN
Inventors: 梁铭峰; 吴晖辉; 方王进
Original assignee: Foshan Evt Intelligent Technology Co ltd
Current assignee: Foshan Evt Intelligent Technology Co ltd
Priority date: 2017-12-08
Filing date: 2017-12-08
Publication date: 2023-07-11
Anticipated expiration: 2037-12-08
Also published as: CN107978950A

Abstract

The invention relates to a full-automatic double-end crimping terminal inserting machine, which comprises a movable workbench and a fixed workbench, wherein the movable workbench can move in the Y direction relative to the fixed workbench; the wire stripper is characterized by further comprising a first wire moving mechanism, a second wire moving mechanism, a first terminal feeding device, a second terminal feeding device, a wire selecting and stripping mechanism, a first wire core detection mechanism, a second wire core detection mechanism, a first terminal pressing mechanism, a second terminal appearance detection mechanism, a first wire turning mechanism, a second wire turning mechanism, a first terminal inserting mechanism, a second terminal inserting mechanism, a first connector positioning mechanism, a second connector feeding mechanism, a stripping mechanism and a wire pulling mechanism. The advantages are that: the terminal and the wire rod can be automatically crimped, the crimped terminal wire rod can be automatically spliced into the jack of the connector, the peeled wire rod end and the terminal crimp can be subjected to quality detection at the wire rod end, and the product quality is stable.

Description

Full-automatic double-end crimping terminal insertion machine

Technical Field

The invention relates to the technical field of mechanical manufacturing automation, in particular to a full-automatic double-head crimping terminal insertion machine.

Background

The wire harness is widely used in signal transmission or power connection of household appliances, communication equipment, digital equipment and the like, terminals are crimped at two ends of the wire harness, and then the terminals are inserted into insertion holes of the connector. When in use, the connection is mutually inserted, thereby not only facilitating the connection of equipment, but also ensuring the reliability of signal transmission and connection. At present, the working process of assembling connectors at two ends of a wire harness is as follows: (1) manually cutting off the wire harness, manually peeling two ends of the cut wire harness, and detecting whether the wire harness is qualified or not; (2) the terminals are respectively inserted into the peeling ends of the wire harness, then the terminals are pressed onto the wire harness by a machine, and whether the wire harness is qualified or not is detected; (3) and finally, inserting the end part of the wire harness provided with the terminal into the jack of the connector, and completing the whole production. The mode has low production efficiency and high production cost, and the quality in the production process can not be ensured. The national intellectual property office discloses an invention application of a full-automatic insertion machine with two ends pressed, the application publication number is CN104701707A, and the publication date is 2015, 6, 10; the automatic crimping device can realize automatic crimping of the wire terminal, and automatically plug the crimped terminal wire into the jack of the connector, but the production process is lack of detection, so that the product quality is unstable.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the full-automatic double-head crimping terminal inserting machine which can automatically crimp a terminal and a wire harness, automatically plug the crimped terminal into an inserting hole of a connector, visually detect the stripped wire harness end part and visually detect the wire harness terminal after crimping and forming on line, and has the advantages of stable product quality and detection function.

In order to achieve the above purpose, the invention is realized in such a way that a full-automatic double-end crimping terminal inserting machine comprises a movable workbench and a fixed workbench, wherein the movable workbench can move in the Y direction relative to the fixed workbench; the method is characterized in that:

A. the wire feeding device also comprises a first wire moving mechanism, a first terminal feeding device, a wire selecting and peeling mechanism, a first peeled wire core detecting mechanism, a first terminal pressing mechanism, a first terminal appearance detecting mechanism, a first wire turning mechanism, a first terminal inserting mechanism, a first connector positioning mechanism and a first connector feeding mechanism; the first terminal feeding device, the line selecting and peeling mechanism, the first peeled wire core detecting mechanism, the first terminal pressing mechanism, the first terminal appearance detecting mechanism, the first line turning mechanism, the first terminal inserting mechanism, the first connector positioning mechanism and the first connector feeding mechanism are sequentially arranged and installed on the fixed workbench from left to right along the X direction;

The first wire moving mechanism comprises a first clamping hand assembly, a second clamping hand assembly and a clamping hand driving piece, wherein the first clamping hand assembly and the second clamping hand assembly are arranged on the fixed workbench and can move in the X direction on the fixed workbench; the clamping hand driving piece drives the first clamping hand assembly and the second clamping hand assembly to move in the X direction at the same time;

the first terminal feeding device comprises a terminal feeding channel, wherein the terminal feeding channel is used for conveying terminals;

the wire selecting and peeling mechanism comprises a wire pressing module, two cutters and two first peeling cutters, wherein the two cutters cut off wires positioned between the two cutters, and the two first peeling cutters peel the ends of the wires positioned between the two cutters;

the first stripped wire core detection mechanism comprises a third wire clamping cylinder, a first camera light source, a first camera and a third wire clamp; the third wire clamp clamps the stripped wire end, the first camera photographs, detects and displays the stripped wire part on the third wire clamp, and the third wire clamping cylinder drives the third wire clamp to work;

the first terminal pressing mechanism comprises a first Z-direction driving structure, a third supporting seat, a terminal output channel, a fourth wire clamping cylinder, a pressing cutter bottom die, a fourth wire clamp, a pressing cutter, a pressing joint and a pressure sensor; the third supporting seat is arranged on the fixed workbench, and the first Z-direction driving structure, the terminal output channel, the fourth wire clamping cylinder and the crimping cutter bottom die are all arranged on the third supporting seat; the pressure joint is arranged on the third supporting seat, the first Z-direction driving structure drives the pressure joint to move in the Z direction on the third supporting seat through the pressure sensor, the pressure joint cutter is arranged below the pressure joint cutter, the pressure joint cutter is positioned right above the bottom die of the pressure joint cutter, and the pressure sensor is used for detecting and displaying the pressure born by the pressure joint cutter; the crimping cutter bottom die is positioned in the terminal conveying and discharging channel, and a discharging hole of the terminal feeding channel is communicated with the terminal conveying and discharging channel to convey the terminal into the terminal conveying and discharging channel; the fourth wire clamp is positioned at the rear of the bottom die of the crimping cutter so as to clamp one end of the wire rod and press the terminal on the peeling end of the wire rod; the fourth wire clamping cylinder drives the fourth wire clamp to work;

The first clamping hand assembly clamps and sends one end of the wire rod cut off and peeled by the cutter and the first peeling knife into the third wire clamp in sequence, the first camera detects whether the peeling of the end part of the wire rod is qualified or not and shoots a picture, the first clamping hand assembly clamps and sends the detected end of the wire rod into the fourth wire clamp, and the first clamping hand assembly circularly works back and forth on the cutter, the first peeling knife, the third wire clamp and the fourth wire clamp;

the first terminal appearance detection mechanism is used for detecting whether the terminal is qualified to be assembled at the peeling part of the wire rod and displaying;

the first wire turning mechanism comprises a wire turning clamp, a wire turning cylinder, a wire turning motor and a fifth supporting seat; the wire turning cylinder drives the wire turning clamp to work for clamping wires, and is arranged on the output shaft of the wire turning motor so as to drive the wire turning clamp to rotate;

the second clamping hand assembly sequentially sends one end of the wire rod with the pressed terminal on the fourth wire clamp to the first terminal appearance detection mechanism, the first terminal appearance detection mechanism detects whether the terminal is pressed on the peeling part of the wire rod or not, then the second clamping hand assembly sends the detected end of the wire rod to the wire turning clamp, and the second clamping hand assembly circularly works on the fourth wire clamp and the wire turning clamp;

The first terminal insertion mechanism comprises a Z-direction mounting block, a second Z-direction driving structure, a Y-direction mounting plate, a second Y-direction driving structure, an X-direction mounting plate, a third X-direction driving structure, a sixth supporting seat, a right back half clamping cylinder, a left back half clamping cylinder, a front end clamping cylinder; the third X-direction driving structure is arranged on the sixth supporting seat, the second Y-direction driving structure is arranged on the X-direction mounting plate, and the X-direction mounting plate is arranged on the third X-direction driving structure and is driven by the third X-direction driving structure to move in the X-direction; the Y-direction mounting plate is arranged on the second Y-direction driving structure and is driven by the Y-direction driving structure to move in the Y direction; the second Z-direction driving structure is arranged on the Y-direction mounting plate and drives the Z-direction mounting block to move in the Z direction on the Y-direction mounting plate; the right back half clamping cylinder, the left back half clamping cylinder and the front end clamping cylinder are all arranged on the Z-direction installation block, the right back half clamping cylinder drives the right back half clamp to move in the X direction, the left back half clamping cylinder drives the left back half clamp to move in the X direction, the right back half clamp and the left back half clamp are matched with each other to clamp wires, and the front end clamping cylinder drives the front end clamp to clamp wires;

The first connector positioning mechanism comprises a turnover motor, a Y-direction pushing cylinder, a Y-direction pushing block, a connector feeding channel, a seventh supporting seat, an X-direction pushing rod, a pushing rod connecting piece, a pushing rod connecting spring, an X-direction pushing cylinder, a connector clamp and a connector clamp cylinder; the seventh supporting seat is arranged on the fixed workbench, the overturning motor, the Y-direction pushing cylinder and the X-direction pushing cylinder are arranged on the seventh supporting seat, the Y-direction pushing block is arranged on a platform of the seventh supporting seat and can move in the Y direction, a connector feeding channel is arranged between the Y-direction pushing block and the platform of the seventh supporting seat, a discharge port of the connector feeding channel can be communicated with an inlet of the connector feeding channel, and an outlet of the connector feeding channel can be communicated with a clamping port of a connector clamp; the X-direction pushing cylinder drives the pushing rod connecting piece and the X-direction pushing rod to move in the X-direction in the seventh supporting seat so as to push the connector in the connector feeding channel into the connector clamp, and the pushing rod connecting spring is used for adjusting the acting force of the pushing rod when pushing different connectors; the front end clamp is matched with the right rear half clamp and the left rear half clamp to take out the wire rod which is turned by 180 degrees on the wire turning clamp, and the end part of the wire rod which is taken out can be horizontally inserted into an inserting hole of a connector in the connector clamp; the connector clamp cylinder drives the connector clamp to work, and an output shaft of the turnover motor is connected with the connector clamp cylinder so as to drive the connector clamp to rotate;

The first connector feeding mechanism comprises a hopper, a vibrating disc and a supporting frame, wherein the supporting frame is arranged on the fixed workbench, the vibrating disc is arranged on the supporting frame, the hopper is arranged on the vibrating disc, and a feeding port of the connector feeding channel is communicated with the hopper;

B. the wire feeding device also comprises a second wire moving mechanism, a second terminal feeding device, a peeling mechanism, a second peeled wire core detection mechanism, a second terminal pressing mechanism, a second terminal appearance detection mechanism, a second wire turning mechanism, a second terminal inserting mechanism, a second connector positioning mechanism and a second connector feeding mechanism; the second wire moving mechanism, the second terminal feeding device, the peeling mechanism, the second peeled wire core detection mechanism, the second terminal pressing mechanism, the second terminal appearance detection mechanism, the second wire turning mechanism, the second terminal inserting mechanism, the second connector positioning mechanism and the second connector feeding mechanism are sequentially arranged and installed on the movable workbench from left to right along the X direction;

the structure of the second wire carrying mechanism is the same as that of the first wire carrying mechanism, the second wire carrying mechanism and the first wire carrying mechanism are arranged in a mirror symmetry mode, and the structure of the second wire carrying mechanism is arranged on the movable workbench;

The second terminal feeding device and the first terminal feeding device are identical in structure, the second terminal feeding device and the first terminal feeding device are arranged in a mirror symmetry mode, and the second terminal feeding device is arranged on the movable workbench;

the peeling mechanism is arranged on the movable workbench and comprises two second peeling knives which peel the end parts of the wires positioned between the two second peeling knives; the two first peeling knives and the two second peeling knives are symmetrically arranged;

the structure of the second wire core detection mechanism after peeling is the same as that of the first wire core detection mechanism after peeling, the second wire core detection mechanism after peeling and the first wire core detection mechanism after peeling are arranged in mirror symmetry, and the second wire core detection mechanism after peeling is arranged on the movable workbench;

the structure of the second terminal pressing mechanism is the same as that of the first terminal pressing mechanism, the second terminal pressing mechanism and the first terminal pressing mechanism are arranged in a mirror symmetry mode, and the second terminal pressing mechanism is arranged on the movable workbench;

the structure of the second terminal appearance detection mechanism is the same as that of the first terminal appearance detection mechanism, the second terminal appearance detection mechanism and the first terminal appearance detection mechanism are arranged in a mirror symmetry mode, and the second terminal appearance detection mechanism is arranged on the movable workbench;

The structure of the second wire turning mechanism is the same as that of the first wire turning mechanism, the second wire turning mechanism and the first wire turning mechanism are arranged in a mirror symmetry mode, and the second wire turning mechanism is arranged on the movable workbench;

the structure of the second terminal insertion mechanism is the same as that of the first terminal insertion mechanism, the second terminal insertion mechanism and the first terminal insertion mechanism are arranged in a mirror symmetry mode, and the second terminal insertion mechanism is arranged on the movable workbench;

the structure of the second connector positioning mechanism is the same as that of the first connector positioning mechanism, the second connector positioning mechanism and the first connector positioning mechanism are arranged in a mirror symmetry mode, and the second connector positioning mechanism is arranged on the movable workbench;

the structure of the second connector feeding mechanism is the same as that of the first connector feeding mechanism, the second connector feeding mechanism and the first connector feeding mechanism are arranged in a mirror symmetry mode, and the second connector feeding mechanism is arranged on the movable workbench;

C. the device also comprises a wire pulling mechanism; the wire pulling mechanism comprises a guide plate, a guide sliding block, a third Y-direction driving structure, a first wire clamp, a first wire clamping cylinder, a first supporting seat and a first guide rail; the wire stripper is characterized in that the first supporting seat is arranged on the fixed workbench, the guide plate is arranged on the first supporting seat, the guide plate is arranged between the fixed workbench and the movable workbench in a Y direction, the first guide rail is arranged on the side face of the guide plate, the third Y-direction driving structure drives the guide sliding block to move along the Y direction on the first guide rail, the first wire clamping cylinder is arranged on the guide sliding block, the first wire clamping cylinder drives the first wire clamping to work, and the wire end part of the wire pressing module is pulled to the second stripping knife to be stripped under the driving of the third Y-direction driving structure. If the length of the wire to be cut exceeds the distance between the second peeling knife and the fixed workbench, the wire clamp clamps the wire to pass over the second peeling knife along the Y direction, and then the wire is retracted to the peeling knife to be peeled.

In the technical scheme, the first terminal feeding device further comprises a charging tray, a charging tray motor, a roll paper tray and a terminal supporting frame; the terminal support frame is installed on fixed workbench, charging tray motor, stock form motor and terminal feed channel are all fixed on the terminal support frame, the charging tray is installed on the output shaft of charging tray motor, the stock form is installed on the output shaft of charging tray motor, the discharge gate of charging tray and the feed inlet intercommunication of terminal feed channel.

In the technical scheme, the line selecting and peeling mechanism further comprises a first X-direction driving motor, a first waste bin, a second X-direction driving structure, a first Y-direction driving structure, two first sliding blocks, an upper mounting plate and a lower mounting plate; the wire pressing module is arranged on the upper mounting plate, the upper mounting plate is arranged on the lower mounting plate, and the second X-direction driving structure drives the upper mounting plate to move in the X direction on the lower mounting plate; the first X-direction driving motor and the first waste box are both arranged on the lower mounting plate, an output shaft of the first X-direction driving motor is arranged on the lower mounting plate and can rotate, a forward thread is arranged at the left part of the output shaft of the first X-direction driving motor, a reverse thread is arranged at the right part of the output shaft of the first X-direction driving motor, one first sliding block is sleeved at the left part of the output shaft of the first X-direction driving motor and is in threaded fit with the forward thread, the other first sliding block is sleeved at the right part of the output shaft of the first X-direction driving motor and is in threaded fit with the reverse thread, and the first waste box is positioned between the two first peeling knives; the cutter and the first peeling knife are arranged on the first sliding block, the cutter and the first peeling knife are arranged in the Y direction, the cutter is close to an outlet of the wire pressing module, and the distance between the two cutters is smaller than the distance between the two first peeling knives; the lower mounting plate is arranged on the fixed workbench, the first Y-direction driving structure is fixed on the fixed workbench, and the first Y-direction driving structure drives the lower mounting plate to move in the Y direction on the fixed workbench.

In the technical scheme, the wire pressing module comprises more than one wire passing channel through which wires can pass and more than one wire pressing cylinder; each wire passing channel is arranged on the upper mounting plate and is arranged in the X direction, and the outlet of each wire passing channel can correspond to the two cutting edges and the two first peeling edges; the wire pressing cylinder is arranged on the corresponding wire passing channel, and a piston rod of the wire pressing cylinder can press wires in the corresponding wire passing channel; the second X-direction driving structure comprises a second X-direction driving motor, a screw thread is arranged on an output shaft of the second X-direction driving motor, and the upper mounting plate is mounted on the output shaft of the second X-direction driving motor and is in threaded fit with the output shaft of the second X-direction driving motor; the first Y-direction driving structure comprises a first Y-direction driving motor, a thread is arranged on an output shaft of the first Y-direction driving motor, and the lower mounting plate is mounted on the output shaft of the first Y-direction driving motor and is in threaded fit with the output shaft of the first Y-direction driving motor.

In the technical scheme, the first peeled wire core detection mechanism further comprises a second supporting seat and a first bolt adjusting component, wherein the second supporting seat and the first bolt adjusting component are both arranged on the fixed workbench, and the first bolt adjusting component can adjust the Y-direction position of the second supporting seat on the fixed workbench; the first lens, the first camera and the third wire clamping cylinder are arranged on the second supporting seat; an X-direction guiding groove is formed in the end face of the camera light source, the peeling end of the wire rod is located in the X-direction guiding groove, and the first camera detects the peeling end of the wire rod in the X-direction guiding groove.

In the technical scheme, the first Z-direction driving structure is a first Z-direction driving motor.

In the technical scheme, the first terminal appearance detection mechanism comprises a second camera, a second lens, an adjusting plate, a supporting plate adjusting cylinder, a fourth supporting seat, a base, a first Y-direction bolt adjusting assembly, a first X-direction bolt adjusting assembly, a supporting plate, a clamping plate and a second camera light source; the base and the first Y-direction bolt adjusting component are arranged on the fixed workbench, and the first Y-direction bolt adjusting component can adjust the Y-direction position of the base on the fixed workbench; the fourth supporting seat and the first X-direction bolt adjusting component are both arranged on the base, and the first X-direction bolt adjusting component can adjust the X-direction position of the fourth supporting seat on the base; the adjusting plate and the second camera light source are both arranged at the upper end of the fourth supporting seat and can adjust the Z-direction position, the second camera is arranged on the adjusting plate and is positioned above the second camera light source, and the second lens is arranged below the second camera; the clamping plate is arranged on the supporting plate, the clamping plate is used for fixing a wire rod to be detected, which is provided with a terminal, on the supporting plate, the supporting plate is arranged on the fourth supporting seat and can move in the Z direction, and the supporting plate adjusting cylinder is arranged on the fourth supporting seat and can drive the supporting plate to move in the Z direction; the second camera detects the wire rod with the terminal on the supporting plate.

In the technical scheme, the first wire turning mechanism further comprises a second Y-direction bolt adjusting assembly, a third base, a second X-direction bolt adjusting assembly and a fixed workbench; the third base and the second Y-direction bolt adjusting assembly are both arranged on the fixed workbench, the second Y-direction bolt adjusting assembly can adjust the Y-direction position of the third base on the fixed workbench, the fifth supporting seat and the second X-direction bolt adjusting assembly are both arranged on the third base, and the second X-direction bolt adjusting assembly can adjust the X-direction position of the fifth supporting seat on the third base.

In the technical scheme, the second Y-direction driving structure comprises a second Y-direction driving motor, a thread is arranged on an output shaft of the second Y-direction driving motor, and the Y-direction mounting plate is mounted on the output shaft of the second Y-direction driving motor and is in threaded fit with the output shaft of the second Y-direction driving motor; the third X-direction driving structure comprises a third X-direction driving motor, a thread is arranged on an output shaft of the third X-direction driving motor, and the X-direction mounting plate is mounted on the output shaft of the third X-direction driving motor and is in threaded fit with the output shaft of the third X-direction driving motor.

In the technical scheme, the peeling mechanism further comprises a fourth X-direction driving motor, two second sliding blocks, a second waste bin, a Y-direction installation sliding block, a first base and a Y-direction pulling cylinder; the first base is arranged on the fixed workbench, the Y-direction installation sliding block and the Y-direction pulling air cylinder are arranged on the first base, and the Y-direction pulling air cylinder can adjust the Y-direction position of the Y-direction installation sliding block on the first base; the second waste bin and the fourth X-direction driving motor are both installed on the Y-direction installation sliding block, forward and reverse threads are respectively arranged at the left and right parts of the output shaft of the fourth X-direction driving motor, two second sliding blocks are both arranged on the output shaft of the fourth X-direction driving motor, one second sliding block is located on the forward threads of the output shaft of the fourth X-direction driving motor, the other second sliding block is located on the reverse threads of the output shaft of the fourth X-direction driving motor, and two second peeling knives are respectively installed on the two second sliding blocks.

In the technical scheme, the first clamping hand assembly comprises a second wire clamp a, a first X-direction moving sliding block and a second wire clamp a driving cylinder; the second wire clamp a and the second wire clamp a driving cylinder are both arranged on a first X-direction moving sliding block, the second wire clamp a is driven by the second wire clamp a driving cylinder to work for clamping wires, and the first X-direction moving sliding block is arranged on a fixed workbench and can move in the X direction; the second clamping hand assembly comprises a second wire clamp b, a second X-direction moving sliding block and a second wire clamp b driving cylinder; the second wire clamp b and the second wire clamp b driving cylinder are both arranged on a second X-direction moving sliding block, the second wire clamp b driving cylinder drives the second wire clamp a to work for clamping wires, and the second X-direction moving sliding block is arranged on a fixed workbench and can move in the X direction; the clamping hand driving piece comprises an X-direction belt pulley motor and a belt pulley group, the X-direction belt pulley motor and the belt pulley group are both arranged on the fixed workbench, an output shaft of the X-direction belt pulley motor drives the belt pulley group to rotate and run, and the belt pulley group drives the first X-direction moving slide block and the second X-direction moving slide block to move in the X direction on the fixed workbench; the output shaft of the X-direction belt pulley motor drives the second wire moving mechanism.

In this technical scheme, front end clip includes first half left side clamp and first half right side clamp, and first half left side clamp and first half right side clamp cooperation clamp wire rod tip, first half right side clamp is fixed on Z to the installation piece, front end clamp cylinder drives first half left side clamp and makes X to removing on Z to the installation piece, is equipped with the hook of bearing wire rod tip at the lower extreme of first half left side clamp, is equipped with the horizontal pole on first half left side clamp, the cooperation of horizontal pole and the hook of first half left side clamp lower extreme makes the wire rod can not Z to remove and makes the wire rod be in Y to horizontal position.

Compared with the prior art, the invention has the advantages that: the terminal and the wire rod can be automatically crimped, the crimped terminal wire rod can be automatically spliced into the jack of the connector, the peeled wire rod end and the terminal crimp can be subjected to quality detection at the wire rod end, and the product quality is stable.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a perspective view of a first terminal feeding device of the present invention;

FIG. 4 is a perspective view of the front face of the line selection and stripping mechanism of the present invention;

FIG. 5 is a perspective view of the reverse orientation of the line selection and stripping mechanism of the present invention;

FIG. 6 is a perspective view of the peeling mechanism of the present invention;

FIG. 7 is a perspective view of the cord pulling mechanism of the present invention;

FIG. 8 is a perspective view of the first wire handling mechanism of the present invention;

FIG. 9 is a perspective view of a first stripped wire core detection mechanism of the present invention;

FIG. 10 is a perspective view of a first terminal hold-down mechanism with pressure sensing according to the present invention;

fig. 11 is a perspective view of the first-terminal appearance detecting mechanism of the present invention;

FIG. 12 is a perspective view of a first wire flipping mechanism of the present invention;

FIG. 13 is a perspective view of a first terminal insertion mechanism of the present invention;

FIG. 14 is an exploded view of the first terminal insertion mechanism of the present invention;

FIG. 15 is a perspective view of a first connector positioning mechanism of the present invention;

fig. 16 is a perspective view of a first connector loading mechanism of the present invention.

Description of the embodiments

The following describes the embodiments of the present invention further with reference to the drawings. The description of these embodiments is provided to assist understanding of the present invention, but is not intended to limit the present invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

In the description of the present invention, the terms "longitudinal", "transverse", "upper" and "lower" indicate an azimuth or a positional relationship based on that shown in the drawings, and are merely for convenience of describing the present invention, not to require that the present invention must be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 16, the full-automatic double-end crimping terminal inserting machine comprises a movable workbench 1 and a fixed workbench 14, wherein the movable workbench 1 can move in the Y direction relative to the fixed workbench 14;

A. the wire feeding device also comprises a first wire moving mechanism 4, a first terminal feeding device 5, a wire selecting and peeling mechanism 6, a first wire core detecting mechanism 7 after peeling, a first terminal pressing mechanism 8, a first terminal appearance detecting mechanism 9, a first wire turning mechanism 10, a first terminal inserting mechanism 11, a first connector positioning mechanism 13 and a first connector feeding mechanism 12; the first terminal feeding device 5, the line selecting and peeling mechanism 6, the first peeled wire core detecting mechanism 7, the first terminal pressing mechanism 8, the first terminal appearance detecting mechanism 9, the first line turning mechanism 10, the first terminal inserting mechanism 11, the first connector positioning mechanism 13 and the first connector feeding mechanism 12 are sequentially arranged and installed on the fixed workbench 14 from left to right along the X direction;

the first wire moving mechanism 4 comprises a first clamping hand assembly, a second clamping hand assembly and a clamping hand driving piece, wherein the first clamping hand assembly and the second clamping hand assembly are arranged on the fixed workbench 14 and can move in the X direction on the fixed workbench 14; the clamping hand driving piece drives the first clamping hand assembly and the second clamping hand assembly to move in the X direction at the same time;

The first terminal feeding device 5 comprises a terminal feeding channel 56, wherein the terminal feeding channel 56 is used for conveying terminals;

the wire selecting and peeling mechanism 6 comprises a wire pressing module 67, two cutters 631 and two first peeling cutters 632, wherein the two cutters 631 cut off wires positioned between the two cutters, and the two first peeling cutters 632 peel off the ends of the wires positioned between the two cutters;

the first stripped wire core detection mechanism 7 comprises a third wire clamping cylinder 71, a first camera light source 72, a first camera 78 and a third wire clamp 77; the third wire clamp 77 clamps the stripped wire end, the first camera 78 photographs, detects and displays the stripped wire part on the third wire clamp 77, and the third wire clamping cylinder 71 drives the third wire clamp 77 to work;

the first terminal pressing mechanism 8 comprises a first Z-direction driving structure 81, a third supporting seat 82, a terminal output channel 83, a fourth wire clamping cylinder 84, a pressing cutter bottom die 85, a fourth wire clamp 86, a pressing cutter 87, a pressing joint 88 and a pressure sensor 89; the third supporting seat 82 is mounted on the fixed workbench 14, and the first Z-direction driving structure 81, the terminal output channel 83, the fourth wire clamping cylinder 84 and the crimping tool bottom die 85 are all mounted on the third supporting seat 82; the press joint 88 is arranged on the third supporting seat 82, the first Z-direction driving structure drives the press joint 88 to move in the Z direction on the third supporting seat 82 through the pressure sensor 89, the press joint cutter 87 is arranged below the press joint 88, the press joint cutter 87 is positioned right above the press joint cutter bottom die 85, and the pressure sensor 89 is used for detecting and displaying the pressure born by the press joint; the crimping tool bottom die 85 is positioned in the terminal output channel 83, and a discharge hole of the terminal feeding channel 56 is communicated with the terminal output channel 83 to convey the terminal into the terminal output channel 83; the fourth wire clamp 86 is positioned at the rear of the crimping tool bottom die 85 so as to clamp one end of the wire rod and press the terminal on the peeling end of the wire rod; the fourth wire clamping cylinder 84 drives the fourth wire clamp 86 to work;

The first clamping hand assembly clamps and sends one end of the wire rod cut and peeled by the cutter 631 and the first peeling knife 632 into the third wire clamp 77 in sequence, the first camera 78 detects whether the peeling of the end part of the wire rod is qualified and takes pictures, the first clamping hand assembly clamps and sends the detected end of the wire rod into the fourth wire clamp 86, and the first clamping hand assembly circularly works back and forth on the cutter 631 and the first peeling knife 632 as well as the third wire clamp 77 and the fourth wire clamp 86;

the first terminal appearance detection mechanism 9 is used for detecting whether the terminal is qualified to be assembled at the peeling part of the wire rod and displaying;

the first wire turning mechanism 10 comprises a wire turning clamp 101, a wire turning cylinder 102, a wire turning motor 103 and a fifth supporting seat 104; the fifth supporting seat 104 is mounted on the fixed workbench 14, the wire turning motor 103 is mounted on the fifth supporting seat 104, an output shaft of the wire turning motor 103 is rotatably arranged on the fifth supporting seat 104, the wire turning cylinder 102 drives the wire turning clamp 101 to work for clamping wires, and the wire turning cylinder 102 is mounted on the output shaft of the wire turning motor 103 so as to drive the wire turning clamp 101 to rotate 180 degrees;

the second clamping hand assembly sequentially sends one end of the wire rod with the pressed terminal on the fourth wire clamp 86 to the first terminal appearance detection mechanism 9, the first terminal appearance detection mechanism 9 detects whether the terminal is qualified at the peeling part of the wire rod, then the second clamping hand assembly sends the detected end of the wire rod to the wire turning clamp 101, and the second clamping hand assembly circularly works on the fourth wire clamp 86 and the wire turning clamp 101;

The first terminal insertion mechanism 11 includes a Z-direction mounting block 111, a second Z-direction driving structure, a Y-direction mounting plate 113, a second Y-direction driving structure 114, an X-direction mounting plate 115, a third X-direction driving structure 116, a sixth support 117, a right back half clamping cylinder 118, a right back half clamping 119, a left back half clamping 1110, a left back half clamping cylinder 1111, a front end clamping cylinder 1114; the third X-direction driving structure 116 is mounted on the sixth supporting seat 117, the second Y-direction driving structure is mounted on the X-direction mounting plate 115, and the X-direction mounting plate 115 is disposed on the third X-direction driving structure 116 and is driven by the third X-direction driving structure 116 to move in the X-direction; the Y-direction mounting plate 113 is arranged on the second Y-direction driving structure and is driven by the Y-direction driving structure to move in the Y direction; the second Z-direction driving structure is mounted on the Y-direction mounting plate 113, and drives the Z-direction mounting block 111 to move in the Z-direction on the Y-direction mounting plate 113; the right back half clamping cylinder 118, the left back half clamping cylinder 1111 and the front end clamping cylinder 1114 are all arranged on the Z-direction installation block 111, the right back half clamping cylinder 118 drives the right back half clamping 119 to move in the X direction, the left back half clamping cylinder 1111 drives the left back half clamping 1110 to move in the X direction, the right back half clamping 119 and the left back half clamping 1110 are matched with each other to clamp wires, and the front end clamping cylinder 1114 drives the front end clamping wires;

The first connector positioning mechanism 13 comprises a turnover motor 131, a Y-direction pushing cylinder 132, a Y-direction pushing block 133, a connector feeding channel 134, a seventh supporting seat 136, an X-direction pushing rod 135, a pushing rod connecting piece 137, a pushing rod connecting spring 1371, an X-direction pushing cylinder 138, a connector clip 139 and a connector clip cylinder 1310; the seventh supporting seat 136 is mounted on the fixed workbench 14, the turnover motor 131, the Y-direction pushing cylinder 132 and the X-direction pushing cylinder 138 are mounted on the seventh supporting seat 136, the Y-direction pushing block 133 is arranged on a platform of the seventh supporting seat 136 and can move in the Y direction, a connector feeding channel 1331 is arranged between the Y-direction pushing block 133 and the platform of the seventh supporting seat 136, a discharge port of the connector feeding channel 134 can be communicated with an inlet of the connector feeding channel 1331, and an outlet of the connector feeding channel 1331 can be communicated with a clamping port of the connector clamp 139; the X-direction pushing cylinder 138 drives the pushing rod connecting piece 137 and the X-direction pushing rod 135 to move in the X-direction in the seventh supporting seat 136 to push the connector in the connector feeding channel 1331 into the connector clip 139, and the pushing rod connecting spring 1371 is used for adjusting the acting force of the pushing rod when pushing different connectors; the front end clamp is matched with the right rear half clamp 119 and the left rear half clamp 1110 to take out the wire rod which is turned by 180 degrees on the wire turning clamp 101, and the end part of the taken-out wire rod can be horizontally inserted into a jack of a connector in the connector clamp 139; the connector clamp cylinder 1310 drives the connector clamp 139 to work, and the output shaft of the turnover motor 131 is connected with the connector clamp cylinder 1310 so as to drive the connector clamp 139 to rotate;

The first connector feeding mechanism 12 comprises a hopper 121, a vibration disc 122 and a supporting frame 123, the supporting frame 123 is installed on the fixed workbench 14, the vibration disc 122 is installed on the supporting frame 123, the hopper 121 is installed on the vibration disc 122, and a feeding port of the connector feeding channel 134 is communicated with the hopper 121;

B. the wire feeding device also comprises a second wire moving mechanism, a second terminal feeding device, a peeling mechanism 2, a second peeled wire core detection mechanism, a second terminal pressing mechanism, a second terminal appearance detection mechanism, a second wire turning mechanism, a second terminal inserting mechanism, a second connector positioning mechanism and a second connector feeding mechanism; the second wire moving mechanism, the second terminal feeding device, the peeling mechanism 2, the second peeled wire core detection mechanism, the second terminal pressing mechanism, the second terminal appearance detection mechanism, the second wire turning mechanism, the second terminal inserting mechanism, the second connector positioning mechanism and the second connector feeding mechanism are sequentially arranged and installed on the movable workbench 1 from left to right along the X direction;

the structure of the second wire carrying mechanism is the same as that of the first wire carrying mechanism 4, the second wire carrying mechanism and the first wire carrying mechanism 4 are arranged in a mirror symmetry mode, and the structure of the second wire carrying mechanism is arranged on the movable workbench 1;

The second terminal feeding device has the same structure as the first terminal feeding device 5, is arranged in mirror symmetry with the first terminal feeding device 5, and is arranged on the movable workbench 1;

the peeling mechanism 2 is arranged on the movable workbench 1, the peeling mechanism 2 comprises two second peeling knives 221, and the two second peeling knives 221 peel the end parts of the wires positioned between the two second peeling knives 221; the two first peeling knives 632 are symmetrically arranged with the two second peeling knives 221;

the structure of the second wire core detection mechanism after peeling is the same as that of the first wire core detection mechanism after peeling 7, the second wire core detection mechanism after peeling and the first wire core detection mechanism after peeling 7 are arranged in mirror symmetry, and the second wire core detection mechanism after peeling is arranged on the movable workbench 1;

the structure of the second terminal pressing mechanism is the same as that of the first terminal pressing mechanism 8, the second terminal pressing mechanism and the first terminal pressing mechanism 8 are arranged in a mirror symmetry manner, and the second terminal pressing mechanism is arranged on the movable workbench 1;

the structure of the second terminal appearance detection mechanism is the same as that of the first terminal appearance detection mechanism 9, the second terminal appearance detection mechanism and the first terminal appearance detection mechanism 9 are arranged in a mirror symmetry mode, and the second terminal appearance detection mechanism is arranged on the movable workbench 1;

The structure of the second wire turning mechanism is the same as that of the first wire turning mechanism 10, the second wire turning mechanism is arranged in mirror symmetry with the first wire turning mechanism 10, and the second wire turning mechanism is arranged on the movable workbench 1;

the structure of the second terminal inserting mechanism is the same as that of the first terminal inserting mechanism 11, the second terminal inserting mechanism and the first terminal inserting mechanism 11 are arranged in a mirror symmetry mode, and the second terminal inserting mechanism is arranged on the movable workbench 1;

the structure of the second connector positioning mechanism is the same as that of the first connector positioning mechanism 13, the second connector positioning mechanism and the first connector positioning mechanism 13 are arranged in a mirror symmetry mode, and the second connector positioning mechanism is arranged on the movable workbench 1;

the structure of the second connector feeding mechanism is the same as that of the first connector feeding mechanism 12, the second connector feeding mechanism and the first connector feeding mechanism 12 are arranged in a mirror symmetry mode, and the second connector feeding mechanism is arranged on the movable workbench 1;

C. also comprises a wire pulling mechanism 3; the wire pulling mechanism 3 comprises a guide plate 31, a guide sliding block 32, a third Y-direction driving structure 33, a first wire clamp 34, a first wire clamping cylinder 35, a first supporting seat 36 and a first guide rail 38; the first supporting seat 36 is installed on the fixed workbench 14, the guide plate 31 is installed on the first supporting seat 36, the guide plate 31Y spans between the fixed workbench 14 and the movable workbench 1 in the Y direction, the first guide rail 38 is installed on the side surface of the guide plate 31, the third Y-direction driving structure 33 drives the guide sliding block 32 to move on the first guide rail 38 in the Y direction, the first wire clamping cylinder 35 is installed on the guide sliding block 32, the first wire clamping cylinder 35 drives the first wire clamp 34 to work, and under the driving of the third Y-direction driving structure 33, the first wire clamp 34 pulls the wire end part coming out of the wire pressing module to the second peeling knife 221 for peeling.

When the wire rod is in operation, if the wire rod is shorter, the position of the movable workbench 1 relative to the fixed workbench 14 is directly adjusted to adapt to the length of the required wire rod, and the wire pulling mechanism 3 pulls the end part of the wire rod extending out of the wire selecting and peeling mechanism 6 to the peeling mechanism 2; if the wire to be cut is longer than the distance between the second stripping blade 221 and the fixed table 14, the first wire clamp 34 is pulled to clamp the wire in the Y direction beyond the second stripping blade 221, and then retracted to the second stripping blade 221 for stripping to accommodate the required length of the wire.

The first wire carrying mechanism 4 is matched with the second wire carrying mechanism to carry and send cut and peeled wires into the first wire core detecting mechanism 7 after peeling and the second wire core visual detecting mechanism after peeling to detect whether the wire is qualified or not after peeling, then the first wire carrying mechanism 4 is matched with the second wire carrying mechanism to carry and send the detected wires into the first terminal pressing mechanism 8 and the second terminal pressing mechanism, so that the two ends of the wires are pressed with terminals, then the first wire carrying mechanism 4 is matched with the second wire carrying mechanism to carry and send the wires with pressed terminals into the first terminal appearance detecting mechanism 9 and the second terminal appearance visual detecting mechanism to detect whether the wires are qualified or not, then the wires with the terminals are carried into the first wire turning mechanism 10 and the second wire turning mechanism to turn over, the first connector feeding mechanism 12 sends the connectors into the first connector positioning mechanism 13, and the first terminal inserting mechanism 11 inserts the terminals at one ends of the wires into the jacks of the connectors on the first connector positioning mechanism 13; the second connector feeding mechanism feeds the connector to the second connector positioning mechanism, and the second terminal inserting mechanism inserts the other terminal of the wire into the jack of the connector on the second connector positioning mechanism; the first terminal feeding device 5 feeds the terminals to the first terminal pressing mechanism 8, and the second terminal feeding device feeds the terminals to the second terminal pressing mechanism.

In this embodiment, the first terminal feeding device 5 further includes a tray 51, a tray motor 52, a roll paper motor 53, a roll paper tray 54, and a terminal support 55; the terminal support frame 55 is installed on the fixed workbench 14, the tray motor 52, the roll paper motor 53 and the terminal feeding channel 56 are all fixed on the terminal support frame 55, the tray 51 is installed on the output shaft of the tray motor 52, the roll paper tray 54 is installed on the output shaft of the tray motor 52, and the discharge hole of the tray 51 is communicated with the feeding hole of the terminal feeding channel 56. In operation, the terminal strip is mounted on the tray 51 and enters the terminal feed channel 56 through the discharge opening of the tray 51. Since the second terminal feeding device and the first terminal feeding device 5 have the same structure, installation manner and operation principle, the description thereof will not be repeated.

In this embodiment, the line selecting and peeling mechanism 6 further includes a first X-direction driving motor 61, a first waste bin 64, a second X-direction driving structure 66, a first Y-direction driving structure 68, two first sliders 63, an upper mounting plate 65, and a lower mounting plate 69; the wire pressing module 67 is installed on the upper installation plate 65, the upper installation plate 65 is arranged on the lower installation plate 69, and the second X-direction driving structure 66 drives the upper installation plate 65 to move in the X-direction on the lower installation plate 69; the first X-direction driving motor 61 and the first waste bin 64 are both mounted on the lower mounting plate 69, the output shaft of the first X-direction driving motor 61 is arranged on the lower mounting plate 69 and can rotate, a forward thread 611 is arranged at the left part of the output shaft of the first X-direction driving motor 61, a reverse thread 613 is arranged at the right part of the output shaft of the first X-direction driving motor 61, one first sliding block 63 is sleeved at the left part of the output shaft of the first X-direction driving motor 61 and is in threaded fit with the forward thread 611, the other first sliding block 63 is sleeved at the right part of the output shaft of the first X-direction driving motor 61 and is in threaded fit with the reverse thread 613, when the output shaft of the first X-direction driving motor 61 rotates, the two first sliding blocks 63 move oppositely in the X-direction, and the first waste bin 64 is positioned between the two first peeling knives 632; the cutters 631 and the first peeling blades 632 are mounted on the first sliding block 63, the cutters 631 and the first peeling blades 632 are arranged in the Y direction, the cutters 631 are close to the outlet of the wire pressing module, the distance between the two cutters 631 is smaller than the distance between the two first peeling blades 632, when the two first sliding blocks 63 move towards each other to be the ground, the two cutters 631 can cut off the wire, and the first peeling blades 632 can peel the end of the wire; the lower mounting plate 69 is disposed on the fixed table 14, the first Y-directional driving structure is fixed on the fixed table 14, and the first Y-directional driving structure 68 drives the lower mounting plate 69 to move in the Y-direction on the fixed table 14.

In this embodiment, the wire pressing module 67 includes eight wire passing channels 671 and eight wire pressing cylinders 672 through which wires can pass; each wire passing channel 671 is arranged on the upper mounting plate 65 and arranged in the X direction, and the outlet of each wire passing channel 671 can correspond to the two cutter 631 ports and the two first peeling cutter 632 ports; the wire pressing cylinder 672 is mounted on the corresponding wire passing channel 671, and a piston rod of the wire pressing cylinder 672 can press wires in the corresponding wire passing channel 671; when the wire rod is cut off and peeled by the two cutters 631 and the two first peeling cutters 632 in operation, the piston rod of the wire pressing cylinder 672 presses the wire rod in the corresponding wire passing channel 671; when the wire pulling mechanism 3 pulls the wire, the piston rod of the wire pressing cylinder 672 does not press the wire in the corresponding wire passing channel 671; the second X-direction driving structure 66 comprises a second X-direction driving motor, a screw thread is arranged on an output shaft of the second X-direction driving motor, and the upper mounting plate 65 is mounted on the output shaft of the second X-direction driving motor and is in screw thread fit; the first Y-direction driving structure 68 includes a first Y-direction driving motor, a screw is disposed on an output shaft of the first Y-direction driving motor, and the lower mounting plate 69 is mounted on the output shaft of the first Y-direction driving motor and is in threaded engagement with the output shaft of the first Y-direction driving motor, so that wires extending out of the wire passage 671 can correspond to the two cutter 631 ports and the two first peeling cutters 632 ports. The wire passage 671 is the same as the wire pressing cylinder 672, and may be two, three or more.

In this embodiment, the first stripped wire core detecting mechanism 7 further includes a second supporting seat 75 and a first bolt adjusting assembly 74, where the second supporting seat 75 and the first bolt adjusting assembly 74 are both installed on the fixed table 14, and the first bolt adjusting assembly 74 can adjust the Y-direction position of the second supporting seat 75 on the fixed table 14; the first lens 73, the first camera 78 and the third wire clamping cylinder 71 are mounted on the second supporting seat 75; an X-direction guide groove 76 is provided on an end surface of the camera light source 72, a peeling end of the wire is positioned in the X-direction guide groove 76, and a first camera 78 detects the peeling end of the wire in the X-direction guide groove 76. The first wire core detection mechanism 7 after peeling is the same as the second wire core visual detection mechanism after peeling in the same manner, and the structure of the second wire core visual detection mechanism after peeling is not repeated.

In this embodiment, the first Z-drive structure 81 is a first Z-drive motor.

In the present embodiment, the first terminal appearance detecting mechanism 9 includes a second camera 91, a second lens 911, an adjusting plate 92, a supporting plate adjusting cylinder 93, a fourth supporting base 94, a base 95, a first Y-bolt adjusting assembly 96, a first X-bolt adjusting assembly 97, a supporting plate 98, a clamping plate 99, and a second camera light source 910; the base 95 and the first Y-direction bolt adjusting assembly 96 are mounted on the fixed workbench 14, and the first Y-direction bolt adjusting assembly 96 can adjust the Y-direction position of the base 95 on the fixed workbench 14; the fourth supporting seat 94 and the first X-direction bolt adjusting assembly 97 are both installed on the base 95, and the first X-direction bolt adjusting assembly 97 can adjust the X-direction position of the fourth supporting seat 94 on the base 95; the adjusting plate 92 and the second camera light source 910 are both installed at the upper end of the fourth supporting seat 94 and can adjust the Z-direction position, the second camera 91 is installed on the adjusting plate 92 and is located above the second camera light source 910, and the second lens 911 is installed below the second camera 91; the clamping plate 99 is arranged on the supporting plate 98, the clamping plate 99 fixes the wire rod with the terminal to be detected on the supporting plate 98, the supporting plate 98 is arranged on the fourth supporting seat 94 and can move in the Z direction, and the supporting plate adjusting cylinder 93 is arranged on the fourth supporting seat 94 and can drive the supporting plate 98 to move in the Z direction; the second camera 91 detects the terminal-equipped wire on the support plate 98. The first terminal appearance detecting means 9 has the same structure as the second terminal appearance detecting means, and the operation is the same, and the structure of the second terminal appearance detecting means is not repeated.

In this embodiment, the first wire turning mechanism 10 further includes a second Y-bolt adjusting assembly 105, a third base 106, a second X-bolt adjusting assembly 107, and a fixed table 14; the third base 106 and the second Y-bolt adjusting assembly 105 are both installed on the fixed workbench 14, the second Y-bolt adjusting assembly 105 can adjust the Y-position of the third base 106 on the fixed workbench 14, the fifth supporting seat 104 and the second X-bolt adjusting assembly 107 are both installed on the third base 106, and the second X-bolt adjusting assembly 107 can adjust the X-position of the fifth supporting seat 104 on the third base 106, so that the position of the wire turnover clamp 101 can be adjusted. The first wire turning mechanism 10 has the same structure as the second wire turning mechanism, and the working mode is the same, and the structure of the second wire turning mechanism is not repeated.

In this embodiment, the second Y-driving structure 114 includes a second Y-driving motor, a screw is disposed on an output shaft of the second Y-driving motor, and the Y-mounting plate 113 is mounted on the output shaft of the second Y-driving motor and is in threaded engagement with the second Y-driving motor, so that the second Y-driving motor can drive the Y-mounting plate 113 to perform Y-displacement; the third X-direction driving structure 116 includes a third X-direction driving motor, a screw thread is disposed on an output shaft of the third X-direction driving motor, and the X-direction mounting plate 115 is mounted on the output shaft of the third X-direction driving motor and in threaded engagement, so that the third X-direction driving motor can drive the X-direction mounting plate 115 to perform X-direction displacement.

In this embodiment, the peeling mechanism 2 further includes a fourth X-direction driving motor 21, two second sliders 22, a second waste bin 23, a Y-direction mounting slider 24, a first base 25, and a Y-direction pulling cylinder 26; the first base 25 is mounted on the fixed workbench 14, the Y-direction mounting sliding block 24 and the Y-direction pulling air cylinder 26 are both mounted on the first base 25, and the Y-direction pulling air cylinder 26 can adjust the Y-direction position of the Y-direction mounting sliding block 24 on the first base 25; the second waste bin 23 and the fourth X-direction driving motor 21 are both installed on the Y-direction installation slide block 24, the left and right parts of the output shaft of the fourth X-direction driving motor 21 are respectively provided with forward and reverse threads, two second slide blocks 22 are both arranged on the output shaft of the fourth X-direction driving motor 21, one second slide block 22 is located on the forward threads of the output shaft of the fourth X-direction driving motor 21, the other second slide block 22 is located on the reverse threads of the output shaft of the fourth X-direction driving motor 21, and two second peeling knives 221 are respectively installed on the two second slide blocks 22. When peeling, the output shaft of the fourth X-direction driving motor 21 rotates, the two second sliders 22 move toward each other, and the two second peeling blades 221 peel the wire therebetween.

In this embodiment, the first clamping hand assembly includes a second wire clamp a42, a first X-direction moving slider 43, and a second wire clamp a driving cylinder 44; the second wire clamp a42 and the second wire clamp a driving cylinder 44 are both installed on the first X-direction moving slide block 43, the second wire clamp a42 is driven by the second wire clamp a driving cylinder 44 to work for clamping wires, and the first X-direction moving slide block 43 is installed on the fixed workbench 14 and can move in the X-direction; the second clamping hand assembly comprises a second wire clamp b46, a second X-direction moving sliding block 47 and a second wire clamp b driving cylinder 48; the second wire clamp b46 and the second wire clamp b driving cylinder 48 are both arranged on a second X-direction moving sliding block 47, the second wire clamp b driving cylinder 48 drives the second wire clamp a42 to work for clamping wires, and the second X-direction moving sliding block 47 is arranged on the fixed workbench 14 and can move in the X direction; the clamping hand driving piece comprises an X-direction belt pulley motor 41 and a belt pulley group 45, the X-direction belt pulley motor 41 and the belt pulley group 45 are both arranged on the fixed workbench 14, an output shaft of the X-direction belt pulley motor 41 drives the belt pulley group 45 to rotate and run, and the belt pulley group 45 drives a first X-direction moving sliding block 43 and a second X-direction moving sliding block 47 to move in the X direction on the fixed workbench 14; the output shaft of the X-direction pulley motor 41 drives the second wire moving mechanism.

In this embodiment, the front end clip includes a front left half clip 1112 and a front right half clip 1113, the front left half clip 1112 and the front right half clip 1113 cooperate to clip the end of the wire, the front right half clip 1113 is fixed on the Z-direction mounting block 111, the front left half clip 1112 is driven by the front end clip cylinder 1114 to move in the X-direction on the Z-direction mounting block 111, the hook for supporting the end of the wire is provided at the lower end of the front left half clip 1112, the front left half clip 1112 is provided with a cross bar 1115, and the cross bar 1115 cooperates with the hook at the lower end of the front left half clip 1112 to prevent the wire from moving in the Z-direction and to enable the wire to be in the Y-direction horizontal position.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made hereto without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A full-automatic double-end crimping terminal insertion machine comprises a movable workbench (1) and a fixed workbench (14), wherein the movable workbench (1) can move in the Y direction relative to the fixed workbench (14); the method is characterized in that:

A. The wire feeding device further comprises a first wire moving mechanism (4), a first terminal feeding device (5), a wire selecting and peeling mechanism (6), a first wire core detecting mechanism (7) after peeling, a first terminal pressing mechanism (8), a first terminal appearance detecting mechanism (9), a first wire turning mechanism (10), a first terminal inserting mechanism (11), a first connector positioning mechanism (13) and a first connector feeding mechanism (12); the first terminal feeding device (5), the line selecting and peeling mechanism (6), the first peeled wire core detecting mechanism (7), the first terminal pressing mechanism (8), the first terminal appearance detecting mechanism (9), the first line turning mechanism (10), the first terminal inserting mechanism (11), the first connector positioning mechanism (13) and the first connector feeding mechanism (12) are sequentially arranged and installed on the fixed workbench (14) from left to right along the X direction;

the first wire moving mechanism (4) comprises a first clamping hand assembly, a second clamping hand assembly and a clamping hand driving piece, wherein the first clamping hand assembly and the second clamping hand assembly are arranged on the fixed workbench (14) and can move in the X direction on the fixed workbench (14); the clamping hand driving piece drives the first clamping hand assembly and the second clamping hand assembly to move in the X direction at the same time;

The first terminal feeding device (5) comprises a terminal feeding channel (56), wherein the terminal feeding channel (56) is used for conveying terminals;

the wire selecting and peeling mechanism (6) comprises a wire pressing module (67), two cutters (631) and two first peeling cutters (632), wherein the two cutters (631) cut off wires positioned between the two cutters, and the two first peeling cutters (632) peel the ends of the wires positioned between the two cutters;

the first stripped wire core detection mechanism (7) comprises a third wire clamping cylinder (71), a first camera light source (72), a first camera (78) and a third wire clamp (77); the third wire clamp (77) clamps the stripped wire end, the first camera (78) photographs, detects and displays the stripped wire part on the third wire clamp (77), and the third wire clamping cylinder (71) drives the third wire clamp (77) to work;

the first terminal pressing mechanism (8) comprises a first Z-direction driving structure (81), a third supporting seat (82), a terminal output channel (83), a fourth wire clamping cylinder (84), a pressing cutter bottom die (85), a fourth wire clamp (86), a pressing cutter (87), a pressing joint (88) and a pressure sensor (89); the third supporting seat (82) is arranged on the fixed workbench (14), and the first Z-direction driving structure (81), the terminal output material channel (83), the fourth wire clamping cylinder (84) and the crimping tool bottom die (85) are all arranged on the third supporting seat (82); the pressure welding head (88) is arranged on the third supporting seat (82), the first Z-direction driving structure drives the pressure welding head (88) to move in the Z direction on the third supporting seat (82) through the pressure sensor (89), the pressure welding cutter (87) is arranged below the pressure welding head (88), the pressure welding cutter (87) is arranged right above the pressure welding cutter bottom die (85), and the pressure sensor (89) is used for detecting and displaying the pressure born by the pressure welding head; the crimping tool bottom die (85) is positioned in the terminal output channel (83), and a discharge hole of the terminal feeding channel (56) is communicated with the terminal output channel (83) to convey the terminal into the terminal output channel (83); the fourth wire clamp (86) is positioned behind the crimping tool bottom die (85) so as to clamp one end of the wire rod and press the terminal on the peeling end of the wire rod; the fourth wire clamping cylinder (84) drives the fourth wire clamp (86) to work;

The first clamping hand assembly clamps and sends one end of a wire rod which is cut off and peeled by the cutter (631) and the first peeling knife (632) into the third wire clamp (77), the first camera (78) detects whether the peeling of the end part of the wire rod is qualified or not and shoots a picture, the first clamping hand assembly clamps and sends the detected end of the wire rod into the fourth wire clamp (86), and the first clamping hand assembly circularly works back and forth on the cutter (631) and the first peeling knife (632), and the third wire clamp (77) and the fourth wire clamp (86);

the first terminal appearance detection mechanism (9) is used for detecting whether the terminal is qualified to be assembled at the peeling part of the wire rod and displaying;

the first wire turning mechanism (10) comprises a wire turning clamp (101), a wire turning cylinder (102), a wire turning motor (103) and a fifth supporting seat (104); the wire turning device comprises a fifth supporting seat (104), a wire turning motor (103), a wire turning cylinder (102), a wire clamping device and a wire clamping device, wherein the fifth supporting seat (14) is arranged on the fifth supporting seat (104), the wire turning motor (103) is arranged on the fifth supporting seat (104), an output shaft of the wire turning motor (103) is rotationally arranged on the fifth supporting seat (104), the wire turning cylinder (102) drives the wire turning clamp (101) to work and clamp wires, and the wire turning cylinder (102) is arranged on the output shaft of the wire turning motor (103) so as to drive the wire turning clamp (101) to rotate 180 degrees;

The second clamping hand assembly sequentially sends one end of a wire rod with a pressed terminal on the fourth wire clamp (86) to the first terminal appearance detection mechanism (9), the first terminal appearance detection mechanism (9) detects whether the terminal is qualified at a peeling part of the wire rod, then the second clamping hand assembly sends the detected end of the wire rod to the wire turning clamp (101), and the second clamping hand assembly circularly works on the fourth wire clamp (86) and the wire turning clamp (101);

the first terminal inserting mechanism (11) comprises a Z-direction mounting block (111), a second Z-direction driving structure, a Y-direction mounting plate (113), a second Y-direction driving structure (114), an X-direction mounting plate (115), a third X-direction driving structure (116), a sixth supporting seat (117), a right back half clamping cylinder (118), a right back half clamping (119), a left back half clamping (1110), a left back half clamping cylinder (1111), a front end clamping cylinder (1114); the third X-direction driving structure (116) is arranged on the sixth supporting seat (117), the second Y-direction driving structure is arranged on the X-direction mounting plate (115), and the X-direction mounting plate (115) is arranged on the third X-direction driving structure (116) and is driven by the third X-direction driving structure (116) to move in the X direction; the Y-direction mounting plate (113) is arranged on the second Y-direction driving structure and is driven by the second Y-direction driving structure to move in the Y direction; the second Z-direction driving structure is arranged on the Y-direction mounting plate (113), and drives the Z-direction mounting block (111) to move in the Z direction on the Y-direction mounting plate (113); the right back half clamping cylinder (118), the left back half clamping cylinder (1111) and the front end clamping cylinder (1114) are all arranged on the Z-direction installation block (111), the right back half clamping cylinder (118) drives the right back half clamping (119) to move in the X direction, the left back half clamping cylinder (1111) drives the left back half clamping (1110) to move in the X direction, the right back half clamping (119) and the left back half clamping (1110) are mutually matched to clamp wires, and the front end clamping cylinder (1114) drives the front end clamping wires;

The first connector positioning mechanism (13) comprises a turnover motor (131), a Y-direction pushing cylinder (132), a Y-direction pushing block (133), a connector feeding channel (134), a seventh supporting seat (136), an X-direction pushing rod (135), a pushing rod connecting piece (137), a pushing rod connecting spring (1371), an X-direction pushing cylinder (138), a connector clamp (139) and a connector clamp cylinder (1310); the seventh supporting seat (136) is arranged on the fixed workbench (14), the overturning motor (131), the Y-direction pushing cylinder (132) and the X-direction pushing cylinder (138) are arranged on the seventh supporting seat (136), the Y-direction pushing block (133) is arranged on a platform of the seventh supporting seat (136) and can move in the Y direction, a connector feeding channel (1331) is arranged between the Y-direction pushing block (133) and the platform of the seventh supporting seat (136), a discharge port of the connector feeding channel (134) can be communicated with an inlet of the connector feeding channel (1331), and an outlet of the connector feeding channel (1331) can be communicated with a clamping port of the connector clamp (139); the X-direction pushing cylinder (138) drives the pushing rod connecting piece (137) and the X-direction pushing rod (135) to move in the X direction in the seventh supporting seat (136) so as to push the connector in the connector feeding channel (1331) into the connector clamp (139), and the pushing rod connecting spring (1371) is used for adjusting the acting force of the pushing rod when pushing different connectors; the front end clamp is matched with the right rear half clamp (119) and the left rear half clamp (1110) to take out the wire rod which is turned by 180 degrees on the wire turning clamp (101), and the end part of the taken-out wire rod can be horizontally inserted into a jack of a connector in the connector clamp (139); the connector clamp cylinder (1310) drives the connector clamp (139) to work, and an output shaft of the turnover motor (131) is connected with the connector clamp cylinder (1310) so as to drive the connector clamp (139) to rotate;

The first connector feeding mechanism (12) comprises a hopper (121), a vibrating disc (122) and a supporting frame (123), wherein the supporting frame (123) is installed on the fixed workbench (14), the vibrating disc (122) is installed on the supporting frame (123), the hopper (121) is installed on the vibrating disc (122), and a feeding port of the connector feeding channel (134) is communicated with the hopper (121);

B. the wire feeding device also comprises a second wire moving mechanism, a second terminal feeding device, a peeling mechanism (2), a second peeled wire core detection mechanism, a second terminal pressing mechanism, a second terminal appearance detection mechanism, a second wire turning mechanism, a second terminal inserting mechanism, a second connector positioning mechanism and a second connector feeding mechanism; the second wire moving mechanism, the second terminal feeding device, the peeling mechanism (2), the second peeled wire core detection mechanism, the second terminal pressing mechanism, the second terminal appearance detection mechanism, the second wire turning mechanism, the second terminal inserting mechanism, the second connector positioning mechanism and the second connector feeding mechanism are sequentially arranged and installed on the movable workbench (1) from left to right along the X direction;

the structure of the second wire carrying mechanism is the same as that of the first wire carrying mechanism (4), the second wire carrying mechanism and the first wire carrying mechanism (4) are arranged in a mirror symmetry mode, and the structure of the second wire carrying mechanism is arranged on the movable workbench (1);

The second terminal feeding device has the same structure as the first terminal feeding device (5), is arranged in mirror symmetry with the first terminal feeding device (5), and is arranged on the movable workbench (1);

the peeling mechanism (2) is arranged on the movable workbench (1), the peeling mechanism (2) comprises two second peeling knives (221), and the two second peeling knives (221) peel the end parts of the wires positioned between the two second peeling knives; the two first peeling knives (632) and the two second peeling knives (221) are symmetrically arranged;

the structure of the second wire core detection mechanism after peeling is the same as that of the first wire core detection mechanism (7) after peeling, the second wire core detection mechanism after peeling and the first wire core detection mechanism (7) after peeling are arranged in mirror symmetry, and the second wire core detection mechanism after peeling is arranged on the movable workbench (1);

the structure of the second terminal pressing mechanism is the same as that of the first terminal pressing mechanism (8), the second terminal pressing mechanism and the first terminal pressing mechanism (8) are arranged in a mirror symmetry mode, and the second terminal pressing mechanism is arranged on the movable workbench (1);

the structure of the second terminal appearance detection mechanism is the same as that of the first terminal appearance detection mechanism (9), the second terminal appearance detection mechanism and the first terminal appearance detection mechanism (9) are arranged in a mirror symmetry mode, and the second terminal appearance detection mechanism is arranged on the movable workbench (1);

The structure of the second wire turning mechanism is the same as that of the first wire turning mechanism (10), the second wire turning mechanism and the first wire turning mechanism (10) are arranged in a mirror symmetry mode, and the second wire turning mechanism is arranged on the movable workbench (1);

the structure of the second terminal insertion mechanism is the same as that of the first terminal insertion mechanism (11), the second terminal insertion mechanism and the first terminal insertion mechanism (11) are arranged in a mirror symmetry mode, and the second terminal insertion mechanism is arranged on the movable workbench (1);

the structure of the second connector positioning mechanism is the same as that of the first connector positioning mechanism (13), the second connector positioning mechanism and the first connector positioning mechanism (13) are arranged in a mirror symmetry mode, and the second connector positioning mechanism is arranged on the movable workbench (1);

the structure of the second connector feeding mechanism is the same as that of the first connector feeding mechanism (12), the second connector feeding mechanism and the first connector feeding mechanism (12) are arranged in a mirror symmetry mode, and the second connector feeding mechanism is arranged on the movable workbench (1);

C. also comprises a wire pulling mechanism (3); the wire pulling mechanism (3) comprises a guide plate (31), a guide sliding block (32), a third Y-direction driving structure (33), a first wire clamp (34), a first wire clamping cylinder (35), a first supporting seat (36) and a first guide rail (38); the wire stripper is characterized in that the first supporting seat (36) is arranged on the fixed workbench (14), the guide plate (31) is arranged on the first supporting seat (36), the guide plate (31) is spanned between the fixed workbench (14) and the movable workbench (1) in the Y direction, the first guide rail (38) is arranged on the side face of the guide plate (31), the third Y-direction driving structure (33) drives the guide sliding block (32) to move along the Y direction on the first guide rail (38), the first wire clamping cylinder (35) is arranged on the guide sliding block (32), the first wire clamping cylinder (35) drives the first wire clamp (34) to work, and under the driving of the third Y-direction driving structure (33), the first wire clamp (34) pulls the wire end part of the wire pressing die set to the second stripping knife (221).

2. The full-automatic double-headed crimping terminal insertion machine according to claim 1, characterized in that the first terminal feeding device (5) further comprises a tray (51), a tray motor (52), a roll paper motor (53), a roll paper tray (54) and a terminal support (55); the terminal support frame (55) is installed on the fixed workbench (14), the charging tray motor (52), the coil paper motor (53) and the terminal feeding channel (56) are all fixed on the terminal support frame (55), the charging tray (51) is installed on an output shaft of the charging tray motor (52), the coil paper disc (54) is installed on an output shaft of the charging tray motor (52), and a discharge hole of the charging tray (51) is communicated with a feeding hole of the terminal feeding channel (56).

3. The full-automatic double-head crimping terminal insertion machine according to claim 1, characterized in that the line selecting and peeling mechanism (6) further comprises a first X-direction driving motor (61), a first waste bin (64), a second X-direction driving structure (66), a first Y-direction driving structure (68), two first sliding blocks (63), an upper mounting plate (65) and a lower mounting plate (69); the wire pressing module (67) is arranged on the upper mounting plate (65), the upper mounting plate (65) is arranged on the lower mounting plate (69), and the second X-direction driving structure (66) drives the upper mounting plate (65) to move in the X direction on the lower mounting plate (69); the first X-direction driving motor (61) and the first waste bin (64) are both arranged on the lower mounting plate (69), an output shaft of the first X-direction driving motor (61) is arranged on the lower mounting plate (69) and can rotate, a forward thread (611) is arranged at the left part of the output shaft of the first X-direction driving motor (61), a reverse thread (613) is arranged at the right part of the output shaft of the first X-direction driving motor (61), one first slider (63) is sleeved at the left part of the output shaft of the first X-direction driving motor (61) and is in threaded fit with the forward thread (611), the other first slider (63) is sleeved at the right part of the output shaft of the first X-direction driving motor (61) and is in threaded fit with the reverse thread (613), and the first waste bin (64) is positioned between the two first peeling knives (632); the cutters (631) and the first peeling knives (632) are arranged on the first sliding block (63), the cutters (631) and the first peeling knives (632) are arranged in the Y direction, the cutters (631) are close to the wire outlet of the wire pressing module, and the distance between the two cutters (631) is smaller than the distance between the two first peeling knives (632); the lower mounting plate (69) is arranged on the fixed workbench (14), the first Y-direction driving structure is fixed on the fixed workbench (14), and the first Y-direction driving structure (68) drives the lower mounting plate (69) to move in the Y direction on the fixed workbench (14).

4. The full-automatic double-ended crimp terminal insertion machine according to claim 3, characterized in that said crimping die set (67) comprises more than one wire passage (671) through which a wire can pass and more than one crimping cylinder (672); each wire passing channel (671) is arranged on the upper mounting plate (65) and is arranged in the X direction, and the outlet of each wire passing channel (671) can correspond to the ports of the two cutters (631) and the ports of the two first peeling cutters (632); the wire pressing cylinder (672) is arranged on the corresponding wire passing channel (671), and a piston rod of the wire pressing cylinder (672) can press wires in the corresponding wire passing channel (671); the second X-direction driving structure (66) comprises a second X-direction driving motor, a thread is arranged on an output shaft of the second X-direction driving motor, and the upper mounting plate (65) is mounted on the output shaft of the second X-direction driving motor and is in threaded fit; the first Y-direction driving structure (68) comprises a first Y-direction driving motor, threads are arranged on an output shaft of the first Y-direction driving motor, and the lower mounting plate (69) is mounted on the output shaft of the first Y-direction driving motor and matched with the threads.

5. The full-automatic double-end crimping terminal insertion machine according to claim 1, wherein the first stripped wire core detection mechanism (7) further comprises a second supporting seat (75) and a first bolt adjusting assembly (74), the second supporting seat (75) and the first bolt adjusting assembly (74) are both installed on the fixed workbench (14), and the first bolt adjusting assembly (74) can adjust the Y-direction position of the second supporting seat (75) on the fixed workbench (14); the first lens (73), the first camera (78) and the third wire clamping cylinder (71) are arranged on the second supporting seat (75); an X-direction guide groove (76) is formed in the end face of the camera light source (72), the peeling end of the wire rod is located in the X-direction guide groove (76), and a first camera (78) detects the peeling end of the wire rod in the X-direction guide groove (76).

6. The fully automatic double-ended crimp terminal insertion machine of claim 1, wherein said first Z-drive structure (81) is a first Z-drive motor.

7. The full-automatic double-head crimping terminal insertion machine according to claim 1, characterized in that the first terminal appearance detection mechanism (9) comprises a second camera (91), a second lens (911), an adjusting plate (92), a supporting plate adjusting cylinder (93), a fourth supporting seat (94), a base (95), a first Y-direction bolt adjusting assembly (96), a first X-direction bolt adjusting assembly (97), a supporting plate (98), a clamping plate (99) and a second camera light source (910); the base (95) and the first Y-direction bolt adjusting assembly (96) are arranged on the fixed workbench (14), and the first Y-direction bolt adjusting assembly (96) can adjust the Y-direction position of the base (95) on the fixed workbench (14); the fourth supporting seat (94) and the first X-direction bolt adjusting assembly (97) are both arranged on the base (95), and the first X-direction bolt adjusting assembly (97) can adjust the X-direction position of the fourth supporting seat (94) on the base (95); the adjusting plate (92) and the second camera light source (910) are both arranged at the upper end of the fourth supporting seat (94) and can adjust the Z-direction position, the second camera (91) is arranged on the adjusting plate (92) and is positioned above the second camera light source (910), and the second lens (911) is arranged below the second camera (91); the clamping plate (99) is arranged on the supporting plate (98), the clamping plate (99) is used for fixing a wire rod to be detected, which is provided with a terminal, on the supporting plate (98), the supporting plate (98) is arranged on the fourth supporting seat (94) and can move in the Z direction, and the supporting plate adjusting cylinder (93) is arranged on the fourth supporting seat (94) and can drive the supporting plate (98) to move in the Z direction; a second camera (91) detects the wire with terminals on the support plate (98).

8. The fully automatic double-ended crimp terminal insertion machine of claim 1, wherein the first wire turning mechanism (10) further comprises a second Y-bolt adjustment assembly (105), a third base (106), a second X-bolt adjustment assembly (107), and a fixed table (14); the third base (106) and the second Y-direction bolt adjusting assembly (105) are both arranged on the fixed workbench (14), the second Y-direction bolt adjusting assembly (105) can adjust the Y-direction position of the third base (106) on the fixed workbench (14), the fifth supporting seat (104) and the second X-direction bolt adjusting assembly (107) are both arranged on the third base (106), and the second X-direction bolt adjusting assembly (107) can adjust the X-direction position of the fifth supporting seat (104) on the third base (106).

9. The full-automatic double-head crimping terminal insertion machine according to claim 1, characterized in that the second Y-direction driving structure (114) comprises a second Y-direction driving motor, a screw thread is arranged on an output shaft of the second Y-direction driving motor, and the Y-direction mounting plate (113) is mounted on the output shaft of the second Y-direction driving motor and is in screw thread fit; the third X-direction driving structure (116) comprises a third X-direction driving motor, a thread is arranged on an output shaft of the third X-direction driving motor, and the X-direction mounting plate (115) is mounted on the output shaft of the third X-direction driving motor and is in threaded fit with the output shaft of the third X-direction driving motor.

10. The full-automatic double-head crimping terminal inserting machine according to claim 1, characterized in that the peeling mechanism (2) further comprises a fourth X-direction driving motor (21), two second sliding blocks (22), a second waste bin (23), a Y-direction mounting sliding block (24), a first base (25) and a Y-direction pulling cylinder (26); the first base (25) is arranged on the fixed workbench (14), the Y-direction installation sliding block (24) and the Y-direction pulling air cylinder (26) are arranged on the first base (25), and the Y-direction pulling air cylinder (26) can adjust the Y-direction position of the Y-direction installation sliding block (24) on the first base (25); the second waste bin (23) and the fourth X-direction driving motor (21) are both arranged on the Y-direction installation sliding blocks (24), forward and reverse threads are respectively arranged at the left and right parts of the output shaft of the fourth X-direction driving motor (21), two second sliding blocks (22) are both arranged on the output shaft of the fourth X-direction driving motor (21), one second sliding block (22) is positioned on the forward threads of the output shaft of the fourth X-direction driving motor (21), the other second sliding block (22) is positioned on the reverse threads of the output shaft of the fourth X-direction driving motor (21), and two second peeling knives (221) are respectively arranged on the two second sliding blocks (22).

11. The fully automatic double-ended crimp terminal insertion machine of claim 1, wherein the first clamping hand assembly comprises a second wire clamp a (42), a first X-direction moving slide (43), and a second wire clamp a driving cylinder (44); the second wire clamp a (42) and the second wire clamp a driving cylinder (44) are both arranged on a first X-direction moving sliding block (43), the second wire clamp a (42) is driven by the second wire clamp a driving cylinder (44) to work for clamping wires, and the first X-direction moving sliding block (43) is arranged on a fixed workbench (14) and can move in the X direction; the second clamping hand assembly comprises a second wire clamp b (46), a second X-direction moving sliding block (47) and a second wire clamp b driving cylinder (48); the second wire clamp b (46) and the second wire clamp b driving cylinder (48) are both arranged on a second X-direction moving sliding block (47), the second wire clamp b driving cylinder (48) drives the second wire clamp a (42) to work for clamping wires, and the second X-direction moving sliding block (47) is arranged on the fixed workbench (14) and can move in the X direction; the clamping hand driving piece comprises an X-direction belt pulley motor (41) and a belt pulley group (45), wherein the X-direction belt pulley motor (41) and the belt pulley group (45) are both arranged on the fixed workbench (14), an output shaft of the X-direction belt pulley motor (41) drives the belt pulley group (45) to rotate, and the belt pulley group (45) drives a first X-direction moving sliding block (43) and a second X-direction moving sliding block (47) to move in the X direction on the fixed workbench (14); an output shaft of the X-direction belt pulley motor (41) drives the second wire moving mechanism.

12. The full-automatic double-head crimping terminal inserting machine according to claim 1, wherein the front-end clamp comprises a front half left clamp (1112) and a front half right clamp (1113), the front half left clamp (1112) is matched with the front half right clamp (1113) to clamp the end of a wire rod, the front half right clamp (1113) is fixed on a Z-direction mounting block (111), the front-end clamp cylinder (1114) drives the front half left clamp (1112) to move in the X direction on the Z-direction mounting block (111), a hook for supporting the end of the wire rod is arranged at the lower end of the front half left clamp (1112), a cross rod (1115) is arranged on the front half left clamp (1112), and the cross rod (1115) is matched with the hook at the lower end of the front half left clamp (1112) to enable the wire rod to be incapable of moving in the Z direction and enable the wire rod to be in a Y-direction horizontal position.