CN117595032A - Data line assembly production process - Google Patents
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/02—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for soldered or welded connections
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- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/60—Analysis of geometric attributes
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/77—Determining position or orientation of objects or cameras using statistical methods
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Abstract
The invention relates to the field of intelligent production, in particular to a data line assembly production process, which comprises the following steps: determining a core wire analysis mode according to the core wire transverse crossing state; performing multi-angle twisting analysis on target data lines with core wires in a first preset transverse crossing state, wherein twisting reference distances are determined according to the number of bent core wires; in the analysis of the distribution state of the cross points, determining a mechanical grabbing sequence according to the distribution state of the cross points; the grabbing mode of the target core wire is determined according to the position state of the cross point; in the grabbing feasible analysis of the target core wire, when the target core wire accords with the grabbing feasible state, determining the grabbing sequence according to the number of the cross points and the positions of the target core wire; the invention improves the grabbing precision and grabbing effect of the core wire and further improves the efficiency of assembly production of the data wire.
Description
Technical Field
The invention relates to the field of intelligent production, in particular to a data line assembly production process.
Background
The data wire is used for connecting the mobile device with a computer or a power supply and the like so as to achieve the purposes of data transmission, charging or communication of the mobile device, or can be used for data transmission and the like between other devices, the data wire comprises a wire body and a data head, core wires in the wire body are required to be welded on a circuit board of the data head, and the welding positions of the core wires on the circuit board are all welded specifically. However, since the core wires are easy to cross when being welded, the grabbing welding of the mechanical arm is easy to grab too much or the grabbing point is selected to deviate, so that the grabbing welding efficiency is poor and even the core wires are damaged, so how to improve the core wire grabbing efficiency of the mechanical arm in the assembly production of the data wire is a problem to be solved by the current technicians.
Chinese patent publication No. CN114498238B discloses a data line welding process and a welding device, the peeling device includes a U-shaped table, a first telescopic mechanism, a second telescopic mechanism, an upper clamping block and a lower clamping block which are vertically distributed, the first telescopic mechanism and the second telescopic mechanism are respectively arranged at the rear side and the top of the U-shaped table, a line head positioning mechanism and a peeling mechanism are arranged between the upper clamping block and the lower clamping block, and the second telescopic mechanism is connected with the peeling mechanism and is used for driving the peeling mechanism to vertically move to cut the rubber on the outer side of the data line; in the invention, a wire end positioning mechanism is utilized to fix the position of a data wire end; in addition, chinese patent publication No. CN113783074a discloses a full-automatic double-ended peeling welder for data lines, which includes a left body, a right body, a first feeding mechanism for conveying and cutting the data lines, a first peeling mechanism for peeling the data lines, a wire trimming mechanism for flattening and adjusting the relative positions of two core wires, a positioning clamp for clamping and positioning the data lines, a conveying mechanism for conveying displacement of the positioning clamp, a second peeling mechanism for peeling the core wires, a second feeding mechanism for conveying joints, and a welding mechanism for welding the joints with the core wires; a first grabbing mechanism is arranged between the left machine body and the right machine body; the conveying mechanism comprises a first conveying device and a second conveying device, and a second grabbing mechanism is arranged between the first conveying device and the second conveying device;
the technical scheme discloses the technical means of 'utilizing the thread end positioning mechanism to fix the position of the data thread end' and 'the second feeding mechanism for conveying the joint and the welding mechanism for welding the joint and the core wire', but does not consider the problem that the core wire cross affects the core wire grabbing precision, so that the welding effect of the joint and the core wire is poor, and further the assembly production efficiency of the data wire is poor.
Disclosure of Invention
Therefore, the invention provides a data line assembly production process, which is used for solving the problem that in the production process of the data line in the prior art, the core line cross in the data line affects the core line grabbing precision, so that the welding effect of a joint and the core line is poor.
In order to achieve the above object, the present invention provides a data line assembly production process, comprising:
acquiring a reference angle image of a target data line, analyzing to obtain a core wire transverse crossing state in the reference angle image, and determining a core wire analysis mode according to the core wire transverse crossing state;
performing multi-angle twisting analysis on target data lines with core wires in a first preset transverse crossing state, wherein twisting is performed on the target data lines, and twisting reference distances are determined according to the number of bent core wires;
in the analysis of the cross point distribution state, detecting the number of cross points corresponding to each target core wire, and determining a mechanical grabbing sequence according to the cross point distribution state, wherein the mechanical grabbing sequence is determined according to the end point reference distance corresponding to each pair of cross core wires, or the target core wires are subjected to grabbing feasible analysis;
the grabbing mode of the target core wire is determined according to the intersection point position state, the intersection point position state is in a first preset intersection point position state, and welding is conducted on adjacent core wires without influence of the target core wire;
when the area of the cross gap is larger than a preset threshold value, correcting the cross gap;
in the grabbing feasible analysis of the target core wire, when the target core wire accords with the grabbing feasible state, the grabbing sequence is determined according to the number of the cross points and the positions of the target core wire.
Further, a reference angle image is acquired for the target data line, a core wire transverse crossing state in the reference angle image corresponding to the target data line is analyzed, a core wire analysis mode is determined according to the core wire transverse crossing state, and the core wire analysis mode comprises: performing multi-angle twist analysis on the target data line,
or, analyzing the distribution state of the cross point aiming at the target data line;
the reference angle image is an image of a target data line shot by the image acquisition device at an initial position.
Further, performing multi-angle twisting analysis on target data lines with core wires in a first preset transverse crossing state, and twisting the target data lines for preset times, wherein the bending state of each target core wire is detected, the target core wires with the bending state in the preset bending state are marked as bending core wires, and twisting reference distances are determined according to the number of the bending core wires;
the twisting angle of single twisting is in negative correlation with the number of the bending core wires;
the first preset transverse crossing state is that the number of crossing points of the target data line is in a first preset crossing point number range.
Further, in the multi-angle twisting analysis, when a single twisting of a target data line is finished, detecting a current core wire transverse crossing state, and performing the next twisting when the core wire transverse crossing state is still in a first preset transverse crossing state;
if the core wire transverse crossing state is in a second preset transverse crossing state or the twisting times reach the preset times, stopping twisting and analyzing the cross point distribution state.
Further, in the analysis of the cross point distribution state, the number of cross points corresponding to each target core line is detected, and the mechanical grabbing order is determined according to the cross point distribution state, including:
the cross point distribution state is in a first preset cross point distribution state, and a mechanical grabbing sequence is determined according to the end point reference distance corresponding to each pair of cross core wires;
the cross point distribution state is in a second preset cross point distribution state, and grabbing feasible analysis is conducted on the target core wire.
Further, two target core wires with the same cross point and only one cross point are respectively recorded as a pair of cross core wires, the endpoint reference distance corresponding to each cross core wire in the ith pair of cross core wires is detected, the cross core wire with the smallest endpoint reference distance is recorded as a first grabbing core wire, and the cross core wire with the largest endpoint reference distance is recorded as a second grabbing core wire;
the first core wire grabbing order priority is greater than the second core wire grabbing order.
Further, detecting a position state of the intersection, and determining a grabbing mode according to the position state of the intersection, wherein the grabbing mode comprises: the state of the intersection point is in a first preset state of the intersection point, and the preset grabbing position is grabbed;
the crossing point position state is in a second preset crossing point position state, and the neighborhood influence states of the corresponding pair of crossing core wires are analyzed.
Further, analyzing the neighborhood influence states of a pair of cross core wires with the cross point position states in a second preset cross point position state, if the neighborhood influence states are in a first preset neighborhood influence state, welding adjacent non-influence core wires, and correcting the cross gap when the welding of the adjacent non-influence core wires is completed and the cross gap area is larger than the preset cross gap area.
Further, carrying out grabbing feasibility analysis on the target core wires, if the target core wires accord with the grabbing feasibility state, sequentially selecting the target core wires according to the sequence from the large to the small of the corresponding number of the crossing points, and if the upper layer of one target core wire does not have the target core wires, grabbing and welding the target core wires;
and if the target core wire exists in the upper layer of the target core wire, analyzing whether the target core wire exists in the upper layer of the next target core wire according to the order of decreasing the number of the crossing points.
Further, the grasping feasible states are that the corresponding crossing point position states of crossing points of the target core wires are all in a first preset crossing point position state; and determining whether the target core line exists in the upper layer of the target core line according to a second angle image obtained by shooting at a second shooting angle.
Compared with the prior art, the method has the advantages that in the technical scheme, the core wire analysis mode is determined according to the core wire transverse cross state, so that the selection of the core wire analysis mode is more in accordance with an actual working scene, the problem of false grabbing caused by the unified grabbing mode in the prior art is avoided, in addition, multi-angle twisting analysis is carried out on the target data wire with the core wire transverse cross state in the first preset transverse cross state, the state of the target core wire is changed in a twisting mode according to the condition that the two target core wires are not contacted but cross exists in the image in the direction perpendicular to the ground, compared with multi-angle multi-image shooting in the prior art, the number of shooting devices is reduced, the grabbing difficulty is reduced, the cross point distribution state is in the first preset cross point distribution state, the mechanical grabbing sequence is determined according to the end point reference distance corresponding to each pair of cross core wires, the determination of the grabbing sequence is more in accordance with the actual working scene, the problem of multiple grabbing or false grabbing in the grabbing process is avoided, the grabbing precision and grabbing effect of the method is improved, and the assembly production efficiency of the data wire is further improved.
Drawings
FIG. 1 is a schematic diagram of a data line assembly process according to an embodiment of the present invention;
FIG. 2 is a schematic view of a mechanical gripping device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a fixing device according to an embodiment of the present invention;
FIG. 4 is a schematic view of a weld cell according to an embodiment of the present invention;
in the figure: the device comprises a mechanical arm 1, an electric drive clamping assembly 2, a fixing device 3, a hollow wire slot 4, a welding slot 5 and a fixing channel 6.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, which is a schematic diagram of a data line assembly process according to an embodiment of the present invention, the present invention provides a data line assembly process, including:
acquiring a reference angle image of a target data line, analyzing to obtain a core wire transverse crossing state in the reference angle image, and determining a core wire analysis mode according to the core wire transverse crossing state;
performing multi-angle twisting analysis on target data lines with core wires in a first preset transverse crossing state, wherein twisting is performed on the target data lines, and twisting reference distances are determined according to the number of bent core wires;
in the analysis of the cross point distribution state, detecting the number of cross points corresponding to each target core wire, and determining a mechanical grabbing sequence according to the cross point distribution state, wherein the mechanical grabbing sequence is determined according to the end point reference distance corresponding to each pair of cross core wires, or the target core wires are subjected to grabbing feasible analysis;
the grabbing mode of the target core wire is determined according to the intersection point position state, the intersection point position state is in a first preset intersection point position state, and welding is conducted on adjacent core wires without influence of the target core wire;
when the area of the cross gap is larger than a preset threshold value, correcting the cross gap;
in the grabbing feasible analysis of the target core wire, when the target core wire accords with the grabbing feasible state, the grabbing sequence is determined according to the number of the cross points and the positions of the target core wire.
Referring to fig. 2-4, the apparatus used in the present invention includes, but is not limited to:
the mechanical grabbing device moves to the position of the target data line through the mechanical arm 1 and tightens the electric drive clamping assembly 2 to enable the core wire to be grabbed;
the toggle device comprises a mechanical arm 1 and a toggle needle connected with the mechanical arm 1, wherein the toggle needle is a needle-shaped steel structure component, and the toggle device is used for controlling the mechanical arm 1 to enable the toggle needle to be inserted into a cross gap and to be adjusted to the cross gap through movement fluctuation;
the fixing device 3 comprises a first fixing block and a second fixing block, wherein the first fixing block and the second fixing block are respectively provided with a semicircular groove, and the semicircular grooves of the first fixing block and the second fixing block are matched, so that the first fixing block and the second fixing block are combined to form a hollow wire slot 4 for fixing a target data line;
the welding groove 5 is provided with a plurality of fixed channels 6, the mechanical grabbing device moves the grabbed target core wires to the corresponding fixed channels 6 for fixation, and when all the target core wires are grabbed, the welding groove 5 is conveyed to a welding position for welding;
the color of the target core wire is determined by the visual recognition software, and the welding grooves 5 corresponding to the core wires with different colors are different, which is common knowledge easily understood by a person skilled in the art, and will not be described herein.
With continued reference to fig. 1, reference angle image acquisition is performed on a target data line, a core wire transverse crossing state in a reference angle image corresponding to the target data line is analyzed, and a core wire analysis mode is determined according to the core wire transverse crossing state, where the core wire analysis mode includes: performing multi-angle twist analysis on the target data line,
or, analyzing the distribution state of the cross point aiming at the target data line;
the reference angle image is an image of a target data line shot by the image acquisition device at an initial position.
Specifically, the reference angle image is obtained through shooting by a machine vision detection device, namely, the machine vision detection device overlooks a shooting target data line, wherein the target data line is a data line with the outer layer peeled and the inner core wire exposed; the core wire transverse crossing state comprises a first preset transverse crossing state and a second preset transverse crossing state, wherein the first preset transverse crossing state is that crossing points exist in all target core wires in the reference angle image, and the second preset transverse crossing state is that the crossing points are crossing points, namely, the crossing points exist between one target core wire in the reference angle image and any other target core wires, and the crossing points in the overlooking angle are not reflection of winding and contact of the core wires.
Specifically, performing multi-angle twisting analysis on target data lines with core wires in a first preset transverse crossing state, and performing twisting for preset times on the target data lines, wherein the bending state of each target core wire is detected, the target core wires with the bending state in the preset bending state are marked as bending core wires, and twisting reference distances are determined according to the number of the bending core wires;
the twisting angle of single twisting is in negative correlation with the number of the bending core wires;
the first preset transverse crossing state is that the number of crossing points of the target data line is in a first preset crossing point number range.
Specifically, each time the angle of twisting is the same, the twisting direction of the target data line is the clockwise direction or the anticlockwise direction of the circle center of the cross section of the target data line in the invention, but it is worth noting that the directions of the two times of twisting are the same, the preset times are set by the user, but it is worth noting that the preset times are multiplied by the twisting angle of the single twisting to be less than or equal to 360 degrees, the confirmation mode of the bending state of the target core wire is that 5 points on the target core wire are randomly selected, connecting line sections of the 5 points and the reference point are respectively generated, the minimum included angle between the connecting line sections is respectively detected, the angle corresponding to the minimum included angle with the largest extraction angle is recorded as the bending state of the corresponding target core wire is the preset bending state if the angle is larger than 30 degrees.
Specifically, in the multi-angle twisting analysis, when a single twisting of a target data line is finished, detecting a current core wire transverse crossing state, and performing the next twisting when the core wire transverse crossing state is still in a first preset transverse crossing state;
if the core wire transverse crossing state is in a second preset transverse crossing state or the twisting times reach the preset times, stopping twisting and analyzing the cross point distribution state.
Specifically, for the case where there is a cross in the image in which the two target cores are not in contact but in the direction perpendicular to the ground, the state of the target cores is changed in a twisted manner, and the number of photographing devices is reduced compared to multi-angle photographing in the related art.
Specifically, in the analysis of the distribution state of the cross points, the number of the cross points corresponding to each target core line is detected, and the mechanical grabbing order is determined according to the distribution state of the cross points, including:
the cross point distribution state is in a first preset cross point distribution state, and a mechanical grabbing sequence is determined according to the end point reference distance corresponding to each pair of cross core wires;
the cross point distribution state is in a second preset cross point distribution state, and grabbing feasible analysis is conducted on the target core wire.
Specifically, the first preset cross point distribution state is that target core wires of target data wires are crossed in pairs, each pair of cross points is that each target core wire only has one cross point, and the second preset cross point distribution state is that the target data wires have target core wires with the number of cross points being larger than 1.
Specifically, two target core wires with the same cross point and only one cross point are respectively recorded as a pair of cross core wires, the endpoint reference distance corresponding to each cross core wire in the ith pair of cross core wires is detected, the cross core wire with the smallest endpoint reference distance is recorded as a first grabbing core wire, and the cross core wire with the largest endpoint reference distance is recorded as a second grabbing core wire;
the first core wire grabbing order priority is greater than the second core wire grabbing order.
Specifically, i=1, 2,3, … …, n, where n is one half of the number of intersecting core wires, each pair of intersecting core wires includes two intersecting core wires, the reference distance of the end points is the distance between the end point of the target core wire close to the welding groove and the corresponding welding point, and the grabbing order priority of the first grabbing core wire is greater than that of the second grabbing core wire, that is, the first grabbing core wire is grabbed preferentially.
Specifically, when the first grabbing core wire and the second grabbing core wire are determined, detecting the position state of the cross point, and determining a grabbing mode according to the position state of the cross point, wherein the grabbing mode comprises: the state of the intersection point is in a first preset state of the intersection point, and the preset grabbing position is grabbed;
the crossing point position state is in a second preset crossing point position state, and the neighborhood influence states of the corresponding pair of crossing core wires are analyzed.
Specifically, the first preset intersection point position state is that the distance between the intersection point and the corresponding end points of the two intersection core wires is larger than the preset grabbing distance, the second preset intersection point position state is that the distance between the intersection point of the two intersection core wires and any end point of the corresponding two intersection core wires is smaller than or equal to the preset grabbing distance, the preset grabbing distance is 10mm, and the preset grabbing position is a position on the target core wire, which is 5mm away from the corresponding end point.
Specifically, analyzing a neighborhood influence state of a pair of cross core wires with the cross point position state being in a second preset cross point position state, if the neighborhood influence state is in a first preset neighborhood influence state, welding adjacent non-influence core wires, and correcting a cross gap when the welding of the adjacent non-influence core wires is completed and the cross gap area is larger than a preset cross gap area.
Specifically, the cross gap is a closed area formed by two cross core wires in a reference angle image, the poking device is used for controlling the poking needle to be inserted into the cross gap and moving and fluctuating towards the direction of the welding groove, so that the state of the cross gap is changed, the first preset neighborhood influence state is that no cross point exists between the first preset neighborhood influence state and a target core wire which is closest to the pair of cross core wires, the second preset neighborhood influence state is that a cross point exists between the second preset neighborhood influence state and the target core wire which is closest to the pair of cross core wires, and if the neighborhood influence state is in the second preset neighborhood influence state, manual grabbing welding is performed.
Specifically, carrying out grabbing feasible analysis on the target core wires, if the target core wires accord with the grabbing feasible state, sequentially selecting the target core wires according to the sequence of the corresponding number of the crossing points from large to small, and if the upper layer of one target core wire has no target core wire, grabbing and welding the target core wires;
and if the target core wire exists at the upper layer of the target core wire, analyzing whether the target core wire exists at the upper layer of the next target core wire according to the order of decreasing the number of the crossing points until the target core wire does not exist at the upper layer of one target core wire.
Specifically, if the target core wire exists above the direction perpendicular to the ground, it is noted that the target core wire exists in the upper layer of the target core wire.
Specifically, the grasping feasible states are that the corresponding intersection position states of the intersections of the target core wires are all in a first preset intersection position state; and determining whether the target core line exists in the upper layer of the target core line according to a second angle image obtained by shooting at a second shooting angle.
Specifically, the second angle image is an image of the target core wire obtained by photographing the machine vision detection device moving to the second photographing angle, the height of the machine vision detection device moving to the second photographing angle is the same as the height of the central line groove, and the included angle between the camera central axis of the machine vision detection device and the camera central axis of the machine vision detection device at the reference angle at the second photographing angle is 90 degrees.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A data line assembly production process, comprising:
acquiring a reference angle image of a target data line, analyzing to obtain a core wire transverse crossing state in the reference angle image, and determining a core wire analysis mode according to the core wire transverse crossing state;
performing multi-angle twisting analysis on target data lines with core wires in a first preset transverse crossing state, wherein twisting is performed on the target data lines, and twisting reference distances are determined according to the number of bent core wires;
in the analysis of the cross point distribution state, detecting the number of cross points corresponding to each target core wire, and determining a mechanical grabbing sequence according to the cross point distribution state, wherein the mechanical grabbing sequence is determined according to the end point reference distance corresponding to each pair of cross core wires, or the target core wires are subjected to grabbing feasible analysis;
the grabbing mode of the target core wire is determined according to the intersection point position state, the intersection point position state is in a first preset intersection point position state, and welding is conducted on adjacent core wires without influence of the target core wire;
when the area of the cross gap is larger than a preset threshold value, correcting the cross gap;
in the grabbing feasible analysis of the target core wire, when the target core wire accords with the grabbing feasible state, the grabbing sequence is determined according to the number of the cross points and the positions of the target core wire.
2. The data line assembly production process according to claim 1, wherein reference angle image acquisition is performed for a target data line, a core line transverse crossing state in a reference angle image corresponding to the target data line is analyzed, a core line analysis mode is determined according to the core line transverse crossing state, and the core line analysis mode includes: performing multi-angle twist analysis on the target data line,
or, analyzing the distribution state of the cross point aiming at the target data line;
the reference angle image is an image of a target data line shot by the image acquisition device at an initial position.
3. The data line assembly production process according to claim 2, wherein multi-angle twisting analysis is performed for target data lines whose core lines are in a first preset transverse crossing state, and twisting is performed for a preset number of times for the target data lines, wherein a bending state of each target core line is detected, the target core line whose bending state is in the preset bending state is recorded as a bending core line, and a twisting reference distance is determined according to the number of the bending core lines;
the twisting angle of single twisting is in negative correlation with the number of the bending core wires;
the first preset transverse crossing state is that the number of crossing points of the target data line is in a first preset crossing point number range.
4. The data line assembly production process according to claim 3, wherein in the multi-angle twisting analysis, when a single twisting of the target data line is finished, detecting a current core wire transverse crossing state, and performing the next twisting when the core wire transverse crossing state is still in a first preset transverse crossing state;
if the core wire transverse crossing state is in a second preset transverse crossing state or the twisting times reach the preset times, stopping twisting and analyzing the cross point distribution state.
5. The data line assembly production process of claim 4, wherein in the cross point distribution state analysis, detecting the number of cross points corresponding to each target core line, and determining the mechanical grabbing order according to the cross point distribution state comprises:
the cross point distribution state is in a first preset cross point distribution state, and a mechanical grabbing sequence is determined according to the end point reference distance corresponding to each pair of cross core wires;
the cross point distribution state is in a second preset cross point distribution state, and grabbing feasible analysis is conducted on the target core wire.
6. The data line assembling process according to claim 5, wherein two target cores having the same cross point and having only one cross point respectively are designated as a pair of cross cores, the end point reference distance corresponding to each cross core in the i-th pair of cross cores is detected, the cross core having the smallest end point reference distance is designated as a first grasping core, and the cross core having the largest end point reference distance is designated as a second grasping core;
the first core wire grabbing order priority is greater than the second core wire grabbing order.
7. The data line assembly manufacturing process of claim 6, wherein the cross point position state is detected, and the grasping means is determined based on the cross point position state, the grasping means including: the state of the intersection point is in a first preset state of the intersection point, and the preset grabbing position is grabbed;
the crossing point position state is in a second preset crossing point position state, and the neighborhood influence states of the corresponding pair of crossing core wires are analyzed.
8. The process of claim 7, wherein the neighborhood influence states of a pair of intersecting core wires having an intersection point position state in a second preset intersection point position state are analyzed, and if the neighborhood influence states are in a first preset neighborhood influence state, adjacent non-influencing core wires are welded, and when welding of the adjacent non-influencing core wires is completed, and when the intersection gap area is larger than the preset intersection gap area, the intersection gap is corrected.
9. The data line assembly production process according to claim 5, wherein the grasping feasibility analysis is performed on the target core wires, if the target core wires conform to the grasping feasibility state, the target core wires are sequentially selected according to the sequence from the large to the small of the corresponding number of the crossing points, and if the upper layer of one target core wire has no target core wire, the grasping and welding are performed on the target core wires;
and if the target core wire exists in the upper layer of the target core wire, analyzing whether the target core wire exists in the upper layer of the next target core wire according to the order of decreasing the number of the crossing points.
10. The data line assembly production process according to claim 9, wherein the grasping feasible states are the corresponding cross point position states of the cross points of the respective target cores, all being in the first preset cross point position state; and determining whether the target core line exists in the upper layer of the target core line according to a second angle image obtained by shooting at a second shooting angle.
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| JP2007205802A (en) * | 2006-01-31 | 2007-08-16 | Sumitomo Electric Ind Ltd | Cable shape state measuring method, cable shape state measuring system used in it, cable shape state measuring program, and cable state evaluation method |
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| JP2007205802A (en) * | 2006-01-31 | 2007-08-16 | Sumitomo Electric Ind Ltd | Cable shape state measuring method, cable shape state measuring system used in it, cable shape state measuring program, and cable state evaluation method |
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