CN103943284B - A kind of Aircraft Cables strand automatic routing system and wiring method thereof - Google Patents

A kind of Aircraft Cables strand automatic routing system and wiring method thereof Download PDF

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Publication number
CN103943284B
CN103943284B CN201410123402.0A CN201410123402A CN103943284B CN 103943284 B CN103943284 B CN 103943284B CN 201410123402 A CN201410123402 A CN 201410123402A CN 103943284 B CN103943284 B CN 103943284B
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China
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wire
module
line
finger
robot
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CN201410123402.0A
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Chinese (zh)
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CN103943284A (en
Inventor
贺红林
肖智勇
封立耀
刘文光
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南昌航空大学
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Abstract

A kind of Aircraft Cables strand automatic routing system and wiring method thereof, it includes wire dispensing module, line robot, wire bundling station, robot base, latch memory module, master control set and vision-based detection module, wire dispensing module is placed in the side of wire bundling station, wire harness module one end is connected with vision-based detection module, vision-based detection module connecting bolt memory module, latch memory module is then connected to one end of wire bundling station.The invention have the advantage that this wiring system has been greatly improved the technical merit that Aircraft Cables manufactures, Aircraft Cables production efficiency can be significantly improved, cable making labor intensity is greatly reduced, the cable production cycle can be greatly shortened.

Description

A kind of Aircraft Cables strand automatic routing system and wiring method thereof
Technical field
The present invention relates to a kind of automatic routing system, particularly relate to a kind of Aircraft Cables strand automatic routing system and wiring method thereof, belong to aircraft final assembly parts production technology and equipment field.
Background technology
Aircraft Cables is the nerve network system of aircraft, the avionics communication system of connection aircraft and flight control system, carries power source for each functional part of aircraft, the central authorities of aircraft is controlled data and transmits to each functional subsystem of aircraft.Along with enriching constantly and perfect of aircraft function, the electrical system of aircraft becomes more and more complicated, causes aircraft upper conductor increasing number.As a example by A380 civil aircraft, the rat tail of this aircraft up to more than 10000, its transmission line overall length, more than 500 kilometers, makes on this aircraft the time of cable more than 10000 hours.Owing to aircraft upper conductor number is numerous, aircaft configuration is the hugest, for ease of Aircraft Electrical System maintenance maintenance, during airplane design, the most all need wire to be carried out combing and is combined into Aircraft Cables.The most tens of of the cable of present generation aircraft, the most hundreds and thousands of, simultaneously because the plurality of positions electricity device of each cable aircraft to be connected, therefore, generally to stretch out in many places, cable backbone both sides and organize branch cables more, even also to extend multiple less branch in branch, this just makes Aircraft Cables structure become extremely complex.In being commonly understood by of people, cables manufacturing includes that the manufacture of Aircraft Cables will not be highly difficult, makes method by hand always they be made so long because using.It is true that making by hand is also the current Domestic Aircraft main engine plants prevailing models that make cable, not only inefficiency, labor intensity cable quality that is big and that produce are the best.Review external aircraft manufacturing giant, early have been achieved with automatization's digitized of cables manufacturing such as Bo Yin company and Airbus SAS etc., and cable total digitalization manufactures and designs and detects the main flow direction also constituting the development of current Aircraft Cables technology.The main cause causing Domestic Aircraft cable manufacturing technology to fall behind is that enterprise lacks corresponding equipment.Statistics shows, what decent cable making apparatus domestic market does not the most also have select for Aviation Enterprise, even if the most several cable makes auxiliary equipment such as cable, the marking equipment that rolls off the production line is also most from product, function singleness, expensive.For this reason that, the cable of aviation main engine plants of China makes the techniques such as wiring, colligation, dress heat-shrinkable T bush, dress electric connector terminal almost without not passing through to have been manually done, and this does not obviously mate with world advanced person aero-manufacturing technology Developing mainstream pole.Change this present situation, must make at cable and have breakthrough on critical process and equipment, the Aircraft Cables automatic thread laying apparatus that the present invention releases is that cable makes key equipment, and it makes for cable and establishes important equipment Foundations, has important support effect for advancing cable to make automated process.
Summary of the invention
It is an object of the invention to provide a kind of Aircraft Cables strand automatic routing system, this wiring system can solve the problem that the problems such as production efficiency Present Domestic main airplane factory utilizing manual method to make cable being brought is low, the quality of production is the best, labor intensity is big;The transformation of Aircraft Cables Digital Design and Manufacture is advanced, it is provided that equipment basis, for advancing the upgrading of Aviation Manufacturing Enterprises cable manufacturing techniques significant for Domestic Aircraft main engine plants.
The present invention is achieved like this, it includes wire dispensing module, line robot, wire bundling station, robot base, latch memory module, master control set and vision-based detection module, it is characterized in that: wire dispensing module is placed in the side of wire bundling station, wire dispensing module one end is connected with vision-based detection module, vision-based detection module connecting bolt memory module, latch memory module is then connected to one end of wire bundling station, line robot is placed in wire bundling station side proximate conductors bundling station, line robot connects robot base, master control set connects wire dispensing module by wire, line robot, vision-based detection module.
Wire of the present invention dispensing module is made up of distribution platform, distribution trough, elastic tension disc and distribution mechanism, it is characterized in that: distribution trough is fixed on distribution platform, and it has been separated out multiple strip grid with dividing plate, elastic tension disc is arranged in the grid of distribution trough, and distribution mechanism is installed on the grid end of distribution trough.
Distribution mechanism of the present invention is made up of multiple separated time grooves and finger cylinder.
Line robot of the present invention, it is made up of trunk, longitudinal rail, transverse arm, upright arm, wrist and paw, it is characterized in that: longitudinal rail and upright arm are all fixed by screws on trunk, transverse arm connects and composes moving sets by the groove on its back side and longitudinal rail, and together with it being connected firmly with the Vertical slippage nut on upright arm by screw, wrist is arranged in transverse arm shell on horizontal sliding nut, and paw is connected in wrist, and can wrist rotation relatively.
Torso interior of the present invention is mounted with the hoofing part module of line robot, and this driving module is made up of No. three servomotor, RV decelerator and roller gear.
Transverse arm of the present invention is by number one servomotor, horizontal linear module casing, cross lead screw and horizontal sliding nut composition.
Upright arm of the present invention is by No. second servomotor, vertical line module casing, down-feed screw and Vertical slippage nut composition.
Paw of the present invention is by grabbing line finger, holding line finger, pick up pin finger and palm forms.
Wire bundling station of the present invention, it can carry out splicing and lengthening according to the length of cable to be processed, tie up chart board and become a large amount of pin holes arranged in columns that gather, pin hole is for inserting fluting resilient key and the pin handle of guide finger, fluting resilient key and guide finger are respectively used to two line ends of fixing wire and guide the bending position of electric wire, being mounted with an Electric wire support in the one end at wire bundling station edge, the height of Electric wire support can be adjusted as required.
Robot base of the present invention is made up of pedestal steel structure, tooth bar, straight ball-guide and mobile seat board, it is characterized in that: two straight ball-guides and tooth bar are screwed in the upper surface of pedestal steel structure, straight ball-guide and tooth bar keeping parallelism, chute is all offered bottom mobile seat board both sides, being connected with two straight ball-guides respectively by chute and form moving sets, tooth bar is connected by higher pair with roller gear.
Latch memory module of the present invention is made up of latch platform, leading block, guide finger, fluting resilient key and stand, it is characterized in that: latch platform is fixed on stand, guide finger and fluting resilient key insert in the pin-and-hole of latch platform, and leading block is arranged on the edge of stand.
Master control set of the present invention, is made up of industrial computer, AH500 series of program device PLC, switching value analog quantity spread module, 12 axle DMCNet motion-control modules, robot servo motors's driver, DMV Vision Builder for Automated Inspection, the 10 high color man-machine interfaces of high-resolution and corresponding software kit.
Vision inspection apparatus of the present invention is formed by detecting stand, leading block and photographic head, it is characterised in that: leading block is horizontally arranged on detection stand, and photographic head is arranged on a vertical walls of detection stand.
Wiring method of the present invention, is characterized in that processing step is as follows:
(1) numerical control wiring operations G code is generated;
(2) wire rolls off the production line and identifies;
(3) configuration cable conductor;
(4) line end clamping pin is laid;
(5) wire guide finger is laid;
(6) wire is delivered;
(7) wire is captured;
(8) identification guidewire markings;
(9) plate cabling is tied up;
(10) clamping pin solidus.
The invention have the advantage that (1) this wiring system simple in construction, compact in design, manufacture and use cost is relatively low, reliable operation, easy to maintenance, it is simple to application;(2) technical merit that Aircraft Cables manufactures it has been greatly improved, Aircraft Cables production efficiency can be significantly improved, cable making labor intensity is greatly reduced, the cable production cycle can be greatly shortened, and cable fabricating quality can be significantly improved and make each cable fabricating quality reach unanimity;(3) it is to advance the transformation of Aircraft Cables manufacturing based on digital to establish certain basis.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the wire dispensing modular structure schematic diagram of the present invention.
Fig. 3 is the line robot structural representation of the present invention.
Fig. 4 is the robot base structural representation of the present invention.
Fig. 5 is the latch memory module configuration schematic diagram of the present invention.
Fig. 6 is the master control set schematic appearance of the present invention.
Fig. 7 is the vision-based detection modular structure schematic diagram of the present invention.
Fig. 8 is the hoofing part module schematic appearance of the line robot of the present invention.
Fig. 9 is the hoofing part modular structure schematic diagram of the line robot of the present invention.
Figure 10 be the present invention wire dispensing module in the structural representation of distribution trough.
Figure 11 is the line sending principle schematic of the wire delivery mechanism of the present invention.
Figure 12 is that the present invention grabs line finger grip wire work process schematic diagram.
Figure 13 is that the present invention grabs line finger release wire work process schematic diagram.
Figure 14 is the principle schematic that the present invention holds line finger grip wire.
Figure 15 is the principle schematic that the present invention holds line finger release wire.
Figure 16 is slot in latch memory module of the present invention resilient key crawl and release principle schematic diagram.
In the drawings, 1-wire dispensing module, 2-rules robot, 3-wire bundling station, 4-robot base, 5-latch memory module, 6-master control set, 7-vision-based detection module;101-distribution platform, 102-distribution trough, 103-elasticity tension disc, 104-distribution mechanism;10401-separated time groove, 10402-finger cylinder;201-trunk, 202-longitudinal rail, 203-transverse arm, 204-upright arm, 205-wrist, 206-paw, 20301-number one servomotor, 20302-horizontal linear module casing, 20303-cross lead screw, 20304-horizontal sliding nut, No. second servomotor of 20401-, 20402-vertical line module casing, 20403-down-feed screw, 20404-Vertical slippage nut, 207-hoofing part module, No. three servomotor of 20701-, 20702-RV decelerator, 20703-roller gear;301-ties up chart board, 302-Electric wire support;401-pedestal steel structure, 402-tooth bar, 403-straight ball-guide, 404-moves seat board;501-latch platform, 502-leading block, 503-guide finger, 504-slots resilient key, 505-stand;701-detects stand, 702-leading block, 703-photographic head.
Detailed description of the invention
The invention will be further described in conjunction with the accompanying drawings and embodiments.
As shown in Figure 1, the present invention is achieved like this, it includes wire dispensing module 1, line robot 2, wire bundling station 3, robot base 4, latch memory module 5, master control set 6 and vision-based detection module 7, it is characterized in that: wire dispensing module 1 is placed in the side of wire bundling station 3, wire dispensing module 1 one end is connected with vision-based detection module 7, vision-based detection module 7 connecting bolt memory module 5, latch memory module 5 is then connected to one end of wire bundling station 3, line robot 2 is placed in wire bundling station 3 side proximate conductors bundling station 3, line robot 2 connects robot base 4, master control set 6 connects wire dispensing module 1 by wire, line robot 2, vision-based detection module 7.
As shown in figs. 2 and 10, described wire dispensing module 1 is made up of distribution platform 101, distribution trough 102, elastic tension disc 103 and distribution mechanism 104, it is characterized in that: distribution trough 102 is fixed on distribution platform 101, and it has been separated out multiple strip grid with dividing plate, elastic tension disc 103 is arranged in the grid of distribution trough 102, and distribution mechanism 104 is installed on the grid end of distribution trough 102.Described distribution mechanism 104 is made up of multiple separated time grooves 10401 and finger cylinder 10402.
Such as Fig. 3 and Fig. 8, shown in Fig. 9, described line robot 2 is by trunk 201, longitudinal rail 202, transverse arm 203, upright arm 204, wrist 205 and paw 206 form, it is characterized in that: longitudinal rail 202 and upright arm 204 are all fixed by screws on trunk 201, transverse arm 203 connects and composes moving sets by the groove on its back side and longitudinal rail 202, and by screw, it is fixed together with the Vertical slippage nut 20404 on upright arm 204, wrist 205 is arranged in transverse arm 203 shell on horizontal sliding nut 20304, paw 206 is connected in wrist 205, and can rotate relative to wrist 205.
Described trunk 201 is internally installed line robot 2 hoofing part module 207, be made up of No. three servomotor 20701, RV decelerator 20702 and roller gear 20703;No. three servomotor 20701 and RV decelerator 20702 is all with being fixed on the mobile seat board 404 bottom trunk 201, and the input gear that the output shaft of No. three servomotor 20701 is by bonded RV decelerator 20702, roller gear 20703 then connects the output shaft of RV decelerator 20702 by shaft coupling.
Described transverse arm 203 is made up of number one servomotor 20301, horizontal linear module casing 20302, cross lead screw 20303 and horizontal sliding nut 20304;Number one servomotor 20301 is fixed in horizontal linear module casing 20302;The axle of one end of cross lead screw 20303 and servomotor 20301 extends through shaft coupling and links together, the other end is connected with horizontal linear module casing 20302 by bearing and constitutes revolute pair, horizontal sliding nut 20304 and cross lead screw 20303 are connected formation screw pair, and also are connected with horizontal linear module casing 20302 and constitute moving sets.
Described upright arm 204 is made up of No. second servomotor 20401, vertical line module casing 20402, down-feed screw 20403 and Vertical slippage nut 20404;No. second servomotor 20401 is fixed in vertical line module casing 20402, the axle of one end of down-feed screw 20403 and No. second servomotor 20401 extends through shaft coupling and links together, its other end is by bearing and the composition revolute pair that is connected in vertical line module casing 20402, Vertical slippage nut 20404 and down-feed screw 20403 are connected to form screw pair, and the composition moving sets that is connected with vertical line module casing 20402.
Described paw 206, by grabbing line finger, holding line finger, pick up pin finger and palm forms, is grabbed line finger, is held line finger and pick up pin finger and be all connected with palm, and palm is connected in wrist 205.
As shown in Figure 1, described wire bundling station 3, it can carry out splicing and lengthening according to the length of cable to be processed, tie up the densely covered a large amount of pin holes arranged in columns of 301 one-tenth of chart board, pin hole is for inserting fluting resilient key 504 and the pin handle of guide finger 503, fluting resilient key 504 and guide finger 503 are respectively used to two line ends of fixing wire and guide the bending position of electric wire, are mounted with an Electric wire support 302 in the one end at wire bundling station 3 edge, and the height of Electric wire support 302 can be adjusted as required.
As shown in Figure 4, described robot base 4 is made up of pedestal steel structure 401, tooth bar 402, straight ball-guide 403 and mobile seat board 404, it is characterized in that: two straight ball-guides 403 and high-precision tooth bar 402 are screwed in the upper surface of pedestal steel structure 401, straight ball-guide 403 and tooth bar 402 keeping parallelism, mobile 404 liang of side bottoms of seat board all offer chute, being connected with two straight ball-guides 403 respectively by chute and form moving sets, tooth bar 402 is connected by higher pair with roller gear 20703.
As shown in Figure 5, described latch memory module 5 is made up of latch platform 501, leading block 502, guide finger 503, fluting resilient key 504 and stand 505, it is characterized in that: latch platform 501 is fixed on stand 505, guide finger 503 and fluting resilient key 504 insert in the pin-and-hole of latch platform 501, and leading block 502 is arranged on the edge of stand 505.
As shown in Figure 6, described master control set 6, is made up of industrial computer, AH500 series of program device PLC, switching value analog quantity spread module, 12 axle DMCNet motion-control modules, robot servo motors's driver, DMV Vision Builder for Automated Inspection, the 10 high color man-machine interfaces of high-resolution and corresponding software kit.
As it is shown in fig. 7, described vision inspection apparatus 7 is made up of detection stand 701, leading block 702 and photographic head 703, it is characterised in that: leading block 702 is horizontally arranged on detection stand 701, and photographic head 703 is arranged on a vertical walls of detection stand 701.
As shown in Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, the concrete technology step of the present invention is as follows:
(1) numerical control wiring operations G code is generated;First Aircraft Cables harness wiring figure is read in computer by programming personnel, and by special commercial software, the wiring information in wiring diagram is changed and be available for wiring operations numerical control G-CODE and the corresponding guidewire markings data that native system performs.
(2) wire rolls off the production line and identifies;Operator is according to specifying conductor size and requirement in cable distribution figure and inserting-coil process card, utilize special wire thermal transfer underline equipment, carry out rolling off the production line of cable conductor, and at two end printed conductor identification labellings of each wire, operator gets all wires of Aircraft Cables strand by this method ready.
(3) configuration cable conductor;Line dispensing module is for line, operator is according to the size of conductor cross-section size, the lower all wires of line of having got well neatly are emitted in the grid of distribution trough 102 of automatic wiring machine, and for ease of wire dispensing module 1, electric wire is delivered to robot hand 206 of ruling, each wire one end need to be placed on above distribution mechanism 104, and need to make wire this one end rectify keep neat as far as possible, after distribution trough 102 grid put into by wire, also need to be pushed down by electric wire with the elastic tension disc 103 in distribution trough 102, so partly in order to ensure when line robot 2 pulls wire to be unlikely to wire in distribution trough 102 to draw unrest, certain tensioning required when on the other hand can ensure in wire wiring, it is intended to the electric wire that cloth is good to be disarrayed.
(4) line end clamping pin is laid;Lay fluting resilient key, when ruling machine 2 when tying up chart board 301 and implementing self routing operation, with fluting resilient key 504, the two ends of wire need to be gripped, for this, first fluting resilient key 504 must have been laid in wire bundling station 3 before wiring, the laying i.e. automatic routing system of fluting resilient key 504 is according to the wire end position requirement on Aircraft Cables wiring diagram, by manipulating the trunk 201 of line robot 2, wrist 205 and paw 206, go to be transported to fluting resilient key 504 tie up the task of specifying position on chart board 301, it mainly includes capturing pin, transport pin, place three technological actions of pin, specific as follows:
1. pin is captured: first, the master control set 6 of system orders about the line transverse arm 203 of robot 2, upright arm 204, wrist 205 are respectively completed corresponding motion, thus drive robot hand 206 to move to the top of fluting resilient key 504 in storage pin platform, and make to pick up on paw 206 cylindrical of the inner circle alignment fluting resilient key 504 of pin finger, then, master control set 6 orders about paw 206 and moves down, and picks up the inner circle of the pin finger cylindrical gradually with fluting resilient key 504 and contacts;After paw 206 continues to move down a small distance, fluting resilient key 504 then will pick up pin finger and outwards strut and initially enter the inside of ten pin fingers, meanwhile, pick up pin finger to be clamped by fluting resilient key 504 by elastic force, but now fluting resilient key 504 can not contact with the spring picked up in pin finger, finally, line robot hand 206 starts upper shifting, pick up pin finger to be extracted by fluting resilient key 504 pin hole from latch platform 501, complete the picking action of fluting resilient key 504.
2. transport pin: when pick up pin finger with moving on to certain altitude on fluting resilient key 504 after, the master control set 6 manipulation line transverse arm 203 of robot 2, upright arm 204, wrist 205 are respectively completed corresponding motion, order about ten pin fingers carry resilient key 504 of slotting run to tie up on chart board 301 slot resilient key 504 target location top, and make the pin handle cylindrical alignment of fluting resilient key 504 tie up the pin hole on chart board 301, thus fluting resilient key 504 conveying is put in place.
3. place pin: when fluting resilient key 504 pin handle cylindrical with tie up after chart board 301 pin hole is directed at, it is descending that master control set 6 orders about paw 206, make to pick up pin finger to be gradually inserted in the pin-and-hole tying up chart board 301 by the pin handle of fluting resilient key 504, after when pin handle, no pin is not pricked completely;Then, master control set 6 military order paw 206 continues to move to a small distance, it is intended to make fluting resilient key 504 opening extend further in ten pin fingers, thus resilient key 504 of slotting presses the out of stock compression spring in ten pin fingers;Then, it is up that master control set 6 orders about paw 206, the out of stock spring now picked up in pin finger 3 recovers rapidly, and will be released in picking up pin finger by fluting resilient key 504 by bigger elastic force, so that fluting resilient key 504 remains inserted in the pin-and-hole tied up on chart board 301.
(5) wire guide finger is laid;When ruling robot 2 when tying up chart board 301 and implementing self routing operation, for transition location on wire, guide finger 503 must be utilized to carry out bending electric wire, thus the turning to of the electric wire realized, the procedures of establishment of guide finger 503, is also to be completed by the pin finger that picks up on paw 206, and the procedures of establishment is identical with the procedures of establishment of fluting resilient key 504, to experience crawl pin equally, transport pin and place pin three phases, be not repeated herein.
(6) wire is delivered;The delivery of solid conductor, the finger cylinder 10402 of distribution mechanism 104 lifts, and orders about distribution trough 102 and lifts and solid conductor in tilting shape, goes to take wire with robot hand 206 to be rule.
(7) wire is captured;The crawl of solid conductor, first automatic routing system orders about robot hand 206 and runs above distribution mechanism 104, and grab line finger with hold line finger opening alignment distribution trough 102 opening relative to time, master control set 6 orders about line robot 2 and grabs line finger and hold line finger and simultaneously pick up same wire from distribution trough 102, wherein, the line taking process grabbing line finger is:
1. paw 206 is descending, distribution trough 102 gradually starts and grabs line finger and contact and defeat and grab the finger of line finger, when paw 206 continues reach a small distance, distribution trough 102 will be grabbed line finger make position and be strutted, electric wire is brought into and grabs in line finger, and the pressing spring being placed on hands root by grabbing the wedge pin in line finger compresses;
2. in order to ensure to enter the wire in finger, not leave finger followed by distribution trough 102, grabbing near line finger constriction position, front and back it is provided with two inverted " v " shape reeds, so, after finger sent into by wire, wire can be clamped by inverted " V " type reed by its own resilient;
The most then paw 206 is up, distribution trough 102 departs from and contacting of grabbing line finger, grab line finger Guan Bi, pressing spring compression part is recovered and passes through wedge pin to be compressed by wire, hold the line taking of line finger and the line taking grabbing line finger and Tong Bu carry out, and line taking step is essentially identical, what line finger constriction of being simply in one's hands position was arranged is no longer inverted " v " shape reed, but two inverted "Ω"-type reeds, so can prevent the wire entered in finger from leaving in finger with distribution trough 102, two are easy to hold line finger guides electric wire flexibly, certainly, hold the pressing spring in line finger wire to be pressed equally, but guide electric wire for ease of holding line finger, pressure applied is necessary, therefore this elasticity must be the softest.
(8) identification guidewire markings;Wire is pulled to vision-based detection module 7 by line robot hand 206, wire is caused and faces the position of monitor station photographic head 703 and stop several seconds in this place, in during this period, wire is taken a picture by the photographic head 703 of high definition, and image is given monitor station visual sensing system, visual sensing system carries out identification to guidewire markings symbol thus identifies the code name of this wire, then by incoming for data computer, finds out and calculates the curve of corresponding wire size on cable CAD diagram paper.
(9) plate cabling is tied up;nullAfter wire successfully identifies,Computer is by the wiring incoming motion controller of code G-CODE of this curve,Motion controller is according to G-CODE,Control line robot 2 longitudinal traveling mechanism、Vertically movable mechanism、Robot arm、Four servomotors of robot wrist do corresponding sports,Order about robot hand 206 to pull wire electric wire being indexed via three groups of pulleys on monitor station and on latch platform 501 and tie up on chart board 301,Before this wire one end was delivered to position and this end was discharged in a fluting resilient key 504,By guiding finger, the guiding of the electric wire other end put in place again and wire be discharged in another fluting resilient key 504,So wire is secured to tie up on chart board 301,What deserves to be explained is,When carrying out cabling for certain wire,Although institute's live wire that cloth has been got well the most grips with fluting resilient key 504 the most,And the wire laid also creates certain tension force because gently being pressed by elastic tension disc 103,Therefore this wire is unlikely to fall easily at wire bundling station 3 table top.But for the sake of assurance, also dispose on marking-off table and the lead frame of lifting automatically can suitably raise the electric wire laid, disarrayed in order to avoid other is laid good ground line.
(10) clamping pin solidus;null1. holding finger release wire,Put when robot hand 206 pulls first line wiring that wire runs to wire,And the holding finger opening on paw 206 just to fluting resilient key 504 end tied up on chart board 301 time,Paw driven by servomotor paw 206 moves down and makes holding finger finger tip opening part start touching fluting resilient key 504 end,When driven by servomotor paw 206 continues to move down,The slotted resilient key of the throat of holding finger 504 strutted before this,Followed by the wedge shape tongue in holding finger stretch into fluting resilient key 504 notch in and the wire being in wedge shape tongue front end is pushed fluting resilient key 504 in,And then,Driven by servomotor paw 206 is up,Now the out of stock spring Quick-return in holding finger and fluting a resilient key 504 release holding finger,Wire then clamps wire under the elastic force effect of fluting resilient key 504;
2. guide hand instructs and draws electric wire and unwrapping wire;Refer to that the situation that inside conductor is held down is different from wire in clamping, electric wire is loosening in guiding refers to, after one end of wire is fixed on and ties up the fluting resilient key 504 of chart board 301, the other end of wire is directed into the elastic 504 pin tops of corresponding fluting by guiding the chute between finger by paw 206, when elastic 504 end of the positive cross-notching of opening guiding finger, guide hand starts to discharge conductor wire end, and release process is identical with the process of holding finger release wire with line end fixation procedure.
(11) palikinesia (4)-(10) capture complete to all of wire, and the line that this drawing is relevant terminates.

Claims (10)

1. an Aircraft Cables strand automatic routing system, it includes wire dispensing module, line robot, wire bundling station, robot base, latch memory module, master control set and vision-based detection module, it is characterized in that: wire dispensing module is placed in the side of wire bundling station, wire dispensing module one end is connected with vision-based detection module, vision-based detection module connecting bolt memory module, latch memory module is then connected to one end of wire bundling station, line robot is placed in wire bundling station side proximate conductors bundling station, line robot connects robot base, master control set connects wire dispensing module by wire, line robot, vision-based detection module.
A kind of Aircraft Cables strand automatic routing system the most according to claim 1, it is characterized in that: described wire dispensing module is made up of distribution platform, distribution trough, elastic tension disc and distribution mechanism, distribution trough is fixed on distribution platform, and it has been separated out multiple strip grid with dividing plate, elastic tension disc is arranged in the grid of distribution trough, distribution mechanism is installed on the grid end of distribution trough, and described distribution mechanism is made up of multiple separated time grooves and finger cylinder.
A kind of Aircraft Cables strand automatic routing system the most according to claim 1, it is characterized in that: described line robot, by trunk, longitudinal rail, transverse arm, upright arm, wrist and paw composition, longitudinal rail and upright arm are all fixed by screws on trunk, transverse arm connects and composes moving sets by the groove on its back side and longitudinal rail, and together with it being connected firmly with the Vertical slippage nut on upright arm by screw, wrist is arranged in transverse arm shell on horizontal sliding nut, paw is connected in wrist, and energy wrist rotation relatively, described torso interior is mounted with the hoofing part module of line robot, this driving module is by No. three servomotor, RV decelerator and roller gear composition.
A kind of Aircraft Cables strand automatic routing system the most according to claim 3, it is characterised in that: described transverse arm is by number one servomotor, horizontal linear module casing, cross lead screw and horizontal sliding nut composition.
A kind of Aircraft Cables strand automatic routing system the most according to claim 3, it is characterised in that: described upright arm is by No. second servomotor, vertical line module casing, down-feed screw and Vertical slippage nut composition.
A kind of Aircraft Cables strand automatic routing system the most according to claim 3, it is characterised in that: described paw is by grabbing line finger, holding line finger, pick up pin finger and palm forms.
A kind of Aircraft Cables strand automatic routing system the most according to claim 1, it is characterized in that: described robot base is made up of pedestal steel structure, tooth bar, straight ball-guide and mobile seat board, two straight ball-guides and tooth bar are screwed in the upper surface of pedestal steel structure, straight ball-guide and tooth bar keeping parallelism, chute is all offered bottom mobile seat board both sides, being connected with two straight ball-guides respectively by chute and form moving sets, tooth bar is connected by higher pair with roller gear.
A kind of Aircraft Cables strand automatic routing system the most according to claim 1, it is characterized in that: described latch memory module is made up of latch platform, leading block, guide finger, fluting resilient key and stand, latch platform is fixed on stand, guide finger and fluting resilient key insert in the pin-and-hole of latch platform, and leading block is arranged on the edge of stand.
A kind of Aircraft Cables strand automatic routing system the most according to claim 1, it is characterized in that: described vision inspection apparatus is formed by detecting stand, leading block and photographic head, leading block is horizontally arranged on detection stand, and photographic head is arranged on a vertical walls of detection stand.
10. a wiring method for Aircraft Cables strand automatic routing system according to claim 1, is characterized in that processing step is as follows:
(1) numerical control wiring operations G code is generated;
(2) wire rolls off the production line and identifies;
(3) configuration cable conductor;
(4) line end clamping pin is laid;
(5) wire guide finger is laid;
(6) wire is delivered;
(7) wire is captured;
(8) identification guidewire markings;
(9) plate cabling is tied up;
(10) clamping pin solidus.
CN201410123402.0A 2014-03-31 2014-03-31 A kind of Aircraft Cables strand automatic routing system and wiring method thereof CN103943284B (en)

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CN201410123402.0A CN103943284B (en) 2014-03-31 2014-03-31 A kind of Aircraft Cables strand automatic routing system and wiring method thereof

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CN105633760B (en) * 2016-03-04 2019-08-23 珠海格力电器股份有限公司 A kind of automatic connection system of Intelligent control cabinet
CN106057368B (en) * 2016-05-17 2017-06-06 西安理工大学 A kind of connecton layout and its wiring method of signal transmission wire harness
CN107992686B (en) * 2017-12-06 2021-03-26 长春理工大学 Wire harness path generation system for full-automatic wiring machine
CN108872749A (en) * 2018-07-02 2018-11-23 中国民航大学 A kind of automatic test platform based on the more electric aircraft wirings of simulation
CN109436412A (en) * 2018-10-26 2019-03-08 叶懿辰 A kind of cable ties up three-dimensional contouring method
CN109585093A (en) * 2018-11-14 2019-04-05 航天极创物联网研究院(南京)有限公司 A kind of automatic wiring machine based on coiling form
CN109473235A (en) * 2018-11-14 2019-03-15 航天极创物联网研究院(南京)有限公司 A kind of automatic wiring machine and its working method based on three-dimensional movement platform realization
CN111371041A (en) * 2018-12-25 2020-07-03 北京风折科技有限公司 Intelligent cable assembly system and control method
CN111371040A (en) * 2018-12-25 2020-07-03 北京风折科技有限公司 Method for automatically arranging cable on wiring substrate
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CN110518497A (en) * 2019-09-30 2019-11-29 哈尔滨工程大学 A kind of cable automatic laying optimization method for ship
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