CN106057368A - Wiring apparatus of signal transmission wire harness and wiring method thereof - Google Patents
Wiring apparatus of signal transmission wire harness and wiring method thereof Download PDFInfo
- Publication number
- CN106057368A CN106057368A CN201610325821.1A CN201610325821A CN106057368A CN 106057368 A CN106057368 A CN 106057368A CN 201610325821 A CN201610325821 A CN 201610325821A CN 106057368 A CN106057368 A CN 106057368A
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- line
- wire
- wiring
- robot
- joint robot
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
- H01B13/01236—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine
Abstract
The invention discloses a wiring apparatus of a signal transmission wire harness. The apparatus includes a wire clamping apparatus which is arranged on a workbench, a 6-shaft robot and a robot controller, and also a wire cutting apparatus and a wire delivering apparatus which are arranged above the wire clamping apparatus and are in connection. The wire cutting apparatus and the wire delivering apparatus are both in connection to a rear end shaft of the 6-shaft robot which is in connection to the robot controller. The invention also discloses a wiring method of the wiring apparatus. The wiring method mainly uses the robot controller to control the 6-shaft robot to conduct wiring in accordance with a preset wiring trajectory. According to the invention, the wiring apparatus and the wiring method address the problems of current manual wiring, such as low efficiency, susceptibility to errors, high cost, and high labor intensity.
Description
Technical field
The invention belongs to signal line wiring method and technology field, be specifically related to the connecton layout of a kind of signal transmssion line bundle,
The method that the invention still further relates to utilize above-mentioned connecton layout to carry out connecting up.
Background technology
Signals collecting instrument equipment is widely used in each technical field, in order to reduce the interference of external environment condition, it is thus achieved that steady
Fixed reliable signal data, and realize the quick transmission of signal collected data, the signal of part signal acquisition instrument equipment passes
Defeated mainly being completed by wire harness, this type of wire harness is generally formed by several to tens of wires braidings, has a plurality of branch, each branch to exist
It is connected with each other between circuit board signal interface, carries out signal transmission.
At present, the various wire harness of the type are mainly formed by skilled industrial worker's hand woven, also exist efficiency low, error-prone,
The salience problems such as cost is high, holding wire waste is serious and labor strength is big, are therefore badly in need of using automated arm to carry out
Wire harness weaving operation.
Summary of the invention
It is an object of the invention to provide the connecton layout of a kind of signal transmssion line bundle, solve existing hand layouts and exist
The problem that efficiency is low, error-prone, cost is high and labor strength is big.
Another object of the present invention is to provide the method utilizing above-mentioned connecton layout to carry out connecting up.
The technical solution adopted in the present invention is, the connecton layout of a kind of signal transmssion line bundle, includes and is arranged at work
Wire-clamping device, six-joint robot and robot controller on platform, also includes and is arranged at the top of wire-clamping device and is connected to
Cutting facility together and wire-sending device, cutting facility, wire-sending device be all connected with the terminal shaft of six-joint robot, six axle machines
People is connected by the communications cable with robot controller.
The feature of the present invention also resides in:
Wire-clamping device, includes the base being arranged on workbench, base is provided with stringing plate, stringing plate vertically sets
Being equipped with many root posts, stringing plate and many root posts are covered with housing, and housing is connected with base by stud-nut assembly, housing
Can be adjusted by the fixing nut on stud in regulation stud-nut assembly with the difference in height of base；It is provided with many on housing
Individual clamp wedge, and each clamp wedge type block is connected with housing by bearing, and each clamp wedge type block offers gap.
Stringing plate is connected with base by pin and bolt, facilitates being rapidly assembled and disassembled of stringing plate.
Shear is made up of cylinder and the connecting rod shears being connected to cylinder bottom, and cylinder is connected with wire-sending device.
Wire-sending device, takes turns and wire-threading device including wired, line wheel be arranged on the axle of six-joint robot, the top of wire-threading device with
The terminal shaft of six-joint robot connects, and wire-threading device side is connected with cylinder, and the bottom of wire-threading device connected line nozzle.
Line wheel is arranged on the 3rd axle of six-joint robot.
Another technical scheme of the present invention is, utilizes the connecton layout of signal transmssion line bundle to carry out the side connected up
Method, specifically implements according to following steps:
Step 1, according to the arrangement of harness branch and trend, adjacent the end of a thread of the line of same diameter specifications is linked together,
And plan corresponding cloth line tracking；
Step 2, after step 1, utilize the tutorial function of six-joint robot, according to planning cloth line tracking to six axle machines
People carries out teaching, after teaching success, teaching Track Pick-up program is saved in robot controller；Or according to planned
Cloth line tracking carries out off-line programing, and the program write is saved in robot controller.
Step 3, after step 2, utilize robot controller manipulate six-joint robot, by six-joint robot according to robot
The wired program preserved in controller connects up, and now by crossing the line nozzle gap with line arrival clamp wedge type block, crosses line nozzle
Stirring in the range of clamp wedge type block rotates 90 °～120 ° arbitrarily angled, one end of line can tightly be pushed up outside being pressed in by clamp wedge type block
On frame, six-joint robot continues, according to wiring orbiting motion, to be stretched tight at the column of stringing plate by Spreading requirements by line with crossing line nozzle
On, line wheel concomitant rotation, reaches line sending purpose in this course, when line has been arranged, crosses line nozzle and will arrive another with line
The gap of individual clamp wedge type block is also stirred in the range of this clamp wedge type block rotates 90 °～120 ° arbitrarily angled, thus another by line
One end is tightly pushed up to be pressed on housing and is clamped；
Step 4, after step 3, the cylinder rod of cutting facility inside cylinder is retracted, and line is cut off by drivening rod shears Guan Bi,
I.e. complete layout and the clamping of wire harness；Afterwards, cylinder rod stretches out, and connecting rod shears is flared to original state, and six-joint robot returns to
Initial position；
Step 5, after step 4 completes, workman the whole wire-clamping device of good for cloth line is taken off from workbench, and changes
A set of new wire-clamping device, six-joint robot continues wiring, after the line colligation that on the connecton layout that workman will take off, cloth is good,
Cut off the end of a thread linked together the excess portion that cuts off the end of a thread on request, i.e. complete wiring, all process steps of wiring.
The beneficial effects of the present invention is:
(1) to have simple in construction, preparation cost low and easy to use for the connecton layout of a kind of signal transmssion line of present invention bundle
Advantage.
(2) present invention utilizes method that the connecton layout of signal transmssion line bundle carries out connecting up based on a kind of signal transmssion line bundle
Connecton layout, can realize the automatization of signal transmssion line wiring in bundles process, the method replacing workman's hand layouts, be substantially reduced
Labor strength and wiring cost, be greatly improved harness wiring efficiency.
(3) present invention utilizes the connecton layout of signal transmssion line bundle to carry out the method connected up, and can realize the essence of harness branch
Really arrangement, does not haves the problem that manual routing is error-prone, holding wire waste is serious.
Accompanying drawing explanation
Fig. 1 is the structural representation of the connecton layout of the present invention a kind of signal transmssion line bundle；
Fig. 2 be the present invention a kind of signal transmssion line bundle connecton layout in cutting facility trimming schematic diagram；
Fig. 3 is that the present invention utilizes the connecton layout of signal transmssion line bundle to carry out each branch of single wire harness in the method connected up
Arrangement and cabling schematic diagram；
Fig. 4 is the schematic diagram utilizing the connecton layout of the present invention a kind of signal transmssion line bundle to connect up single wire harness；
Fig. 5 is the schematic diagram utilizing the wire-clamping device of the present invention a kind of signal transmssion line bundle that single wire harness carries out clamp；
Fig. 6 is the signal that the connecton layout utilizing the present invention a kind of signal transmssion line bundle carries out symmetrical wiring to multiple wire harness
Figure；
Fig. 7 is that the wire-clamping device utilizing the present invention a kind of signal transmssion line bundle carries out clamp to multiple symmetrical wire harness
Schematic diagram.
In figure, 1. line wheel, 2. six-joint robot, 3. robot controller, 4. cylinder, 5. wire-threading device, 6. connecting rod shears, 7.
Cross line nozzle, 8. column, 9. bearing, 10. stringing plate, 11. clamp wedges, 12. housings, 13. bases, 14. studs-nut group
Part, 15. workbench, 16. lines, 17. the end of a thread.
Detailed description of the invention
The present invention is described in detail with detailed description of the invention below in conjunction with the accompanying drawings.
The connecton layout of the present invention a kind of signal transmssion line bundle, as it is shown in figure 1, include the folder being arranged on workbench 15
Line apparatus, six-joint robot 2 and robot controller 3, also include and be arranged at the top of wire-clamping device and link together
Cutting facility and wire-sending device, cutting facility, wire-sending device all terminal shafts with six-joint robot 2 are connected, six-joint robot 2 with
Robot controller 3 is connected by the communications cable.
Wire-clamping device, as it is shown in figure 1, include the base 13 being arranged on workbench 15, base 13 is provided with stringing
Plate 10, stringing plate 10 is vertically arranged with many root posts 8, and stringing plate 10 and many root posts 8 are covered with housing 12, and housing 12 passes through
Stud-nut assembly 14 is connected with base 13, and the difference in height of housing 12 and base 13 can be by regulation stud-nut assembly 14
Fixing nut on stud adjusts；It is provided with multiple clamp wedge 11 on housing 12, and each clamp wedge type block 11 is logical
Cross bearing 9 to be connected with housing 12, each clamp wedge type block 11 offers gap.
Stringing plate 10 is connected with base 13 by pin and bolt, facilitates being rapidly assembled and disassembled of stringing plate 10.
Cutting facility, as shown in Figures 1 and 2, is made up of cylinder 4 and the connecting rod shears 6 being connected to cylinder 4 bottom, cylinder 4
It is connected with wire-sending device.
Wire-sending device, as it is shown in figure 1, include wired taking turns 1 and wire-threading device 5, line wheel 1 is arranged on the axle of six-joint robot 2
(being usually arranged on the 3rd axle of robot), the top of wire-threading device 5 is connected with the terminal shaft of six-joint robot 2, wire-threading device 5
Side is connected with cylinder 4, and the bottom of wire-threading device 5 connected line nozzle 7.
Six-joint robot 2 uses the six-shaft industrial robot with tutorial function.
The present invention utilizes the wiring method that the connecton layout of signal transmssion line bundle is carried out, such as Fig. 4, Fig. 5, Fig. 6 and Fig. 7 institute
Show, specifically implement according to following steps:
Step 1, according to the arrangement of harness branch and trend, adjacent the end of a thread of line of same diameter specifications is linked together, and
Plan corresponding cloth line tracking；
Step 2, after step 1, utilize the tutorial function of six-joint robot 2, according to planning cloth line tracking to six axle machines
Device people 2 carries out teaching, after teaching success, teaching Track Pick-up program is saved in robot controller 3；Or according to being advised
The cloth line tracking drawn carries out off-line programing, and the program write is saved in robot controller 3.
Step 3, after step 2, utilize robot controller 3 to manipulate six-joint robot 2, by six-joint robot 2 according to machine
The wired program preserved in device people's controller 3 connects up, and is now arrived slitting of clamp wedge type block 11 by line nozzle 7 excessively with line 16
Mouthful, to cross line nozzle 7 and stir in the range of clamp wedge type block 11 rotates 90 °～120 ° arbitrarily angled, clamp wedge type block 11 can be by line 16
One end is tightly pushed up and is pressed on housing 12, and six-joint robot 2 continues according to wiring orbiting motion with crossing line nozzle 7, by line 16 by dividing
Cloth requires to stretch tight on the column 8 of stringing plate 10, and 1 concomitant rotation taken turns by line in this course, reaches line sending purpose, when line 16 is arranged
Completing, crossing line nozzle 7 will arrive the gap of another clamp wedge type block 11 and stirs this clamp wedge type block 11 and rotate 90 ° with line 16
～be arbitrarily angled in the range of 120 °, thus tightly push up to be pressed on housing 12 by the other end of line 16 and clamp；
Step 4, after step 3, the cylinder rod of cutting facility inside cylinder 4 is retracted, and drivening rod shears 6 closes to be cut line 16
Disconnected, i.e. complete layout and the clamping of wire harness；Afterwards, cylinder rod stretches out, and connecting rod shears 6 is flared to original state, six-joint robot 2
Return to initial position；
Step 5, after step 4 completes, workman the whole wire-clamping device of good for cloth line 16 is taken off from workbench 15, and
Changing a set of new wire-clamping device, six-joint robot 2 continues wiring, and the line that on the connecton layout that workman will take off, cloth is good is tied up
After bundle, cut off the end of a thread 17 linked together 17 excess portion that cut off the end of a thread, i.e. complete wiring, all works of wiring
Sequence.
In the above-mentioned methods, there is following key issue:
(1) wiring problem:
Wire harness is formed by 10 to 40 line braidings, as it is shown on figure 3, there is a plurality of branch, utilizes the flexibility of six-joint robot 2,
The cloth line tracking of different wire harness can be realized well.
As shown in Fig. 1 and Fig. 4, on stringing plate 10, trend and distribution according to harness branch arrange a series of column 8,
Six-joint robot 2 runs according to the program prestored, it is achieved cloth line tracking, is stretched tight to by line 16 on these columns 8, can complete wiring
Work.As shown in Figure 6, multiple wire harness can be carried out symmetrical according to producing reality, the lay day can be greatly saved, thus
Improve wiring efficiency.Why design the symmetrical two kinds of wire laying modes of single and multiple wire harness, be to tackle wire harness demand
When amount is for odd number, both modes combine, and can to gather out odd number, such as demand be three, can use single wire harness, add
Two symmetrical wire harness, gather into three wire harness, and are unlikely to the form with four symmetrical wire harness distributions, cause the wave of a wire harness
Take, or carry out three wirings with single wire harness so that cramp assembling and disassembling number of times increases, cause wire harness to weave waste of time.
(2) clamp problem:
In order to smoothly complete installation work, line 16 can tightly be stretched tight on column 8, ready to wiring, be by line
17 clamp, and as shown in Figure 5 and 7, devise wire-clamping device, and Fig. 5 is single harness clips line apparatus, presss from both sides single wire harness
Hold.Fig. 7 is to individual harness clips line apparatus, clamps multiple symmetrical wire harness.Wire-clamping device, on housing 12, peace turns one
Series clamp wedge type block 11, and on clamp wedge type block 11, leave gap, the gap of clamp wedge type block 11 and housing 12 is much smaller than
The diameter of line 16.
After wiring starts, line nozzle 7 excessively arrives the gap of clamp wedge type block 11 with the end of a thread 17, and mistake line nozzle 7 is stirred clamp and carved
Shape block 11 is arbitrarily angled in the range of rotating 90 °～120 °, and one end of line 16 can tightly be pushed up and is pressed in housing 12 by clamp wedge type block 11
On, and under self-locking action, clamp the end of a thread 17.
(3) trimming problem:
After wiring completes, line 16 be cut off；Terminal shaft at six-joint robot 2 is provided with cutting facility, when cylinder 4
Interior cylinder rod is retracted, and drivening rod shears 6 closes and cut off by line 16, and cylinder rod stretches out, and connecting rod shears 6 is flared to initial shape
State；When connecting rod shears 6 is in initial position, and connecting rod shears 6 bottom was higher than line nozzle 7, will not interfere with the wiring fortune of line nozzle 7
Dynamic.
(4) wiring problem:
At present, it is contemplated that the complexity of wiring and reliability requirement, take manually to carry out wiring work.
Claims (7)
1. the connecton layout of a signal transmssion line bundle, it is characterised in that include the clamp dress being arranged on workbench (15)
Put, six-joint robot (2) and robot controller (3), also include and be arranged at the top of wire-clamping device and link together
Cutting facility and wire-sending device, described cutting facility, wire-sending device all terminal shafts with six-joint robot (2) are connected, and described six
Axle robot (2) is connected by the communications cable with robot controller (3).
The connecton layout of a kind of signal transmssion line bundle the most according to claim 1, it is characterised in that described wire-clamping device,
Include the base (13) being arranged on workbench (15), described base (13) is provided with stringing plate (10), described stringing plate
(10) being vertically arranged with many root posts (8) on, described stringing plate (10) and many root posts (8) are covered with housing (12), described outside
Frame (12) is connected with base (13) by stud-nut assembly (14), and described housing (12) can lead to the difference in height of base (13)
The fixing nut overregulated in stud-nut assembly (14) on stud adjusts；
It is provided with multiple clamp wedge (11) on described housing (12), and each clamp wedge type block (11) is by bearing (9)
It is connected with housing (12), each clamp wedge type block (11) offers gap.
The connecton layout of a kind of signal transmssion line bundle the most according to claim 2, it is characterised in that described stringing plate (10)
It is connected with base (13) by pin and bolt, facilitates being rapidly assembled and disassembled of stringing plate (10).
The connecton layout of a kind of signal transmssion line bundle the most according to claim 1, it is characterised in that described shear by
Cylinder (4) and be connected to cylinder (4) bottom connecting rod shears (6) constitute, described cylinder (4) is connected with wire-sending device.
5. according to the connecton layout of a kind of signal transmssion line bundle described in claim 1 or 4, it is characterised in that described line sending fills
Putting, including wired (1) and wire-threading device (5) of taking turns, described line wheel (1) is arranged on the axle of six-joint robot (2), described wire-threading device
(5) top is connected with the terminal shaft of six-joint robot (2), and described wire-threading device (5) side is connected with cylinder (4), described line excessively
The bottom of device (5) connected line nozzle (7).
The connecton layout of a kind of signal transmssion line bundle the most according to claim 5, it is characterised in that described line wheel (1) sets
It is placed on the 3rd axle of six-joint robot (2).
7. utilize the method that the connecton layout of signal transmssion line bundle carries out connecting up, it is characterised in that specifically real according to following steps
Execute:
Step 1, according to the arrangement of harness branch and trend, adjacent the end of a thread of line of same diameter specifications is linked together, and plans
Corresponding cloth line tracking；
Step 2, after step 1, utilize the tutorial function of six-joint robot (2), according to planning cloth line tracking to six axle machines
People (2) carries out teaching, after teaching success, teaching Track Pick-up program is saved in robot controller (3)；Or according to institute
The cloth line tracking of planning carries out off-line programing, and the program write is saved in robot controller (3)；
Step 3, after step 2, utilize robot controller (3) manipulation six-joint robot (2), by six-joint robot (2) according to
The wired program preserved in robot controller (3) connects up, now by crossing line nozzle (7) with line (16) arrival clamp wedge
The gap of block (11), crosses line nozzle (7) and stirs in the range of clamp wedge type block (11) rotates 90 °～120 ° arbitrarily angled, clamp wedge
One end of line (16) can tightly be pushed up and is pressed on housing (12) by block (11), six-joint robot (2) with cross line nozzle (7) continue according to
Wiring orbiting motion, stretches tight line (16) on the column (8) of stringing plate (10) by Spreading requirements, in this course line wheel (1)
Concomitant rotation, reaches line sending purpose, and when line (16) has been arranged, mistake line nozzle (7) will arrive another clamp with line (16) and carve
The gap of shape block (11) is also stirred in the range of this clamp wedge type block (11) rotates 90 °～120 ° arbitrarily angled, thus by line (16)
The other end tightly push up to be pressed on housing (12) and clamp；
Step 4, after step 3, the cylinder rod of cutting facility inside cylinder (4) is retracted, and drivening rod shears (6) closes line (16)
Cut off, i.e. complete layout and the clamping of wire harness；Afterwards, cylinder rod stretches out, and connecting rod shears (6) is flared to original state, six axle machines
Device people (2) returns to initial position；
Step 5, after step 4 completes, workman the whole wire-clamping device of good for cloth line (16) is taken off from workbench (15), and
Changing a set of new wire-clamping device, six-joint robot (2) continues wiring, the line that on the connecton layout that workman will take off, cloth is good
After colligation, cut off the end of a thread (17) linked together (17) excess portion that cuts off the end of a thread, i.e. complete wiring, the institute of wiring
There is operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610325821.1A CN106057368B (en) | 2016-05-17 | 2016-05-17 | A kind of connecton layout and its wiring method of signal transmission wire harness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610325821.1A CN106057368B (en) | 2016-05-17 | 2016-05-17 | A kind of connecton layout and its wiring method of signal transmission wire harness |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106057368A true CN106057368A (en) | 2016-10-26 |
| CN106057368B CN106057368B (en) | 2017-06-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610325821.1A Expired - Fee Related CN106057368B (en) | 2016-05-17 | 2016-05-17 | A kind of connecton layout and its wiring method of signal transmission wire harness |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110931173A (en) * | 2018-09-20 | 2020-03-27 | 发那科株式会社 | Machining system and machining method |
| 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 |
| CN111863352A (en) * | 2020-08-31 | 2020-10-30 | 中国科学院长春光学精密机械与物理研究所 | Wire harness encapsulation method |
| CN112038006A (en) * | 2020-05-11 | 2020-12-04 | 北京机械设备研究所 | Automatic wire shearing device and method for wire binding manufacture |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110931173A (en) * | 2018-09-20 | 2020-03-27 | 发那科株式会社 | Machining system and machining method |
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| CN112038006A (en) * | 2020-05-11 | 2020-12-04 | 北京机械设备研究所 | Automatic wire shearing device and method for wire binding manufacture |
| CN112038006B (en) * | 2020-05-11 | 2022-04-19 | 北京机械设备研究所 | Automatic wire shearing device and method for wire binding manufacture |
| CN111863352A (en) * | 2020-08-31 | 2020-10-30 | 中国科学院长春光学精密机械与物理研究所 | Wire harness encapsulation method |
| CN111863352B (en) * | 2020-08-31 | 2021-10-15 | 中国科学院长春光学精密机械与物理研究所 | Wire harness encapsulation method |
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|---|---|
| CN106057368B (en) | 2017-06-06 |
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