CN106698071B - Cable storage and feeding device of automatic wiring machine - Google Patents
Cable storage and feeding device of automatic wiring machine Download PDFInfo
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- CN106698071B CN106698071B CN201710129581.2A CN201710129581A CN106698071B CN 106698071 B CN106698071 B CN 106698071B CN 201710129581 A CN201710129581 A CN 201710129581A CN 106698071 B CN106698071 B CN 106698071B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H51/00—Forwarding filamentary material
- B65H51/18—Gripping devices with linear motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H61/00—Applications of devices for metering predetermined lengths of running material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
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Abstract
The invention discloses a cable storage and feeding device of an automatic wiring machine, which comprises a base, a storage disc, a support disc, wire coil frames, a wire column inserting disc, a charging cylinder and a feeding cylinder, wherein the storage disc is rotationally connected to the base, a plurality of wire coil frames and the wire column inserting disc are slidingly connected to the circumference of the storage disc, the support disc is fixedly connected to the base and is positioned above the storage disc, the charging cylinder and the feeding cylinder are respectively fixed on the support disc, and the charging cylinder and the feeding cylinder form a certain angle on a horizontal projection plane. The invention can store cables and pins required by wiring according to the requirement, and can automatically feed the cables or the pins according to the wiring planning flow, so that the wiring machine can realize full-automatic wiring of the wire harness, the space is saved, the universality is strong, the operation procedure is simplified, the labor cost is greatly reduced, and the wiring efficiency and the accuracy are improved.
Description
Technical Field
The invention relates to a cable storage and feeding device of an automatic wiring machine, and belongs to the field of airplane equipment.
Background
The domestic aircraft pencil is mostly wired through the manual work, because the cable is numerous on the aircraft, and along with the continuous richness of aircraft function, the electrical system of aircraft becomes more and more complicated, and the quantity of cable on the aircraft increases dramatically, and manual wiring needs a large amount of manpowers, needs operating personnel to have higher technical ability simultaneously, and complex operation just makes mistakes easily. Therefore, there is an urgent need for a fully automatic wiring device for an aircraft harness.
The invention patent application with the application number of 20141023402 discloses an automatic wiring system and a wiring method for an aircraft cable harness, which can realize machine wiring of the aircraft harness. The above application has several major problems: all the wires which are well wired are required to be placed in a wiring groove and manually delivered to a robot claw according to the requirement, the types of wires required by the aircraft wire harness are various, the specification is hundreds to thousands, the space of the wiring groove is limited, the scheme is difficult to realize, and the manual wiring is time-consuming and labor-consuming; the independent bolt storage module is required to store various bolts required by wiring, so that the whole machine has a complex structure and is inconvenient to operate.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the automatic wire-harness wiring machine for the airplane, which can store cables and bolts required by wiring according to requirements, and can automatically feed the cables or the bolts according to a wiring planning flow, so that the wire-harness wiring machine can realize full-automatic wiring of the wire harness, saves space, has strong universality, simplifies operation procedures, greatly reduces labor cost and improves wiring efficiency and accuracy.
The aim of the invention is achieved by the following scheme, and the scheme is combined with the accompanying drawings:
the utility model provides an automatic wiring machine cable storage and feeder, including base 19, storage tray 11, support dish 21, drum rack 14, wiring post insert dish 15, charging cylinder 12, feeding cylinder 13, storage tray 11 rotates to be connected on base 19, a plurality of drum racks 14 and wiring post insert dish 15 sliding connection are on storage tray 11 circumference, support dish 21 fixed connection is on base 19 and be located storage tray 11 top, charging cylinder 12 and feeding cylinder 13 are fixed respectively on support dish 21, charging cylinder 12 and feeding cylinder 13 become certain angle on the horizontal projection face.
Further, the cable storing and feeding device of the automatic wiring machine further comprises a charging track 17 and a feeding track 18, wherein the charging track 17 and the feeding track 18 are respectively fixed on the circumference of the base 19, the wire coil rack 14 and the wiring column inserting disc 15 can be in sliding connection with the corresponding charging track 17 or the feeding track 18, the charging track 17 is coaxial with the cylinder shaft of the charging cylinder 12, and the feeding track 18 is coaxial with the cylinder shaft of the feeding cylinder 13.
Further, a plurality of material storage seats 16 are uniformly distributed on the circumference of the material storage tray 11, the wire coil rack 14 and the wire column inserting tray 15 are respectively and slidably connected to the corresponding material storage seats 16, and the charging rail 17 and the feeding rail 18 can be respectively and horizontally abutted to the corresponding material storage seats 16.
Further, the wire coil rack 14 includes a wire coil rack fixing seat 141, a wire coil rack 142, a slide block 144, and a wire clamping mechanism 146, the wire coil rack 142 is fixed on a vertical plate of the wire coil rack fixing seat 141, a claw 143 is fixed at an end of the wire coil rack 142, the slide block 144 is fixed below a bottom plate of the wire coil rack fixing seat 141, the wire clamping mechanism 146 is fixed at an outer end of the bottom plate of the wire coil rack fixing seat 141, and an inner end of the wire coil rack fixing seat 141 can be clamped with a cylinder shaft of a charging cylinder or a feeding cylinder.
Furthermore, the inner end of the bottom plate of the wire coil rack fixing seat 141 is provided with a buckle 147, and the front ends of the cylinder shafts of the charging cylinder 12 and the feeding cylinder 13 are respectively provided with a buckle plate 22.
Further, the wire clamping mechanism 146 includes a wire clamping mechanism support frame 1461, a wire receiving opening 1462, and a wire outlet 1463, wherein the wire clamping mechanism support frame 1461 is fixed on the bottom plate of the wire coil rack fixing seat 141, and the wire outlet 1463 and the wire receiving opening 1462 are respectively disposed at the front and rear ends of the wire clamping mechanism support frame 1461.
Still further, the wire clamping mechanism 146 further includes a wire clamping block 1464, and the wire clamping block 1464 is disposed on the wire clamping mechanism support 1461 between the wire outlet 1463 and the wire collecting opening 1462.
Further, a partition plate is further provided between the wire outlet 1463 and the wire collecting opening 1462, and a wire passing hole 1465 is provided in the partition plate.
The invention has the following advantages:
1. the cable storage and feeding device of the automatic wiring machine adopts an integrated structure, a large number of cables with different wire specifications and various wiring columns required by wiring can be stored on the storage disc, corresponding wire coils or wire walking columns can be automatically pushed according to wiring requirements, the operation is convenient, and full-automatic wiring is realized.
2. The storage disc is of a turntable structure, space is saved, the charging and taking rails are further provided, the storage disc is driven to rotate through the motor, automatic charging and feeding can be achieved through cooperation of the air cylinder, and the upper computer is simple in control program and easy to operate.
4. The wire coil rack and the wire column inserting disc are detachably connected with the storage disc, the assembly quantity can be adjusted according to the requirement, and the wire coil on the wire coil rack or the wire column on the wire column inserting disc can be independently adjusted, so that the wire coil rack and the wire column inserting disc are convenient to adjust and are stronger in universality.
Drawings
FIG. 1 is an isometric view of an aircraft harness automatic wiring machine;
FIG. 2 is an isometric view of an automatic router cable storage and feeder apparatus according to the present invention;
FIG. 3 is a front view of an automatic router cable storage and feeder apparatus of the present invention;
FIG. 4 is an isometric view of a storage and loading mechanism of the automatic router cable storage and feeder apparatus;
FIG. 5 is a front cross-sectional view of the storage loading mechanism;
FIG. 6 is an isometric view of a magazine;
FIG. 7 is an isometric view of a loading rail;
FIG. 8 is an isometric view of a feed rail;
fig. 9 is an isometric view of a wire coil rack;
fig. 10 is an isometric view of a wire coil rack;
FIG. 11 is an isometric view of a wire clamping mechanism;
fig. 12 is an isometric view of a wire feeding mechanism in a first state;
fig. 13 is an isometric view of a wire feeding mechanism in a second state;
fig. 14 is an isometric view of a wire feeding mechanism in a third state;
FIG. 15 is an isometric view of a robot;
FIG. 16 is a front view of a robot;
in the figure:
the device comprises a cable storage and feeding device of a 1-automatic wiring machine, a 2-sliding table, a 3-automatic wire feeder, a 4-wiring robot, a 5-manipulator, a 6-optical wire number identification and marking device, a 7-connecting frame and an 8-workbench;
the device comprises a storage disc 11-a feeding cylinder 12-a charging cylinder 13-a feeding cylinder 14-a wire coil rack 15-a wire column inserting disc 16-a storage seat 17-a charging track 18-a feeding track 19-a base, a cylinder bracket 20-a bracket disc 21-and a clamping plate 22-a clamping plate;
141-a wire coil rack fixing seat, 142-a wire coil rack, 143-a clamping jaw, 144-a sliding block, 145-a spring limiting mechanism and 146-a wire clamping mechanism; 1461-a wire clamping mechanism support frame, 1462-a wire collecting port, 1463-a wire laying port, 1464-a wire clamping block and 1465-a wire passing hole;
301-wire feeding wheels, 302-wire feeding wheel driving motors, 303-fixing frames, 304-limiting blocks, 305-wire cutters and 306-wire cutter holders;
501-wiring heads, 502-wire inlets, 503-wire channels, 504-wire outlets, 505-grabbing heads, 506-switching mechanisms, 507-switching driving motors, 508-cameras and 509-grabbing claws.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings:
as shown in fig. 1, the automatic wire harness routing machine for the aircraft comprises an automatic wire harness routing machine cable storage and feeding device 1, a sliding table 2, an automatic wire feeder 3, a routing robot 4, an optical wire number identification and meter counter 6, a connecting frame 7, a workbench 8 and an upper computer. The automatic wire feeder cable storage and feeding device 1 is installed on a connecting frame 7, a workbench 8 is installed at the front end of the connecting frame 7, a sliding table 2 is slidably connected on the workbench 8, the workbench 8 can slide along a sliding rail of the workbench 8, a wire laying robot 4 is installed on the sliding table 2, the wire laying robot 4 consists of a six-degree-of-freedom mechanical arm and a mechanical arm 5, an automatic wire feeder 3 is installed on the sliding table 2, the front end of the automatic wire feeder 3 is in butt joint with a feeding rail 16 of the automatic wire feeder cable storage and feeding device 1, and an optical wire number identification and meter counter 6 is installed on the sliding table 2 and located behind the automatic wire feeder 3.
As shown in fig. 2 to 6, the automatic wire feeder cable storage and feeding device 1 includes a storage and loading mechanism fixed to the link 7, and a wire coil rack 14, a wire column tray 15, a charging cylinder 12, a feeding cylinder 13, a charging rail 17, and a feeding rail 18 mounted on the storage and loading mechanism. As shown in fig. 5 and 6, the whole storage loading mechanism is of a turntable structure and comprises a base 19, a charging rail 17, a feeding rail 18, a storage tray 11, a storage seat 16, a bracket tray 21 and a cylinder bracket 20; wherein, base 19 is fixed on link 7, and storage disk 11 rotates through the axis of rotation and connects on base 19, and the axis of rotation is driven by the motor, and storage seat 16 evenly arranges on storage disk 11 circumference, and support dish 21 is located storage disk 11 top and directly fixes on base 19, makes support dish 21 not rotate along with storage disk 11, and two cylinder supports 20 are all fixed on support dish 21 and mutually perpendicular on the horizontal projection plane. The charging rail 17 and the feeding rail 18 are respectively fixed on the circumference of the base 19, and the charging rail 17 and the feeding rail 18 are distributed at an included angle of 90 degrees and are respectively coaxial with one cylinder bracket 20. The outer end of the feeding rail 18 is in butt joint with the automatic wire feeder 3; the height of the charging track 17 and the feeding track 18 are the same and are flush with the height of the storage seat 16 fixed on the storage disc 11, so that the inner ends of the charging track 17 and the feeding track 18 can be horizontally butted with the corresponding storage seat 16.
As shown in fig. 2 to 4, a certain number of wire coil frames 14 and a certain number of wire column inserting trays 15 are mounted on the storage tray 11 according to actual wiring requirements; the wire coil rack 14 is used for installing wire coils, and the wire column inserting plate 15 is provided with a plurality of inserting holes for placing wire columns such as a cable source fixing column, a wire winding column and a cable source tail fixing column which are required by wiring. The charging cylinder 12 and the feeding cylinder 13 are respectively fixed on a cylinder bracket 20, the cylinder shaft of the charging cylinder 12 is coaxial with the charging track, the cylinder shaft of the feeding cylinder 13 is coaxial with the feeding track, and the front ends of the cylinder shafts of the charging cylinder 12 and the feeding cylinder 13 are respectively fixed with a buckle plate for being in buckle connection with a wire coil rack or a wiring column inserting plate 15.
As shown in fig. 7, the storage seat 16 has a sliding rail structure, and includes a rail for slidably connecting the wire supply disc rack 14 and a limiting clamping structure located at an end of the rail. As shown in fig. 8, the charging rail 17 includes a support base and a rail body fixed to the support base, and a baffle plate is fixed to an outer end portion of the rail body. As shown in fig. 9, the feeding rail 18 includes a support base and a sliding rail fixed on the support base, and two ends of the sliding rail are respectively abutted with the rail of the storage base 16 and the wire feeding rail of the automatic wire feeder 3, so that the wire coil rack 14 can slide from the storage disc 16 to the automatic wire feeder 3.
As shown in fig. 10 and 11, the wire coil rack 14 includes a wire coil rack fixing base 141, a wire coil 142, a claw 143, a slider 144, a spring limit mechanism 145, a wire clamping mechanism 146, and a buckle 147. The spool 142 is fixed on a vertical plate of the wire coil rack fixing seat 141, a claw 143 is fixed at the front end of the spool 142, a sliding block 144 is fixed below a bottom plate of the wire coil rack fixing seat 141, a spring limiting mechanism 145 is arranged on the bottom plate, a wire clamping mechanism 146 is fixed on the outer side of the bottom plate of the wire coil rack fixing seat 141, and a buckle 147 is arranged at the inner end of the bottom plate and is used for being connected with a buckle plate on a charging cylinder or a feeding cylinder. The wire coil is sleeved on the wire shaft 142 and limited by the clamping jaw 143, the cable head penetrates out of the wire clamping mechanism 146, and the wire coil rack 14 is connected with the storage seat 16 through the sliding block 144.
As shown in fig. 12, the wire clamping mechanism 146 includes a wire clamping mechanism support frame 1461, a wire collecting opening 1462, a wire ejecting opening 1463, a wire clamping block 1464, and a wire passing hole 1465. The wire clamping mechanism support frame 1461 is fixed on the bottom plate of the wire coil frame fixing seat 141 through bolts, the wire outlet 1463 and the wire collecting port 1462 are respectively arranged at the front end and the rear end of the wire clamping mechanism support frame 1461, a partition plate is further arranged at the bottom of the wire clamping mechanism support frame 1461 between the wire outlet 1463 and the wire collecting port 1462, a wire through hole 1465 is formed in the partition plate, a wire on the wire coil penetrates from the wire collecting port 1462, passes through the wire through hole 1465 and then penetrates out of the wire outlet 1463, and the wire through hole 1465 can prevent the wire from loosening; the 2 wire clamping blocks 1464 are arranged on the wire clamping mechanism support frame 1461 between the wire outlet 1463 and the wire collecting opening 1462, the wire clamping blocks 1464 are of spring structures, and can be clamped or ejected relative to the wire clamping mechanism support frame 1461, and when the wire clamping blocks 1464 are ejected relative to the wire clamping mechanism support frame 1461, cables penetrating between the wire outlet 1463 and the wire collecting opening 1462 can be clamped.
The working principle of the automatic wiring machine cable storage and feeding device 1 is as follows:
a certain number of wire coil holders 14 and wire column reels 15 are previously mounted to the magazine 11, respectively. When in loading, an operator stands on one side of the loading rail 17, the motor drives the storage disc 11 to rotate to a proper position, the feeding cylinder 12 extends forwards out of the cylinder shaft, the clamping plate at the front end of the feeding cylinder 12 is clamped with the clamping plate at the rear end of the wire coil rack 14, and the clamped wire coil rack 14 is further pushed to the loading rail 17 by the storage seat 16 until the baffle plate at the outer side of the loading rail limits the wire coil rack 14; the operator mounts the cable-wound spool onto the spool 142 of the spool rack 14 and passes the cable end through the cable clamping mechanism 146; after the wire coil is assembled, the charging cylinder 12 withdraws the cylinder shaft backwards to drive the wire coil rack 14 to slide back to the storage seat 16 along the charging track, and the limit clamping structure of the storage seat 16 limits the wire coil rack 14 when the wire coil is returned to the original position, and the cylinder shaft of the feeding cylinder 12 continues to withdraw, so that the clamping plate at the front end is separated from the wire coil rack 14, and wire coil feeding is completed. The feeding principle of the wiring column is basically the same as that of the wire coil frame, the rotary storage disc 11 is that the wiring column inserting disc 15 is opposite to the charging cylinder 12, the charging cylinder 12 pushes the wiring column inserting disc 15 to the charging track, and after operators insert various wiring columns into the wiring column inserting disc 15 according to the needs, the charging cylinder 12 pulls the wiring column inserting disc 15 to return to the original position, so that the feeding is completed. During wiring feeding, the motor drives the storage disc 11 to rotate, the wire coil rack 14 or the wiring column inserting disc 15 required is rotated to a position butted with the feeding track 18, the feeding cylinder 13 pushes the wire coil rack 14 or the wiring column inserting disc 15 to slide to the feeding track 18 from the storage seat 16, so that the wire coil rack 14 is butted with the automatic wire feeder 3 to automatically feed wires, or the manipulator 5 clamps the wiring column, and automatic wiring is continued. When the wire coil cable is clamped, the feeding cylinder 13 pulls the wire coil rack 14 or the wire column inserting disc 15 back to the storage disc to be in position, and the next charging or feeding process is continued.
As shown in fig. 1, the automatic wire feeder 3 includes a wire feeder rail and a wire feeding mechanism fixed to an end of the wire feeder rail. The wire feeder track is fixed on the sliding table 2, and is in butt joint with a feeding track 18 on a base 19 of the automatic wire distributor cable storage and feeding device 1, and the width and the height of the wire feeder track are uniform. The wire feeder track is matched with the wire coil rack 14 or the wire column inserting disc 15 of the automatic wire arranging machine cable storing and feeding device 1, and the wire coil rack 14 or the wire column inserting disc 15 is slid onto the wire feeder track for subsequent operation. The wire feeding mechanism is matched with a wire clamping mechanism 146 at the front end of the wire coil rack 14 to automatically feed wires.
As shown in fig. 12, the wire feeding mechanism includes a wire feeding wheel 301, a wire feeding wheel driving motor 302, a fixing frame 303, a stopper 304, a wire cutter 305, a wire cutter holder 306, and a wire feeding mechanism base 307. The wire feeding mechanism base 307 is fixed on the slide table 2 and fixed at the end of the wire feeder rail. The 4 wire feeding wheels 301 are arranged on the wire feeding wheel base 307 in a pair-by-pair mode, the two groups of wire feeding wheels are symmetrically arranged on the wire feeding wheel base 307 by taking the center line of a wire feeder track as a symmetrical axis through wire feeding wheel supporting blocks, the two groups of wire feeding wheel supporting blocks can slide to two sides along the wire feeding mechanism base 307 through cylinder driving, and further the two groups of wire feeding wheels are driven to integrally open and close, and each group of wire feeding wheels is driven to rotate through a wire feeding wheel driving motor 302. The wire feeding wheel 301 clamps the cables passing through the two ends of the wire hole 1465 of the wire clamping mechanism 146 under the opening and closing of the wire feeding wheel supporting block, and the wire feeding wheel is driven by the wire feeding wheel driving motor 302 to rotate towards the front end of the wire feeding mechanism, so that the clamped cables are conveyed towards the front end. The mount 303 sets up in the line wheel supporting shoe front end, and mount 303 top is equipped with the stopper 304 that can vertically stretch out and draw back downwards under the cylinder drive. The limiting block 304 is opposite to the wire clamping block 1464 of the wire clamping mechanism 146, the limiting block 304 extends downwards, the wire clamping block 1464 is pressed downwards, the wire clamping block 1464 is in a clamping state relative to the wire clamping mechanism support 1461, so that a cable can be conveyed along the wire clamping mechanism 146, and when the limiting block 304 is retracted, the wire clamping block 1464 rebounds upwards to clamp the cable. A pair of wire cutting tool holders 306 are fixed at the front end of the fixing frame 303, and are positioned at the forefront end of the wire feeding mechanism, the wire cutting tool holders 306 can slide to two sides under the driving of the air cylinders, the wire cutting tools 305 are fixed at the top ends of the inner sides of the wire cutting tool holders 306, and two cutting edges are respectively fixed on one wire cutting tool holder 306. The wire cutter 305 is located in front of the wire outlet 1463 of the wire clamping mechanism 146, and the wire cutter frame 306 is closed under the driving of the air cylinder, so that the two edge openings of the wire cutter 305 are closed, and the wire discharged from the wire outlet is cut.
The wire feeding mechanism is divided into three working states in the automatic wiring process of the whole machine:
the first state is a ready state: as shown in fig. 13, the two wire feeding wheel supporting blocks slide to two sides under the driving of the air cylinder, so that the two groups of wire feeding wheels are separated, the wire feeding wheel motor 302 does not work, the wire feeding wheel 301 does not rotate, the limiting block 304 on the fixing frame 303 is in a retracted state, and the wire cutting knife rest 306 slides to two sides under the driving of the air cylinder, so that the cutting edge of the wire cutting knife 305 is opened.
The second state is a wire feeding state: as shown in fig. 14, the two wire feeding wheel supporting blocks slide inwards under the driving of the air cylinder, so that the wire feeding wheel 301 tightens the wires passing through the two ends of the wire passing hole of the wire clamping mechanism 146, the wire feeding wheel driving motor 302 works, the wire feeding wheel is driven to rotate towards the front end direction of the wire feeding mechanism, and the front ends of the wires clamped between the two groups of wire feeding wheels are conveyed; the limiting block 304 still abuts against the wire clamping block 1464 to be pressed and clamped, and the cable can be conveyed along the wire clamping mechanism 146; the wire outlet 1463 of the wire clamping mechanism 146 is positioned at the rear end of the wire cutter 305, and the cutting edge of the wire cutter 305 is opened to cut the cable.
The third state is a wire cutting state: as shown in fig. 15, when the cable wiring work on the front wire coil is completed, the automatic wire feeding needs to be stopped: the wire feeding wheel driving motor 302 stops, so that the wire feeding wheel 301 stops rotating; the wire cutter holder 306 slides inward under the drive of the cylinder, so that both edge openings of the wire cutter 305 are closed to cut the wire discharged from the wire discharge opening 1463. The wire feeding work of the automatic wire feeder is completed.
The six-degree-of-freedom wiring robot 4 includes a six-degree-of-freedom arm fixed on the slide table 2 and a robot arm 5 mounted at an end of the six-degree-of-freedom arm, and as shown in fig. 16, the robot arm 5 includes a wiring head 501, a gripping head 505, a switching mechanism 506, a switching drive motor 507, and a camera 508. The wiring head 501 and the grabbing head 505 are respectively fixed on the bottom surface and the inner side surface of the conversion mechanism 506, the positions of the wiring head 501 and the grabbing head 505 are mutually perpendicular, the conversion driving motor 507 is fixed on the outer side surface of the conversion mechanism, and the driving shaft drives the conversion mechanism 506 to rotate, so that the positions of the wiring head 501 and the grabbing head 505 can be converted as required; the end of the grabbing head 505 is provided with a pneumatic clamping claw 509; the camera 508 is fixed above the conversion driving motor 50 through a connection plate and is positioned at the top of the manipulator 5. The wiring head 501 is used for extracting the cable conveyed by the automatic wire feeder 3 and wiring on the workbench 8, the whole wiring head 501 is of a hollow structure, a wiring channel 503 is arranged in the wiring head, a wire inlet 502 is arranged at the upper end of the wiring channel 503 in the direction perpendicular to the wire inlet, and an appearance port 504 is arranged at the other end of the wiring channel 503. The gripping head 505 is used for gripping wiring columns such as a cable source fixing column, a winding column and a cable source tail fixing column required for wiring, and inserting the wiring columns into designated fixing holes on the workbench 8. The camera 8 is used for detecting the working condition of the manipulator.
The working process of the manipulator 5 is as follows: after the wire column insert disc 15 is pushed onto the wire feeder track of the automatic wire feeder, the manipulator 5 grabs the wire source fixing column on the wire column insert disc 15, the grabber 505 inserts the grabber source fixing column into the fixing hole at the preset position on the workbench along with the movement of the slipway 2 to the proper position above the workbench 8, the grabber 505 grabs the wire column at the next position along with the forward movement of the slipway 2, and the grabber 505 is placed at the preset position, and the grabber 505 grabs the needed wire source fixing column, winding column or wire source tail fixing column sequentially according to the position of the slipway 2 and is placed at the preset position of the workbench 8. After all the wiring columns are placed, the sliding table 2 returns to the starting position, the switching mechanism 506 switches the wiring heads 501 to the original grabbing heads 505, the wire inlet 502 is aligned to the wire outlet 1463 of the wire clamping mechanism 146, a wire enters the wiring heads 501 from the wire inlet 502, extends out of the wire outlet 504 after passing through the wire channel 503, the sliding table 2 moves to the preset wiring starting position of the wire, the manipulator starts to wire, the wire output from the wire outlet 502 is fixed through the wire source fixing column, then sequentially bypasses the wire winding column according to the preset wiring line, reaches the termination position after the wire is routed, passes through the wire source tail fixing column, and then one-time wiring of the wire is completed.
As shown in fig. 1, the working process of the present invention is briefly described as follows:
firstly, carrying out feeding work of an automatic wire-laying machine cable storage and feeding device 1, and pre-installing a certain number of wire coil frames 14 and wire column inserting discs 15 on a storage disc 11 of the automatic wire-laying machine cable storage and feeding device; according to the actual wiring requirement of the wire harness, the upper computer calculates the types and the quantity of the needed cables and the types and the quantity of the wiring columns; starting feeding, an operator installs a required wire coil and various wiring columns on the wire coil rack 14 and the wiring column inserting plate 15 through the charging rail 17 according to tasks issued by the upper computer, and the operator finishes feeding work.
Starting wiring, planning wiring lines of wiring harnesses by an upper computer, pushing a specified wiring column inserting disc 15 to an automatic wire feeder 3 by an automatic wiring machine cable storage and feeding device 1 according to an instruction, grabbing specified wiring columns by a grabbing head 505 of a manipulator 5, controlling a sliding table 2 to move to a preset position according to the planned wiring lines by the upper computer, placing the wiring columns at corresponding positions on a workbench 8 by a six-degree-of-freedom wiring robot 4, and arranging fixing holes of an array on the workbench 8 for fixing the wiring columns; the sliding table 2 continues to slide forwards according to the line, each time the predetermined position is reached, the manipulator grabs the required wiring column from the automatic wire feeder 3 and places the wiring column at the corresponding position of the workbench 8, if the wiring column on the current wiring column inserting disc 15 is used up, the sliding table 2 returns to the initial position, the automatic wire-distributing machine cable storing and feeding device 1 withdraws and pushes the current wiring column inserting disc 15 to a new wiring column inserting disc 15, and the grabbing and placing process is continued until the placing work of all the wiring columns is completed.
The automatic wiring machine cable storage and feeding device returns the cable column inserting disc 15 to the initial position, the cable tray 14 loaded with a required cable tray is pushed to the automatic cable feeder 3 according to a wiring instruction of an upper computer, the automatic cable feeder 3 works, a cable feeding mechanism is in a first state to be in butt joint with the cable tray 14 and then enters a second state to start conveying cables, a manipulator 5 converts a cable head 501 to a working position through a conversion mechanism, the cables are output through the cable head 501, a six-degree-of-freedom wiring robot 4 pulls the cables to an optical cable number recognition and meter 6 to perform cable number recognition, the upper computer plans a wiring line of the cables according to the recognized cable number, the sliding table 2 moves according to the wiring line, the manipulator 5 firstly clamps the cables through a cable source fixing column, the manipulator 5 sequentially bypasses the cable tray on the line to wire, the optical cable number recognition and meter 6 monitors the cable output length along with the movement of the sliding table 2, and when the manipulator 5 enters a third state to cut the conveying cable until the cable tail reaches a specified length, and the cable source fixing column is continuously clamped by the manipulator 5; thus, the wiring of one cable is completed, the sliding table 2 returns to the initial position, the wiring cycle of the next cable is entered until all cables are wired, the wired cables are bundled into a wire harness, and the automatic wiring process of the wire harness is completed.
Claims (6)
1. The utility model provides an automatic wiring machine cable storage and feeder, a serial communication port, including base (19), storage disc (11), support dish (21), drum rack (14), wiring post insert dish (15), charging cylinder (12), feeding cylinder (13), storage disc (11) rotate connect on base (19), a plurality of drum rack (14) and wiring post insert dish (15) sliding connection are on storage disc (11) circumference, support dish (21) fixed connection is on base (19) and be located storage disc (11) top, charging cylinder (12) and feeding cylinder (13) are fixed respectively on support dish (21), charging cylinder (12) and feeding cylinder (13) become certain angle on the horizontal projection face;
the wire coil rack (14) and the wire column inserting plate (15) can be connected with the corresponding charging track (17) or the feeding track (18) in a sliding manner, the charging track (17) is coaxial with the cylinder shaft of the charging cylinder (12), and the feeding track (18) is coaxial with the cylinder shaft of the feeding cylinder (13);
the wire coil rack (14) comprises a wire coil rack fixing seat (141), a wire coil rack (142), a sliding block (144) and a wire clamping mechanism (146), wherein the wire coil rack (142) is fixed on a vertical plate of the wire coil rack fixing seat (141), a clamping jaw (143) is fixed at the end part of the wire coil rack (142), the sliding block (144) is fixed below a bottom plate of the wire coil rack fixing seat (141), the wire clamping mechanism (146) is fixed at the outer end of the bottom plate of the wire coil rack fixing seat (141), and the inner end of the wire coil rack fixing seat (141) can be clamped with a cylinder shaft of a charging cylinder or a feeding cylinder.
2. The automatic wire arranging machine cable storage and feeding device according to claim 1, wherein a plurality of storage seats (16) are uniformly distributed on the circumference of the storage disc (11), the wire coil rack (14) and the wire column inserting disc (15) are respectively and slidably connected to the corresponding storage seats (16), and the charging track (17) and the feeding track (18) can be respectively and horizontally butted with the corresponding storage seats (16).
3. The automatic wire-laying machine cable storage and feeding device according to claim 1, wherein the inner end of the bottom plate of the wire coil rack fixing seat (141) is provided with a buckle (147), and the front ends of the cylinder shafts of the charging cylinder (12) and the feeding cylinder (13) are respectively provided with a buckle plate (22).
4. The automatic wire-laying machine cable storage and feeding device according to claim 1, wherein the wire clamping mechanism (146) comprises a wire clamping mechanism supporting frame (1461), a wire collecting opening (1462) and a wire outlet (1463), the wire clamping mechanism supporting frame (1461) is fixed on a bottom plate of the wire coil rack fixing seat (141), and the wire outlet (1463) and the wire collecting opening (1462) are respectively arranged at the front end and the rear end of the wire clamping mechanism supporting frame (1461).
5. The automatic wire feeder cable storage and feed apparatus of claim 4, wherein said wire clamping mechanism (146) further includes a wire clamping block (1464), said wire clamping block (1464) being disposed on a wire clamping mechanism support (1461) between said wire laying port (1463) and said wire take-up port (1462).
6. The automatic wire-laying machine cable storage and feeding device according to claim 4, wherein a partition plate is further arranged between the wire-laying port (1463) and the wire-collecting port (1462), and a wire-passing hole (1465) is formed in the partition plate.
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| CN201710129581.2A CN106698071B (en) | 2017-03-07 | 2017-03-07 | Cable storage and feeding device of automatic wiring machine |
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| CN201710129581.2A CN106698071B (en) | 2017-03-07 | 2017-03-07 | Cable storage and feeding device of automatic wiring machine |
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| CN106698071B true CN106698071B (en) | 2023-06-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107902488B (en) * | 2017-11-09 | 2023-10-27 | 无锡胜维电气有限公司 | Material changing device of wire binding machine |
| CN107992686B (en) * | 2017-12-06 | 2021-03-26 | 长春理工大学 | Wire harness path generation system for full-automatic wiring machine |
| CN111362051A (en) * | 2018-12-25 | 2020-07-03 | 北京风折科技有限公司 | Cable transfer device of intelligent wire harness machine |
| CN112584564B (en) * | 2019-09-27 | 2024-02-09 | 陈小平 | Full-automatic wiring machine |
| CN112653021B (en) * | 2020-12-18 | 2024-05-28 | 北京远大宏略科技股份有限公司 | Automatic wiring device for cable harness |
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