CN107689603B - Wiring manipulator - Google Patents
Wiring manipulator Download PDFInfo
- Publication number
- CN107689603B CN107689603B CN201710586270.9A CN201710586270A CN107689603B CN 107689603 B CN107689603 B CN 107689603B CN 201710586270 A CN201710586270 A CN 201710586270A CN 107689603 B CN107689603 B CN 107689603B
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- CN
- China
- Prior art keywords
- wiring
- moving rod
- wire harness
- harness
- wire
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/06—Wiring by machine
Abstract
The invention discloses a wiring manipulator, comprising: the main body mechanism comprises a driving mechanism formed by symmetrically arranging a plurality of rotating wheels; a wiring hand provided below the transmission mechanism; the wiring hand is provided with a wiring harness clamping jaw mechanism and a wiring mechanism, and the wiring harness clamping jaw mechanism is arranged at the front end of the wiring mechanism; the wiring mechanism comprises a first moving rod and a second moving rod; the first moving rod is connected to the front end of the second moving rod in a manner of rotating 0-90 degrees around the second moving rod. The invention can realize the function of wiring, has simple structure and convenient operation and application and popularization.
Description
Technical Field
The invention relates to the field of robots, in particular to a wiring manipulator.
Background
The wiring is a highly repetitive and tedious operation, and conventional wiring is mostly completed in a manual wiring mode, the wiring is complex due to numerous wiring harnesses, the period is long, so that the phenomena of wrong connection, missing connection, virtual connection and the like of time-frequency wiring cannot be avoided, the wiring quality cannot be guaranteed, the progress of the whole production period is influenced, the production efficiency cannot be guaranteed, even more defective parts are generated, and great economic loss is caused.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
Still another object of the present invention is to provide a wiring manipulator, which can implement the function of wiring, and has simple structure, convenient operation and easy application and popularization.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a wiring robot including:
the main body mechanism comprises a driving mechanism formed by symmetrically arranging a plurality of rotating wheels.
A wiring hand provided below the drive mechanism; the wiring hand is provided with a wiring harness clamping jaw mechanism and a wiring mechanism, and the wiring harness clamping jaw mechanism is arranged at the front end of the wiring mechanism; the wiring mechanism comprises a first moving rod and a second moving rod; the first moving rod is connected to the front end of the second moving rod in a manner of rotating 0-90 degrees around the second moving rod.
Preferably, the rotating wheel comprises a driving wheel and driven wheels matched with the driving wheel, and the number of the driving wheels is at least 2.
Preferably, still include control mechanism, it includes connecting piece and first cylinder, connecting piece one end is connected pencil jack catch mechanism, the connecting piece other end passes through wiring mechanism connects first cylinder is in order to realize right the control of wiring hand.
Preferably, the wire winding and unwinding device further comprises a wire winding and unwinding mechanism, wherein the wire winding and unwinding mechanism comprises a second cylinder, a wire conduit, a wire harness winding and unwinding device and a motor; the second air cylinder is arranged above the driving mechanism; the wire conduit is connected with the main body mechanism and the wire harness winding and unwinding device, and the wire harness winding and unwinding device is connected with the motor so as to enable the wire harness to move up and down.
Preferably, a sensor is arranged in the middle of the front end of the driving mechanism.
Preferably, the device further comprises a CCD camera arranged on one side of the main body mechanism, and the number of the CCD cameras is at least 2.
Preferably, a driving motor is arranged at the rear end of the main body mechanism.
The invention at least comprises the following beneficial effects:
when the wire winding machine is used for winding, the front end of a wire harness enters the main body mechanism through the opened wire harness clamping jaw mechanism, the driving mechanism conveys the wire harness upwards, and the driving mechanism stops operating until the rear end of the wire harness enters the main body mechanism, so that the wire winding process is finished; when the wire is paid off, the wiring hand can integrally move the wiring harness to a designated position for wiring, the driving mechanism rotates reversely to drive the wiring harness to move downwards for a proper length and then stops rotating reversely, one end of the wiring harness is output out of the main body mechanism, the wiring harness clamping mechanism acts to catch one end of the output wiring harness, the first moving rod returns to be straight at 90 degrees, meanwhile, the driving mechanism restarts rotating reversely, the rotating speed is the same as the rotating speed of the first moving rod, the phenomenon that the wiring harness stretches out insufficiently and does not complete the action when the first moving rod returns to be straight is avoided, after the wire returning is completed, the second moving rod stretches out together with the first moving rod, the wiring hole of the electrical element can be plugged, then the wiring harness clamping mechanism loosens the wiring harness, and the action is the process of plugging the wire at one end; after one end of the wiring harness is inserted, the second moving rod retracts, the first moving rod is folded back to be in a state perpendicular to the second moving rod, the wiring harness clamping jaw mechanism is still in a loosening state, the wiring is continued until the tail end of the original wiring harness moves out of the main body structure, the driving mechanism stops operating, the wiring process is completed, meanwhile, the wiring harness clamping jaw mechanism acts to clamp the tail end of the wiring harness, the first moving rod is straightened back at 90 degrees, the second moving rod and the first moving rod extend out, then the wiring hole of the electrical element is plugged, and wiring of one wiring harness is completed; the operation of wiring is realized to the motion that wiring manipulator adopted the wiring hand, has not only improved labor efficiency, has guaranteed staff's life safety simultaneously, and is convenient effective, moreover wiring manipulator's simple structure, the processing cost is low, the wide application of being convenient for.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a front view of a wiring robot in accordance with the present invention;
fig. 2 is a schematic structural diagram of a wiring robot according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 and 2, the present invention provides a wiring robot including:
the main body mechanism 100 comprises a driving mechanism 102 formed by symmetrically arranging a plurality of rotating wheels 101.
A wiring hand 200 provided below the drive mechanism 102; the wiring hand 200 is provided with a wiring harness clamping jaw mechanism 201 and a wiring mechanism 202, and the wiring harness clamping jaw mechanism 201 is arranged at the front end of the wiring mechanism 202; the wiring mechanism 202 includes a first moving bar 203 and a second moving bar 204; the first moving bar 203 is connected to the front end of the second moving bar 204 in such a manner as to be rotatable about the second moving bar 204 by 0 to 90 °.
In the above scheme, during the wire winding, the front end of the wire harness 400 enters the main body mechanism 100 through the opened wire harness clamping jaw mechanism 201, the driving mechanism 102 conveys the wire harness upwards, until the rear end of the wire harness 400 enters the main body mechanism 100, the driving mechanism 102 stops operating, and the wire winding process is completed; when the wire is paid off, the wiring hand 200 integrally moves the wiring harness 500 to a specified position for wiring, the driving mechanism 102 reversely rotates to drive the wiring harness to downwards travel for a proper length and then stops reversing, one end of the wiring harness 400 is output to the main body mechanism 100, the wiring harness clamping mechanism 201 acts to clamp one end of the output wiring harness, the first moving rod 20390 degrees is straightened back, meanwhile, the driving mechanism 102 restarts reversing, the reversing speed is the same as the straightening speed of the first moving rod, the phenomenon that the wiring harness does not extend enough to cause incomplete action when the first moving rod 203 is straightened back is avoided, the second moving rod 204 and the first moving rod 203 extend immediately after the straightening back is completed, the wire can be inserted into the wire hole of the electric element, and then the wiring harness clamping mechanism 201 releases the wiring harness, wherein the action is the process of completing the wire insertion at one end; after one end is inserted, the second moving rod 204 is retracted, the first moving rod 203 is folded back to be in a state perpendicular to the second moving rod 204, the wiring harness clamping jaw mechanism 201 is still in a loose state, the paying-off is continued until the tail end of the original wiring harness is moved out of the main body structure 100, the driving mechanism 102 stops operating, the paying-off process is completed, meanwhile, the wiring harness clamping jaw mechanism 201 acts to clamp the tail end of the wiring harness 400, the first moving rod 20390 degrees is straightened back, the second moving rod 204 and the first moving rod 203 extend out, then the wiring hole of the electrical component is plugged, and the wiring of one wiring harness is completed; the operation of wiring is realized to the motion that wiring manipulator adopted the wiring hand, has not only improved labor efficiency, has guaranteed staff's life safety simultaneously, and is convenient effective, moreover wiring manipulator's simple structure, the processing cost is low, the wide application of being convenient for.
In a preferred scheme, the rotating wheel 101 comprises a driving wheel 103 and driven wheels 104 matched with the driving wheel 103, and the number of the driving wheels 103 is set to be at least 2.
In the above scheme, the up-and-down movement of the wire harness 400 mainly depends on the rotation of the driving wheel 103, and meanwhile, the driven wheel 104 is matched with the driving wheel 103 to compress the wire harness, so that the wire harness moves up and down, and the arrangement of the driving wheel 103 and the number of the matched driven wheels 104 ensures the running speed and the straightness of the wire harness.
In a preferred scheme, the wire harness clamping jaw mechanism further comprises a control mechanism, the control mechanism comprises a connecting piece 205 and a first air cylinder 206, one end of the connecting piece 205 is connected with the wire harness clamping jaw mechanism 201, and the other end of the connecting piece 205 is connected with the first air cylinder 206 through the wiring mechanism 202, so that the control of the wiring hand 200 is realized.
In the above solution, the connecting element 205 is controlled by the first cylinder 206, and directly connects the wire harness clamping mechanism 201 and the wiring mechanism 202 to control the opening and closing of the wire harness clamping mechanism 201, the rotation of the first moving rod 203 and the extension and contraction of the second moving rod 204.
In a preferred scheme, the wire winding and unwinding device further comprises a wire winding and unwinding mechanism, wherein the wire winding and unwinding mechanism comprises a second cylinder 105, a conduit 106, a wire harness winding and unwinding device 107 and a motor 108; the second cylinder 105 is disposed above the driving mechanism 102; the conduit 106 connects the main body mechanism 100 with the harness retractor 107, and the harness retractor 107 connects the motor 108 to move the harness 400 up and down.
In the above solution, the second cylinder 105 is arranged above the driving mechanism 102 to realize the pushing action on the up-and-down movement of the wire harness; when the wire harness enters or exits the wire harness winding and unwinding device 107 through the conduit 106, the wire harness winding and unwinding device 107 is powered by the motor 108 to drive the wire harness winding and unwinding device 107 to rotate forwards or backwards, so that the wire harness is wound in the wire harness winding and unwinding device 107 or is output from the wire harness winding and unwinding device 107.
In a preferred embodiment, a sensor 109 is disposed at the middle of the front end of the driving mechanism 102.
In the above-mentioned solution, the sensor 109 is disposed in the middle of the front end of the driving mechanism 102, and is used for detecting the presence or absence of the front end wire harness 500, thereby determining the next action of the wire harness clamping mechanism 201 at the wire harness outlet.
In a preferred embodiment, the device further comprises a CCD camera 300 disposed on one side of the main body mechanism 100, and the number of the CCD cameras 300 is set to be at least 2.
In the above solution, the CCD in the CCD camera 300 is a charge coupled device for short, the CCD camera is a machine vision camera, converts the measured target into an image signal, transmits the image signal to a dedicated image processing system, converts the image signal into a digital signal according to information such as pixel distribution, brightness, color, and the like, the image processing system performs various operations on the signal to extract characteristics of the target, such as position, length, and the like, and outputs a result according to a preset tolerance and other conditions, thereby realizing the positioning of the cabling hand 200.
In a preferred embodiment, a driving motor 110 is disposed at the rear end of the main body mechanism 100.
In the above scheme, the driving motor 110 drives the driving wheel 103 to rotate, and simultaneously the driving wheel 103 and the driven wheel 104 cooperate to move the wire harness 400 to the outlet end.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (6)
1. A cabling robot, comprising:
the main body mechanism comprises a driving mechanism formed by symmetrically arranging a plurality of rotating wheels;
a wiring hand provided below the drive mechanism; the wiring hand is provided with a wiring harness clamping jaw mechanism and a wiring mechanism, and the wiring harness clamping jaw mechanism is arranged at the front end of the wiring mechanism; the wiring mechanism comprises a first moving rod and a second moving rod; the first moving rod is connected to the front end of the second moving rod in a manner of rotating 0-90 degrees around the second moving rod;
the take-up and pay-off mechanism comprises a second cylinder, a conduit, a wire harness take-up and pay-off device and a motor; the second air cylinder is arranged above the driving mechanism; the wire conduit is connected with the main body mechanism and the wire harness winding and unwinding device, and the wire harness winding and unwinding device is connected with the motor so as to enable the wire harness to move up and down.
2. The cabling robot of claim 1, wherein the reels include drive reels and driven reels that mate with the drive reels, the number of drive reels being set to at least 2.
3. The wiring manipulator as claimed in claim 1, further comprising a control mechanism including a connecting member and a first cylinder, wherein one end of the connecting member is connected to the wire harness clamping jaw mechanism, and the other end of the connecting member is connected to the first cylinder through the wiring mechanism, so as to control the wiring hand.
4. The cabling robot of claim 1, wherein the drive mechanism has a sensor disposed centrally on a front end thereof.
5. The wiring robot as claimed in claim 1, further comprising CCD cameras provided at one side of said main body mechanism, the number of said CCD cameras being set to at least 2.
6. The cabling robot of claim 1, wherein a drive motor is provided at a rear end of the body mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586270.9A CN107689603B (en) | 2017-07-18 | 2017-07-18 | Wiring manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586270.9A CN107689603B (en) | 2017-07-18 | 2017-07-18 | Wiring manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107689603A CN107689603A (en) | 2018-02-13 |
| CN107689603B true CN107689603B (en) | 2020-03-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710586270.9A Active CN107689603B (en) | 2017-07-18 | 2017-07-18 | Wiring manipulator |
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| Country | Link |
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| CN (1) | CN107689603B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112736621B (en) * | 2020-12-30 | 2022-06-21 | 季华科技有限公司 | Wire harness arranging device and method |
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| CN204872874U (en) * | 2015-09-01 | 2015-12-16 | 广州九红印刷机械有限公司 | Novel go up feeding mechanical arm |
| CN205184759U (en) * | 2015-10-22 | 2016-04-27 | 上海交通大学无锡研究院 | Mechanical hand of electrical apparatus wiring |
| CN105692356A (en) * | 2014-05-26 | 2016-06-22 | 沈群华 | Robot capable of automatically reeling and unreeling electric cable or optical cable |
| CN205466314U (en) * | 2016-01-30 | 2016-08-17 | 东莞市腾迈五金塑胶制品有限公司 | Interior wiring structure of manipulator |
| CN105947658A (en) * | 2016-06-28 | 2016-09-21 | 昆山威典电子有限公司 | Wire inserting and locking device |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
-
2017
- 2017-07-18 CN CN201710586270.9A patent/CN107689603B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105692356A (en) * | 2014-05-26 | 2016-06-22 | 沈群华 | Robot capable of automatically reeling and unreeling electric cable or optical cable |
| CN204872874U (en) * | 2015-09-01 | 2015-12-16 | 广州九红印刷机械有限公司 | Novel go up feeding mechanical arm |
| CN205184759U (en) * | 2015-10-22 | 2016-04-27 | 上海交通大学无锡研究院 | Mechanical hand of electrical apparatus wiring |
| CN205466314U (en) * | 2016-01-30 | 2016-08-17 | 东莞市腾迈五金塑胶制品有限公司 | Interior wiring structure of manipulator |
| CN105947658A (en) * | 2016-06-28 | 2016-09-21 | 昆山威典电子有限公司 | Wire inserting and locking device |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
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| Publication number | Publication date |
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| CN107689603A (en) | 2018-02-13 |
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