CN109950776A - Control method and device for wiring - Google Patents
Control method and device for wiring Download PDFInfo
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- CN109950776A CN109950776A CN201910252488.XA CN201910252488A CN109950776A CN 109950776 A CN109950776 A CN 109950776A CN 201910252488 A CN201910252488 A CN 201910252488A CN 109950776 A CN109950776 A CN 109950776A
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- tangent line
- length
- mechanical arm
- control
- peeling machine
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Abstract
This application discloses a kind of control method and device for wiring.This method shears the cable of preset length by control tangent line peeling machine cooperative mechanical arm and peels line skin off, including when beginning tangent line, judges whether the length value of present cable exceeds preset threshold length；If exceeding preset threshold length, controls tangent line peeling machine and sent out according to default fixed wire length and sending out remaining wire length again after a delay time；And it if controls tangent line peeling machine without departing from preset threshold length and sends out after treatment.Present application addresses tangent line peeling machines and mechanical arm can not cooperate the technical issues of realizing self routing.Mechanical arm and tangent line peeling machine cooperating are realized by the application, completes the self routing function of robot.
Description
Technical field
This application involves automation control areas, in particular to a kind of control method and device for wiring.
Background technique
Domestic high-speed rail turn-out track machine equipment back panel wiring complex procedures and heavy workload.Wiring inside equipment need to do cable
Shearing, peeling and wiring etc. work.These work are had been manually done by worker entirely at present.
Inventors have found that existing tangent line peeling machine preferably cannot carry out installation work by cooperative mechanical arm.
Aiming at the problem that tangent line peeling machine in the related technology and mechanical arm can not cooperate and realize self routing, not yet mention at present
Effective solution scheme out.
Summary of the invention
The main purpose of the application is to provide a kind of control method and device for wiring, to solve tangent line peeling machine
The problem of realizing self routing can not be cooperated with mechanical arm.
To achieve the goals above, according to the one aspect of the application, a kind of control method for wiring is provided, is led to
It crosses the cable of control tangent line peeling machine cooperative mechanical arm shearing preset length and peels line skin off.
Control method according to the application includes: that when starting tangent line, it is default to judge whether the length value of present cable exceeds
Threshold length；If exceeding preset threshold length, controls tangent line peeling machine and sent out according to default fixed wire length and by one
Remaining wire length is sent out after delay time again；And if tangent line peeling machine is controlled by processing without departing from preset threshold length
After send out.
Further, if exceeding preset threshold length, control is sent out according to default fixed wire length and is prolonged by one
When the time after to send out remaining wire length again include: if being long line beyond cable if preset threshold length, by controller to machinery
Arm sends first control signal, controls tangent line peeling machine by controller and mechanical arm is waited to issue second control signal.
Further, sending first control signal to mechanical arm by controller includes: that the master controller passes through IO letter
Number with the mechanical arm establish cooperative communication so that the controller control mechanical arm wait a preset duration, and tangent line shell
Skin machine starts to be routed after sending out remaining wire length again.
Further, if without departing from preset threshold length, if controlling submitting after treatment includes: without departing from pre-
If then cable is short-term to threshold value, controlled after tangent line peeling machine has shelled whole cable by controller to again to mechanical arm hair
Send first control signal.
Further, when starting tangent line, judging whether the length value of present cable exceeds preset threshold length includes: to prepare
When starting tangent line, the master controller, which is received, sends I/O signal by mechanical arm；When tangent line starts, the master controller judgement
Whether the length value of present cable exceeds preset threshold length.
To achieve the goals above, according to the another aspect of the application, a kind of control device for wiring is provided, is led to
It crosses the cable of control tangent line peeling machine cooperative mechanical arm shearing preset length and peels line skin off.
It include: judgment module according to the control device for wiring of the application, for when starting tangent line, judgement to be current
Whether the length value of cable exceeds preset threshold length；Control module, for when exceeding preset threshold length, then controlling tangent line
Peeling machine is sent out according to default fixed wire length and is sending out remaining wire length again after a delay time；And module is sent out, it uses
In being sent out after treatment without departing from preset threshold length, then controlling tangent line peeling machine.
Further, the control module includes: first control unit, for exceeding preset threshold length, then cable to be
When long line, first control signal is sent to mechanical arm by controller, tangent line peeling machine is controlled by controller and waits mechanical arm
Issue second control signal.
Further, the first control unit is also used to that the master controller is made to pass through I/O signal and the mechanical arm
Cooperative communication is established, so that controller control mechanical arm waits a preset duration, and sends out residue again in tangent line peeling machine
Start to be routed after wire length.
Further, the submitting module includes: the second control unit, for without departing from preset threshold then cable be it is short
When line, to again to mechanical arm transmission the first control letter after whole cable has been shelled by controller control tangent line peeling machine
Number.
Further, the judgment module includes: first processing units, when for preparing to start tangent line, the main control
Device, which is received, sends I/O signal by mechanical arm；The second processing unit, when starting for tangent line, the master controller judgement is current
Whether the length value of cable exceeds preset threshold length.
Control method and device for wiring in the embodiment of the present application, by controlling tangent line peeling machine cooperative mechanical arm
It shearing the cable of preset length and peels line skin off, when using starting tangent line, it is default to judge whether the length value of present cable exceeds
The mode of threshold length, by exceeding preset threshold length, then control tangent line peeling machine sent out according to default fixed wire length and
It sends out remaining wire length again after a delay time, has reached the matched purpose of speed control, to realize tangent line peeling machine
The preferably technical effect of cooperative mechanical arm, and then solve tangent line peeling machine and mechanical arm can not cooperate and realize self routing
Technical problem.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the control method flow diagram for wiring according to the embodiment of the present application；
Fig. 2 is the controling device structure diagram for wiring according to the embodiment of the present application；
Fig. 3 is the realization principle schematic diagram of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in figures 1 and 3, the control method for wiring in this application passes through control tangent line peeling machine cooperation
The cable of mechanical arm shearing preset length simultaneously peels line skin off, and this method includes the following steps, namely S102 to step S106:
Step S102 judges whether the length value of present cable exceeds preset threshold length when starting tangent line；
Since the cloth linear velocity and tangent line peeling machine of mechanical arm are there are operating rate matching problem, cloth line rate is significantly faster than
The tangential velocity of tangent line peeling machine, thus tangent line peeling machine institute tangent line cable divides growth line and short-term to handle respectively.So needing
When tangent line peeling machine starts tangent line, whether the length value for prejudging present cable exceeds preset threshold length.
It should be noted that the preset threshold length can be selected according to different usage scenarios, in the application
Embodiment in be not defined.
Step S104, if exceeding preset threshold length, control tangent line peeling machine sent out according to default fixed wire length and
Sending out remaining wire length again after a delay time；
By judging whether the length value of present cable exceeds preset threshold length, if exceeding preset threshold length
In the case of, then it needs to control the tangent line peeling machine and sends out according to default fixed wire length and it also requires after a delay time
Remaining wire length is sent out again.
Specifically, if judging, the tangent line peeling machine is to be cut as long line at this time, and mechanical arm clamping signal is first given in control,
The tangent line peeling machine waits the lasting line sending signal of mechanical arm sending to continue tangent line wire stripping.At this point, the mechanical arm needs to wait for one
The section time, start to be routed after the wire length of submitting portion.
Step S106, if controlling tangent line peeling machine without departing from preset threshold length and sending out after treatment.
By judging whether the length value of present cable exceeds preset threshold length, if without departing from preset threshold length,
The tangent line peeling machine is then controlled normally to cut and send out after peeling to mechanical arm.
Specifically, if judging, the tangent line peeling machine is to be cut as short-term at this time, to machinery after whole line has been shelled
Arm clamping signal.
As shown in figure 3, the cable of tangent line peeling machine cooperative mechanical arm automatic shearing specific length is controlled through the above steps,
And peel line skin off, it solves the problems, such as that mechanical arm and tangent line peeling machine operating rate are unmatched, realizes the self routing function of robot
Can, single cable tangent line is completed, peeling and wiring function are completed.
It can be seen from the above description that the application realizes following technical effect:
Control method for wiring in the embodiment of the present application, it is pre- by control tangent line peeling machine cooperative mechanical arm shearing
If the cable of length simultaneously peels line skin off, when using starting tangent line, it is long to judge whether the length value of present cable exceeds preset threshold
The mode of degree then controls tangent line peeling machine and sends out according to default fixed wire length and by one by exceeding preset threshold length
Remaining wire length is sent out after delay time again, has reached the matched purpose of speed control, to realize tangent line peeling machine preferably
The technical effect of cooperative mechanical arm, and then solving tangent line peeling machine and mechanical arm can not cooperate the technology of realization self routing to ask
Topic.
According to the embodiment of the present application, as preferred in the present embodiment, if exceeding preset threshold length, control according to
Default fixed wire length is sent out and includes: if beyond preset threshold length sending out remaining wire length again after a delay time
Cable is long line, sends first control signal to mechanical arm by controller, and it is standby to control tangent line peeling machine etc. by controller
Tool arm issues second control signal.Wherein, described that first control signal is sent to mechanical arm as time delay control by controller
Signal processed, it is described to wait mechanical arm to issue second control signal as clamping signal by controller control tangent line peeling machine.
According to the embodiment of the present application, as preferred in the present embodiment, the first control is sent to mechanical arm by controller
Signal, which includes: the master controller, establishes cooperative communication by I/O signal and the mechanical arm, so that the controller controls machine
Tool arm waits a preset duration, and starts to be routed after tangent line peeling machine sends out remaining wire length again.
Specifically, the mechanical arm sends I/O signal to master controller, and main controller controls tangent line peeling machine starts tangent line,
If long line, mechanical arm clamping signal is first given, tangent line peeling machine waits the lasting line sending signal of mechanical arm sending to continue tangent line wire stripping,
Mechanical arm needs to wait for a period of time at this time, starts to be routed after the wire length of submitting portion.
According to the embodiment of the present application, as preferred in the present embodiment, if controlling warp without departing from preset threshold length
Cross processing after send out include: if without departing from preset threshold cable be short-term, by controller control tangent line peeling machine will be whole
Root cable has been shelled rear to again to mechanical arm transmission first control signal.If it is short-term, pass through the tangent line peeling machine
After directly carrying out tangent line and peeling, cable is sent to the mechanical arm and is clamped.
According to the embodiment of the present application, as preferred in the present embodiment, when preparing to start tangent line, the master controller is received
I/O signal is sent to by mechanical arm；When tangent line starts, it is pre- that the master controller judges whether the length value of present cable exceeds
If threshold length.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, additionally provide a kind of for implementing the control dress of the above-mentioned control method for wiring
It sets, the cable of preset length is sheared by control tangent line peeling machine cooperative mechanical arm and peels line skin off, as shown in Fig. 2, the device
It include: judgment module 10, for judging whether the length value of present cable exceeds preset threshold length when starting tangent line；Control
Molding block 20 is sent out and is being passed through according to default fixed wire length for when exceeding preset threshold length, then controlling tangent line peeling machine
It crosses and sends out remaining wire length after a delay time again；And module 30 is sent out, for without departing from preset threshold length, then control to be cut
Line peeling machine is sent out after treatment.
Since there are work speed for the cloth linear velocity of mechanical arm and tangent line peeling machine in the judgment module 10 of the embodiment of the present application
Rate matching problem, cloth line rate is significantly faster than the tangential velocity of tangent line peeling machine, thus tangent line peeling machine institute tangent line cable is divided into length
Line and short-term are handled respectively.So need when tangent line peeling machine starts tangent line, prejudge present cable length value whether
Beyond preset threshold length.
It should be noted that the preset threshold length can be selected according to different usage scenarios, in the application
Embodiment in be not defined.
It is long by judging whether the length value of present cable exceeds preset threshold in the control module 20 of the embodiment of the present application
Degree, if needing to control the tangent line peeling machine in the case where exceeding preset threshold length and being sent according to default fixed wire length
Out and it also requires sending out remaining wire length again after a delay time.
Specifically, if judging, the tangent line peeling machine is to be cut as long line at this time, and mechanical arm clamping signal is first given in control,
The tangent line peeling machine waits the lasting line sending signal of mechanical arm sending to continue tangent line wire stripping.At this point, the mechanical arm needs to wait for one
The section time, start to be routed after the wire length of submitting portion.
It is long by judging whether the length value of present cable exceeds preset threshold in the submitting module 30 of the embodiment of the present application
Degree, if controlling the tangent line peeling machine without departing from preset threshold length and normally cutting and sent out after peeling to mechanical arm.
Specifically, if judging, the tangent line peeling machine is to be cut as short-term at this time, to machinery after whole line has been shelled
Arm clamping signal.
The cable of tangent line peeling machine cooperative mechanical arm automatic shearing specific length is controlled by above-mentioned module, and peels line off
Skin solves the problems, such as that mechanical arm and tangent line peeling machine operating rate are unmatched, realizes the self routing function of robot, completes single
Root cable tangent line, peeling and wiring function are completed.
According to the embodiment of the present application, as preferred in the present embodiment, the control module 20 includes: first control unit
201, for sending first control signal to mechanical arm by controller when then cable is long line beyond preset threshold length,
Controlling tangent line peeling machine by controller waits mechanical arm to issue second control signal.Specifically, the mechanical arm sends IO letter
Number give master controller, main controller controls tangent line peeling machine starts tangent line, if long line, first give mechanical arm clamping signal, tangent line
Peeling machine waits the lasting line sending signal of mechanical arm sending to continue tangent line wire stripping, and mechanical arm needs to wait for a period of time at this time, wait send out
Start to be routed after the wire length of part.
According to the embodiment of the present application, as preferred in the present embodiment, the first control unit 201 is also used to make institute
It states master controller and cooperative communication is established by I/O signal and the mechanical arm, so that controller control mechanical arm waiting one is pre-
If duration, and start to be routed after tangent line peeling machine sends out remaining wire length again.
According to the embodiment of the present application, as preferred in the present embodiment, the submitting module 30 includes: the second control unit
301, for controlling tangent line peeling machine by controller and having shelled whole cable when then cable is short-term without departing from preset threshold
Afterwards to again to mechanical arm transmission first control signal.If it is short-term, directly cut by the tangent line peeling machine
After line and peeling, cable is sent to the mechanical arm and is clamped.
According to the embodiment of the present application, as preferred in the present embodiment, the judgment module 10 includes: first processing units
101, when for preparing to start tangent line, the master controller, which is received, sends I/O signal by mechanical arm；The second processing unit
102, when starting for tangent line, the master controller judges whether the length value of present cable exceeds preset threshold length.
The realization principle of the application is as specifically comprised the following steps that with shown in Fig. 3
By the method in the embodiment of the present application, tangent line peeling machine cooperative mechanical arm automatic shearing specific length can control
Cable, and peel line skin off, solve the problems, such as that mechanical arm and tangent line peeling machine operating rate are unmatched, realize the automatic of robot
It is routed function.Reach and save labour turnover, error probability is down to zero, improves the purpose of working efficiency.
Master controller completes self routing function by I/O signal and multiple mechanical arm cooperative communications.Master controller cooperates machine
The hard wired logic of tool arm is as shown in Figure 3.Mechanical arm sends I/O signal to master controller, and main controller controls tangent line peeling machine starts
Tangent line, since mechanical arm cloth linear velocity and tangent line peeling machine are there are operating rate matching problem, cloth line rate is significantly faster than tangent line
The tangential velocity of peeling machine, thus tangent line peeling machine institute tangent line cable divides growth line and short-term to handle respectively.
Specifically, when starting tangent line, if long line, mechanical arm clamping signal is first given, tangent line peeling machine waits mechanical arm
It issues lasting line sending signal and continues tangent line wire stripping, mechanical arm needs to wait for a period of time at this time, starts cloth after the wire length of submitting portion
Line.
If short-term, then to mechanical arm clamping signal after whole line has been shelled.So far single cable tangent line, peeling and wiring function
It can complete.
Complete tangent line.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of control method for wiring, which is characterized in that default by control tangent line peeling machine cooperative mechanical arm shearing
The cable of length simultaneously peels line skin off, which comprises
When starting tangent line, judge whether the length value of present cable exceeds preset threshold length；
If exceeding preset threshold length, controls tangent line peeling machine and sent out according to default fixed wire length and when by a delay
Between after send out remaining wire length again；And
If controlling tangent line peeling machine without departing from preset threshold length and sending out after treatment.
2. control method according to claim 1, which is characterized in that if exceed preset threshold length, control according to
Default fixed wire length is sent out and includes: sending out remaining wire length again after a delay time
Cable is long line if beyond preset threshold length, sends first control signal to mechanical arm by controller, passes through
Controller controls tangent line peeling machine and mechanical arm is waited to issue second control signal.
3. control method according to claim 2, which is characterized in that send the first control to mechanical arm by controller and believe
It number include: that the master controller by I/O signal and the mechanical arm establishes cooperative communication, so that controller control is mechanical
Arm waits a preset duration, and starts to be routed after tangent line peeling machine sends out remaining wire length again.
4. control method according to claim 1, which is characterized in that if controlling warp without departing from preset threshold length
It crosses to send out after handling and includes:
If without departing from preset threshold cable be short-term, by controller control tangent line peeling machine whole cable has been shelled after to
First control signal is sent to the mechanical arm again.
5. control method according to claim 1, which is characterized in that when starting tangent line, judge the length value of present cable
Whether beyond preset threshold length include:
When preparing to start tangent line, the master controller, which is received, sends I/O signal by mechanical arm；
When tangent line starts, the master controller judges whether the length value of present cable exceeds preset threshold length.
6. a kind of control device for wiring, which is characterized in that default by control tangent line peeling machine cooperative mechanical arm shearing
The cable of length simultaneously peels line skin off, and described device includes:
Judgment module, for judging whether the length value of present cable exceeds preset threshold length when starting tangent line；
Control module, for when exceeding preset threshold length, then control tangent line peeling machine sent out according to default fixed wire length and
Sending out remaining wire length again after a delay time；And
Module is sent out, for being sent out after treatment without departing from preset threshold length, then controlling tangent line peeling machine.
7. control device according to claim 6, which is characterized in that the control module includes:
First control unit, for being sent to mechanical arm by controller when then cable is long line beyond preset threshold length
First control signal controls tangent line peeling machine by controller and mechanical arm is waited to issue second control signal.
8. control device according to claim 7, which is characterized in that the first control unit is also used to make the master
Controller establishes cooperative communication by I/O signal and the mechanical arm, when so that controller control mechanical arm waiting one is default
It is long, and start to be routed after tangent line peeling machine sends out remaining wire length again.
9. control device according to claim 6, which is characterized in that the submitting module includes: the second control unit, is used
In when without departing from preset threshold, then cable is short-term, controlled after tangent line peeling machine has shelled whole cable by controller to again
First control signal is sent to the mechanical arm.
10. control device according to claim 6, which is characterized in that the judgment module includes:
First processing units, when for preparing to start tangent line, the master controller, which is received, sends I/O signal by mechanical arm；
The second processing unit, when starting for tangent line, it is default that the master controller judges whether the length value of present cable exceeds
Threshold length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252488.XA CN109950776B (en) | 2019-03-29 | 2019-03-29 | Control method and device for wiring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252488.XA CN109950776B (en) | 2019-03-29 | 2019-03-29 | Control method and device for wiring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109950776A true CN109950776A (en) | 2019-06-28 |
| CN109950776B CN109950776B (en) | 2020-07-17 |
Family
ID=67013058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910252488.XA Expired - Fee Related CN109950776B (en) | 2019-03-29 | 2019-03-29 | Control method and device for wiring |
Country Status (1)
| Country | Link |
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| CN (1) | CN109950776B (en) |
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|---|---|---|---|---|
| JP2009026475A (en) * | 2007-07-17 | 2009-02-05 | Yazaki Corp | Device and method for coating electric wire |
| CN105291122A (en) * | 2015-11-06 | 2016-02-03 | 上海交通大学无锡研究院 | Finger mechanism of wiring robot |
| CN105438894A (en) * | 2015-12-30 | 2016-03-30 | 洛阳天浩泰轨道装备制造有限公司 | Automatic cable winding-inserting method |
| CN106711866A (en) * | 2017-03-07 | 2017-05-24 | 长春理工大学 | Automatic wiring machine for airplane wire harness |
| EP3193411A1 (en) * | 2016-01-18 | 2017-07-19 | Unitechnologies SA | Apparatus and method for splaying at least one cable layer of a shielded cable |
| CN107834338A (en) * | 2017-11-05 | 2018-03-23 | 无锡胜维电气有限公司 | A kind of low-frequency cable component intelligence crimps system line |
| EP3327879A1 (en) * | 2016-11-23 | 2018-05-30 | Airbus Defence and Space SA | Device and method for processing electrical cables |
-
2019
- 2019-03-29 CN CN201910252488.XA patent/CN109950776B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009026475A (en) * | 2007-07-17 | 2009-02-05 | Yazaki Corp | Device and method for coating electric wire |
| CN105291122A (en) * | 2015-11-06 | 2016-02-03 | 上海交通大学无锡研究院 | Finger mechanism of wiring robot |
| CN105438894A (en) * | 2015-12-30 | 2016-03-30 | 洛阳天浩泰轨道装备制造有限公司 | Automatic cable winding-inserting method |
| EP3193411A1 (en) * | 2016-01-18 | 2017-07-19 | Unitechnologies SA | Apparatus and method for splaying at least one cable layer of a shielded cable |
| EP3327879A1 (en) * | 2016-11-23 | 2018-05-30 | Airbus Defence and Space SA | Device and method for processing electrical cables |
| CN106711866A (en) * | 2017-03-07 | 2017-05-24 | 长春理工大学 | Automatic wiring machine for airplane wire harness |
| CN107834338A (en) * | 2017-11-05 | 2018-03-23 | 无锡胜维电气有限公司 | A kind of low-frequency cable component intelligence crimps system line |
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| Publication number | Publication date |
|---|---|
| CN109950776B (en) | 2020-07-17 |
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