CN109950776B - Control method and device for wiring - Google Patents
Control method and device for wiring Download PDFInfo
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- CN109950776B CN109950776B CN201910252488.XA CN201910252488A CN109950776B CN 109950776 B CN109950776 B CN 109950776B CN 201910252488 A CN201910252488 A CN 201910252488A CN 109950776 B CN109950776 B CN 109950776B
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Abstract
The application discloses a control method and device for wiring. The method comprises the steps of shearing a cable with a preset length and peeling off a cable skin by controlling a mechanical arm of a tangent peeling machine, and judging whether the length value of the current cable exceeds the length of a preset threshold value when the tangent is started; if the length of the wire exceeds the preset threshold length, controlling the tangent peeling machine to send out the wire according to the preset fixed length of the wire, and sending out the rest length of the wire after a delay time; and if the length of the cutting line peeling machine does not exceed the preset threshold value length, controlling the cutting line peeling machine to be sent out after being processed. The technical problem of automatic wiring can't be realized in cooperation to tangent line peeler and arm has been solved in this application. Through the application, the mechanical arm and the tangent line peeling machine are matched to work, and the automatic wiring function of the robot is completed.
Description
Technical Field
The application relates to the field of automation control, in particular to a control method and device for wiring.
Background
The internal wiring process of the domestic high-speed rail switch machine equipment is complex and has large workload. The wiring in the equipment needs to do the work such as shearing, skinning and wiring of cable. These tasks are currently performed manually by workers.
The inventor finds that the existing tangent peeling machine cannot be well matched with the mechanical arm to perform wiring work.
To the problem that automatic wiring can not be realized in cooperation of tangent line peeler and arm among the correlation technique, effectual solution has not been proposed yet at present.
Disclosure of Invention
The application mainly aims to provide a control method and device for wiring, so that the problem that automatic wiring cannot be achieved by matching a tangent peeling machine with a mechanical arm is solved.
In order to accomplish the above object, according to one aspect of the present application, there is provided a control method for wiring by controlling a wire stripper robot to shear a preset length of a wire and strip off a wire sheath.
The control method according to the application comprises the following steps: when the wire cutting is started, judging whether the length value of the current cable exceeds the length of a preset threshold value; if the length of the wire exceeds the preset threshold length, controlling the tangent peeling machine to send out the wire according to the preset fixed length of the wire, and sending out the rest length of the wire after a delay time; and if the length of the cutting line peeling machine does not exceed the preset threshold value length, controlling the cutting line peeling machine to be sent out after being processed.
Further, if the length of the preset threshold is exceeded, controlling to send out the remaining line length after a delay time according to the preset fixed line length comprises: if the length of the cable exceeds the preset threshold value, the cable is a long line, a first control signal is sent to the mechanical arm through the controller, and the controller controls the tangent peeling machine to wait for the mechanical arm to send a second control signal.
Further, sending the first control signal to the robotic arm via the controller comprises: the controller establishes cooperative communication with the mechanical arm through an IO signal so that the controller controls the mechanical arm to wait for a preset time and starts wiring after the tangent peeling machine sends out the residual wire length.
Further, if the preset threshold length is not exceeded, controlling the processed output includes: if the preset threshold value is not exceeded, the cable is a short line, the controller controls the tangent peeling machine to peel the whole cable, and then a first control signal is sent to the mechanical arm.
Further, when the wire cutting is started, the step of judging whether the length value of the current cable exceeds the preset threshold length includes: when a tangent is prepared to start, the controller receives an IO signal sent by the mechanical arm; when the tangent line begins, the controller judges whether the length value of the current cable exceeds the length of a preset threshold value.
In order to accomplish the above object, according to another aspect of the present application, there is provided a control apparatus for routing a wire by controlling a wire stripper robot to shear a predetermined length of a wire and strip a wire sheath.
The control device for wiring according to the present application includes: the judging module is used for judging whether the length value of the current cable exceeds the length of a preset threshold value when the tangent is started; the control module is used for controlling the tangent peeling machine to send out according to a preset fixed line length when the length of the preset threshold value is exceeded, and sending out the residual line length after a delay time; and the sending-out module is used for controlling the tangent peeling machine to send out after being processed if the length of the preset threshold value is not exceeded.
Further, the control module includes: the first control unit is used for sending a first control signal to the mechanical arm through the controller when the length of the cable exceeds a preset threshold value and the cable is a long line, and controlling the tangent peeling machine through the controller to wait for the mechanical arm to send a second control signal.
Further, the first control unit is further configured to enable the controller to establish cooperative communication with the mechanical arm through an IO signal, so that the controller controls the mechanical arm to wait for a preset time period, and start wiring after the tangent peeling machine sends out the remaining wire length.
Further, the out-feed module includes: and the second control unit is used for controlling the tangent peeling machine to peel the whole cable and then sending a first control signal to the mechanical arm when the preset threshold value is not exceeded and the cable is a short line.
Further, the judging module comprises: the first processing unit is used for receiving an IO signal sent by a mechanical arm when preparing to start cutting; and the second processing unit is used for judging whether the length value of the current cable exceeds the length of a preset threshold value or not by the controller when the tangent starts.
According to the control method and device for wiring in the embodiment of the application, the mechanical arm is matched with the tangent peeling machine to cut the cable with the preset length and peel off the wire skin, when the tangent is started, whether the length value of the current cable exceeds the preset threshold length or not is judged, and the tangent peeling machine is controlled to send out the cable according to the preset fixed wire length and send out the residual wire length after a delay time by exceeding the preset threshold length, so that the aim of controlling the rate matching is achieved, the technical effect that the tangent peeling machine is better matched with the mechanical arm is achieved, and the technical problem that the tangent peeling machine and the mechanical arm cannot be matched to achieve automatic wiring is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic flow chart diagram of a control method for wiring according to an embodiment of the application;
FIG. 2 is a schematic structural diagram of a control device for wiring according to an embodiment of the present application;
fig. 3 is a schematic diagram of the implementation principle of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 and 3, the control method for wiring in the present application, which shears a cable of a preset length and peels off a wire by controlling a wire stripper cooperating mechanical arm, includes steps S102 to S106 as follows:
step S102, when a tangent line is started, judging whether the length value of the current cable exceeds the length of a preset threshold value;
because the wiring speed of the mechanical arm is matched with the working speed of the tangent peeling machine, the wiring speed is obviously faster than the tangent speed of the tangent peeling machine, and therefore a cable tangent to the tangent peeling machine is divided into a long line and a short line to be processed respectively. Therefore, when the wire cutting peeler starts to cut a wire, whether the length value of the current cable exceeds the preset threshold length or not needs to be judged in advance.
It should be noted that the preset threshold length may be selected according to different usage scenarios, and is not limited in the embodiments of the present application.
Step S104, if the length exceeds the preset threshold value length, controlling the tangent peeling machine to send out according to the preset fixed line length, and sending out the residual line length after a delay time;
by judging whether the length value of the current cable exceeds the preset threshold length or not, if the length value of the current cable exceeds the preset threshold length, the cutting and peeling machine needs to be controlled to send out the residual cable length according to the preset fixed cable length and after a delay time.
Specifically, if the wire to be cut by the wire cutting peeler is a long wire at the moment, the control is firstly given to the mechanical arm to clamp a signal, and the wire cutting peeler waits for the mechanical arm to send a continuous wire feeding signal to continuously cut and strip the wire. At this time, the mechanical arm needs to wait for a period of time, and starts to wire after sending out the remaining wire length.
And S106, if the length of the preset threshold value is not exceeded, controlling the tangent peeling machine to be sent out after being processed.
By judging whether the length value of the current cable exceeds the preset threshold length or not, if not, the tangent peeling machine is controlled to normally cut and peel and then is sent out to the mechanical arm.
Specifically, if the wire to be cut by the wire cutting and peeling machine is judged to be a short wire, a signal is clamped for the mechanical arm after the whole wire is peeled.
As shown in fig. 3, the tangent line peeling machine is controlled to cooperate with the mechanical arm to automatically shear the cable with the specified length and peel off the cable skin through the steps, so that the problem that the operation speed of the mechanical arm is not matched with that of the tangent line peeling machine is solved, the automatic wiring function of the robot is realized, the tangent of a single cable is completed, and the peeling and wiring functions are completed.
From the above description, it can be seen that the following technical effects are achieved by the present application:
in the control method for wiring in the embodiment of the application, the mechanical arm is matched with the tangent peeling machine to cut the cable with the preset length and peel off the cable skin, when the tangent is started, whether the length value of the current cable exceeds the preset threshold length or not is judged, and the tangent peeling machine is controlled to send out the preset fixed cable length and send out the residual cable length after a delay time by exceeding the preset threshold length, so that the aim of controlling rate matching is achieved, the technical effect that the tangent peeling machine is better matched with the mechanical arm is achieved, and the technical problem that the tangent peeling machine cannot be matched with the mechanical arm to achieve automatic wiring is solved.
According to the embodiment of the present application, as a preferable preference in the embodiment, if the length exceeds the preset threshold length, controlling to send out the remaining line length after a delay time elapses according to the preset fixed line length includes: if the length of the cable exceeds the preset threshold value, the cable is a long line, a first control signal is sent to the mechanical arm through the controller, and the controller controls the tangent peeling machine to wait for the mechanical arm to send a second control signal. The controller is used for controlling the tangent peeling machine to wait for the mechanical arm to send a second control signal, wherein the first control signal is a time delay control signal sent to the mechanical arm, and the second control signal is a clamping signal sent by the controller.
According to the embodiment of the present application, as a preferable preference in the embodiment, the sending of the first control signal to the robot arm by the controller includes: the controller establishes cooperative communication with the mechanical arm through an IO signal so that the controller controls the mechanical arm to wait for a preset time and starts wiring after the tangent peeling machine sends out the residual wire length.
Specifically, the mechanical arm sends an IO signal to the controller, the controller controls the tangent peeling machine to start to cut the line, if the line is a long line, the signal is firstly clamped by the mechanical arm, the tangent peeling machine waits for the mechanical arm to send a continuous line feeding signal to continuously strip the tangent line, at the moment, the mechanical arm needs to wait for a period of time, and the wiring is started after the residual line length is sent out.
According to the embodiment of the present application, as a preferable preference in the embodiment, if the preset threshold length is not exceeded, the controlling the processed data to be sent includes: if the preset threshold value is not exceeded, the cable is a short line, the controller controls the tangent peeling machine to peel the whole cable, and then a first control signal is sent to the mechanical arm. If the wire is a short wire, the wire cutting and peeling machine directly cuts and peels the wire, and then the wire cable is sent to the mechanical arm to be clamped.
According to the embodiment of the application, as a preferable option in the embodiment, when a tangent line is to be started, the controller receives an IO signal sent by the mechanical arm; when the tangent line begins, the controller judges whether the length value of the current cable exceeds the length of a preset threshold value.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present application, there is also provided a control apparatus for implementing the above control method for wiring by controlling a wire stripper robot to shear a predetermined length of a wire and strip off a wire jacket, as shown in fig. 2, the apparatus including: the judging module 10 is configured to judge whether a length value of a current cable exceeds a preset threshold length when a tangent line starts; the control module 20 is used for controlling the tangent peeling machine to send out according to a preset fixed line length when the length of the preset threshold value is exceeded, and sending out the residual line length after a delay time; and a sending-out module 30, which is used for controlling the tangent peeling machine to send out after processing if the length of the preset threshold value is not exceeded.
Because there is the operating rate matching problem in the wiring speed of arm and tangent line peeler in the judgment module 10 of this application embodiment, wiring speed is showing faster than tangent line speed of tangent line peeler, therefore the tangent line cable that tangent line peeler is divided into the long line and the short-circuit and handles respectively. Therefore, when the wire cutting peeler starts to cut a wire, whether the length value of the current cable exceeds the preset threshold length or not needs to be judged in advance.
It should be noted that the preset threshold length may be selected according to different usage scenarios, and is not limited in the embodiments of the present application.
In the control module 20 of the embodiment of the application, by judging whether the length value of the current cable exceeds the preset threshold length, if the length value exceeds the preset threshold length, the tangent peeling machine needs to be controlled to send out the residual cable length according to the preset fixed cable length and after a delay time.
Specifically, if the wire to be cut by the wire cutting peeler is a long wire at the moment, the control is firstly given to the mechanical arm to clamp a signal, and the wire cutting peeler waits for the mechanical arm to send a continuous wire feeding signal to continuously cut and strip the wire. At this time, the mechanical arm needs to wait for a period of time, and starts to wire after sending out the remaining wire length.
Whether the length value of the current cable exceeds the preset threshold length or not is judged in the sending-out module 30, and if the length value of the current cable does not exceed the preset threshold length, the tangent peeling machine is controlled to normally cut and peel and then is sent out to the mechanical arm.
Specifically, if the wire to be cut by the wire cutting and peeling machine is judged to be a short wire, a signal is clamped for the mechanical arm after the whole wire is peeled.
Through the cable of the automatic shearing specified length of the mechanical arm of the control tangent line peeler of the module, the wire skin is peeled off, the problem that the operation speed of the mechanical arm and the operation speed of the tangent line peeler are not matched is solved, the automatic wiring function of the robot is realized, the tangent line of a single cable is completed, and the peeling and wiring function is completed.
According to the embodiment of the present application, as a preferred feature in the embodiment, the control module 20 includes: the first control unit 201 is configured to send a first control signal to the mechanical arm through the controller when the length of the cable exceeds a preset threshold value and the cable is a long cable, and control the tangent peeling machine through the controller to wait for the mechanical arm to send a second control signal. Specifically, the mechanical arm sends an IO signal to the controller, the controller controls the tangent peeling machine to start to cut the line, if the line is a long line, the signal is firstly clamped by the mechanical arm, the tangent peeling machine waits for the mechanical arm to send a continuous line feeding signal to continuously strip the tangent line, at the moment, the mechanical arm needs to wait for a period of time, and the wiring is started after the residual line length is sent out.
According to the embodiment of the present application, as a preferred option in the embodiment, the first control unit 201 is further configured to enable the controller to establish cooperative communication with the mechanical arm through an IO signal, so that the controller controls the mechanical arm to wait for a preset time period and start wiring after the wire stripper sends out the remaining wire length.
According to the embodiment of the present application, as a preferable feature in the embodiment, the sending-out module 30 includes: the second control unit 301 is configured to, when the preset threshold value is not exceeded and the cable is a short cable, control the tangent peeling machine through the controller to peel the whole cable and send a first control signal to the mechanical arm again. If the wire is a short wire, the wire cutting and peeling machine directly cuts and peels the wire, and then the wire cable is sent to the mechanical arm to be clamped.
According to the embodiment of the present application, as a preferred feature in the embodiment, the determining module 10 includes: the first processing unit 101 is used for receiving an IO signal sent by a mechanical arm when preparing to start cutting; the second processing unit 102 is configured to, when a tangent starts, determine whether a length value of the current cable exceeds a preset threshold length.
The implementation principle of the present application is shown in fig. 3, and specifically includes the following steps:
by the method in the embodiment of the application, the mechanical arm of the tangent peeling machine can be controlled to automatically shear the cable with the specified length, the wire skin is peeled off, the problem that the operation speed of the mechanical arm and the operation speed of the tangent peeling machine are not matched is solved, and the automatic wiring function of the robot is realized. The purposes of saving labor cost, reducing the error probability to zero and improving the working efficiency are achieved.
The controller completes the automatic wiring function through the IO signal and the cooperative communication of the plurality of mechanical arms. The wiring logic for the controller in conjunction with the robotic arm is shown in figure 3. The mechanical arm sends an IO signal to the controller, the controller controls the tangent peeling machine to start to cut, and due to the fact that the mechanical arm wiring speed is matched with the tangent peeling machine in working speed, the wiring speed is obviously higher than the tangent speed of the tangent peeling machine, and therefore a cable cut by the tangent peeling machine is divided into a long line and a short line to be processed respectively.
Specifically, when a wire is cut, if the wire is a long wire, a signal is clamped by the mechanical arm, the wire cutting and stripping machine waits for the mechanical arm to send a continuous wire feeding signal to continuously cut and strip the wire, the mechanical arm needs to wait for a period of time, and the wire starts to be wired after the residual wire is fed out.
And if the wire is a short wire, clamping a signal for the mechanical arm after the whole wire is stripped. So far, the tangent line of a single cable, the function of peeling and wiring is accomplished.
And finishing the cutting.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A control method for wiring characterized by cutting a preset length of cable and peeling off a wire skin by controlling a wire stripper robot, the method comprising:
when the wire cutting is started, judging whether the length value of the current cable exceeds the length of a preset threshold value;
if the length of the wire is beyond the preset threshold length, controlling the cutting and peeling machine to send out according to the preset fixed wire length and sending out the residual wire length after a delay time, specifically, if the wire to be cut by the cutting and peeling machine is judged to be a long wire at the moment, controlling to firstly give a mechanical arm clamping signal, waiting for the mechanical arm to send a continuous wire sending signal to continuously cut and peel the wire, waiting for a period of time for the mechanical arm to send out the residual wire length, and starting to wire after the residual wire length is sent out; and
and if the length of the wire cutting peeler does not exceed the preset threshold length, controlling the wire cutting peeler to send out after processing, specifically, if the wire cutting to be cut by the wire cutting peeler at the moment is judged to be a short wire, clamping a signal for the mechanical arm after the whole wire is peeled.
2. The control method of claim 1, wherein if the preset threshold length is exceeded, controlling the sending out of the remaining line length according to the preset fixed line length and after a delay time elapses comprises:
if the length of the cable exceeds the preset threshold value, the cable is a long line, a first control signal is sent to the mechanical arm through the controller, and the controller controls the tangent peeling machine to wait for the mechanical arm to send a second control signal.
3. The control method of claim 2, wherein sending the first control signal to the robotic arm via the controller comprises: the controller establishes cooperative communication with the mechanical arm through an IO signal so that the controller controls the mechanical arm to wait for a preset time and starts wiring after the tangent peeling machine sends out the residual wire length.
4. The control method of claim 1, wherein if the preset threshold length is not exceeded, controlling the processed outgoing comprises:
if the preset threshold value is not exceeded, the cable is a short line, the controller controls the tangent peeling machine to peel the whole cable, and then a first control signal is sent to the mechanical arm.
5. The control method of claim 1, wherein when the wire cutting is started, the determining whether the length value of the current cable exceeds a preset threshold length comprises:
when preparing to start to cut a line, the controller receives an IO signal sent by the mechanical arm;
when the tangent line begins, the controller judges whether the length value of the current cable exceeds the length of a preset threshold value.
6. A control device for wiring characterized in that a wire of a preset length is cut and stripped by controlling a mechanical arm of a wire stripper, the device comprising:
the judging module is used for judging whether the length value of the current cable exceeds the length of a preset threshold value when the tangent is started;
the control module is used for controlling the tangent peeling machine to send out according to a preset fixed wire length and sending out a residual wire length after a delay time when the length of the preset fixed wire length is exceeded, specifically, if the tangent peeling machine is judged to be a long wire to be cut at the moment, a clamping signal is firstly sent to the mechanical arm, the tangent peeling machine waits for the mechanical arm to send a continuous wire sending signal and continuously cuts and strips the wire, at the moment, the mechanical arm needs to wait for a period of time, and wiring is started after the residual wire length is sent out; and
and the sending-out module is used for controlling the tangent peeling machine to send out after processing if the length of the preset threshold value is not exceeded, and particularly, if the tangent peeling machine is judged to be a short line to be cut at the moment, a clamping signal is sent to the mechanical arm after the whole line is peeled.
7. The control device of claim 6, wherein the control module comprises:
the first control unit is used for sending a first control signal to the mechanical arm through the controller when the length of the cable exceeds a preset threshold value and the cable is a long line, and controlling the tangent peeling machine through the controller to wait for the mechanical arm to send a second control signal.
8. The control device of claim 7, wherein the first control unit is further configured to enable the controller to establish cooperative communication with the robot arm through an IO signal, so that the controller controls the robot arm to wait for a preset duration and start wiring after the wire stripper sends out the remaining wire length.
9. The control device of claim 6, wherein the send-out module comprises: and the second control unit is used for controlling the tangent peeling machine to peel the whole cable and then sending a first control signal to the mechanical arm when the preset threshold value is not exceeded and the cable is a short line.
10. The control device according to claim 6, wherein the judging module includes:
the first processing unit is used for receiving an IO signal sent by a mechanical arm when preparing to start cutting;
and the second processing unit is used for judging whether the length value of the current cable exceeds the length of a preset threshold value or not by the controller when the tangent starts.
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| CN201910252488.XA CN109950776B (en) | 2019-03-29 | 2019-03-29 | Control method and device for wiring |
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| CN201910252488.XA CN109950776B (en) | 2019-03-29 | 2019-03-29 | Control method and device for wiring |
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| CN109950776B true CN109950776B (en) | 2020-07-17 |
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| JP5160824B2 (en) * | 2007-07-17 | 2013-03-13 | 矢崎総業株式会社 | Electric wire coating apparatus and electric wire coating method |
| CN105291122A (en) * | 2015-11-06 | 2016-02-03 | 上海交通大学无锡研究院 | Finger mechanism of wiring robot |
| CN105438894B (en) * | 2015-12-30 | 2018-06-08 | 洛阳天浩泰轨道装备制造有限公司 | A kind of automatic inserting method of cable |
| HUE044096T2 (en) * | 2016-01-18 | 2019-09-30 | 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 |
| CN106711866B (en) * | 2017-03-07 | 2018-05-11 | 长春理工大学 | A kind of aircraft harness automatic wiring machine |
| 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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