CN114927289A - High-efficiency wire harness adhesive tape winding workstation and method thereof - Google Patents
High-efficiency wire harness adhesive tape winding workstation and method thereof Download PDFInfo
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- CN114927289A CN114927289A CN202210468721.XA CN202210468721A CN114927289A CN 114927289 A CN114927289 A CN 114927289A CN 202210468721 A CN202210468721 A CN 202210468721A CN 114927289 A CN114927289 A CN 114927289A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
- H01B13/01209—Details
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
- H01B13/01236—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
- H01B13/01263—Tying, wrapping, binding, lacing, strapping or sheathing harnesses
- H01B13/01281—Harness wrapping apparatus
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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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a high-efficiency wire harness adhesive tape winding workstation and a method thereof, wherein the high-efficiency wire harness adhesive tape winding workstation comprises a control system, a robot, a real-time processing parameter self-setting system and a fault self-detection system; the control system is used for receiving tasks and controlling the robot to wind the adhesive tape, the real-time self-tuning system of the processing parameters is used for carrying out real-time parameter correction on the current processing parameters of the robot and sending out instructions, and the fault self-detection system is used for gradually detecting the reasons of the faults of the system. According to the workstation, the control system is used for winding the adhesive tape on the robots controlled by the PLC sub-controllers through the PLC main controller, so that the adhesive tape is wound in an intelligent manner, a large amount of manpower is saved, the efficiency is higher, and the quality control can be well carried out; in addition, the real-time self-tuning system for the processing parameters provides higher reliability for the operation of winding the adhesive tape on the wire harness, and the fault self-detection system realizes intelligent fault detection without manual detection.
Description
Technical Field
The invention relates to the technical field of wire harness processing equipment, in particular to a high-efficiency wire harness adhesive tape winding workstation and a method thereof.
Background
The wire harness processing industry has been developed for more than 100 years, the wire harness processing mainly takes manpower labor as a main part, the typical labor-intensive industry is changed into the full-automatic industry along with the continuous development of automatic equipment, and the conventional manual wire cutting, wire twisting, tin dipping, end pressing and other processes are combined and automatically completed in the full-automatic machine, so that the efficiency is improved, and the product quality is also continuously improved. However, with the continuous increase of production equipment, the requirements and efficiency of orders of the wire harness processing factory are also the important consideration problems, so that with the development of the times, the development trends of the times are continuously researched, and the self products are optimized to adapt to the development trend of modernization into the wire harness processing factory; meanwhile, with the development of artificial intelligence, an intelligent robot continuously replaces the manpower, the combination of the industrial 4.0 technology and the AI technology continuously influences the life of modern people, and the intelligent robot is also an important development opportunity for wire harness processing.
However, the existing wiring harness processing, especially wiring harness tape winding work, mostly manual handheld wiring harness tape winding machine, carries out semi-automatic wiring harness tape winding operation, not only has general efficiency, but also requires independent training and new learning skill operation for different projects, and meanwhile, wiring harness tape winding related equipment at the existing stage does not have real-time correction of processing parameters and an intelligent fault detection function, has low intelligent degree, and brings troubles to production in intangible.
Disclosure of Invention
In this section, as well as in the abstract and title of the application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned problems occurring in the conventional wire harness processing apparatus.
Therefore, one of the objectives of the present invention is to provide a high efficiency station and method for winding adhesive tape with wire harness, which uses an intelligent way to wind adhesive tape, saves a lot of manpower, can operate continuously, improves efficiency, and can perform quality control well.
In order to solve the technical problems, the invention provides the following technical scheme: a high-efficiency wire harness adhesive tape winding workstation comprises a control system, a robot, a real-time processing parameter self-tuning system and a fault self-detection system; the control system is used for receiving tasks and controlling the robot to wind the adhesive tape, and comprises an MES manufacturing execution system, a PLC master controller connected with the MES manufacturing execution system, a plurality of PLC sub-controllers connected with the PLC master controller and corresponding robots connected with the corresponding PLC sub-controllers; the robot is used for receiving the instruction of the corresponding PLC sub-controller to perform the wire-bundling adhesive tape winding operation and comprises a machine body and a winding machine assembly arranged on the machine body; the system comprises a processing parameter real-time self-tuning system, a first obtaining unit, a first judging unit, a parameter correcting unit and a first sending unit, wherein the processing parameter real-time self-tuning system is connected with the robot and is used for carrying out real-time parameter correction on the current processing parameter of the robot and sending an instruction when the current processing parameter of the robot has deviation with a preset parameter and exceeds a threshold value; and the fault self-detection system is connected with the real-time self-setting system of the processing parameters, is used for automatically and gradually detecting the reason of the fault of the system when the parameter correction frequency of the real-time self-setting system of the processing parameters exceeds a threshold value, and sends a fault signal, and comprises a second acquisition unit, a second judgment unit and a second sending unit.
As a preferable aspect of the present invention, wherein: the first acquisition unit acquires task information, driving motor rotating speed information, adhesive tape overlapping width information, adhesive tape interval information and winding harness length information of the robot; the first judging unit judges whether the task information, the rotating speed information of the driving motor, the overlapping width information of the adhesive tape, the interval information of the adhesive tape and the length information of the winding wire harness acquired by the first acquiring unit meet a threshold value; the parameter correcting unit corrects the rotating speed parameter of the driving motor, the overlapping width parameter of the adhesive tape, the interval parameter of the adhesive tape and the length parameter of the winding wire harness which are acquired by the first acquiring unit in real time; and the first sending unit sends the information parameters corrected by the parameter correcting unit to a PLC master controller, a corresponding PLC slave controller and a corresponding robot.
As a preferable aspect of the present invention, wherein: the second acquisition unit acquires frequency information of parameter correction of the real-time self-tuning system of the processing parameters, correction frequency information of the rotating speed of the driving motor, correction frequency information of the overlapping width of the adhesive tape, correction frequency information of the interval of the adhesive tape and correction frequency information of the length of the winding wire harness; the second judgment unit judges whether the frequency information of parameter correction, the correction frequency information of the rotating speed of the driving motor, the correction frequency information of the overlapping width of the adhesive tape, the correction frequency information of the interval of the adhesive tape and the correction frequency information of the length of the winding wire harness, which are acquired by the second acquisition unit, meet a threshold value; the second transmitting unit transmits a correction frequency fault signal of the rotation speed of the driving motor, a correction frequency fault signal of the overlapping width of the adhesive tape, a correction frequency fault signal of the interval of the adhesive tape and a correction frequency fault signal of the length of the winding wire harness.
As a preferable aspect of the present invention, wherein: and in the real-time self-tuning system for the processing parameters, whether the task information of the robot is acquired through the first acquisition unit is judged, if so, the processing parameters are sent to the PLC master controller, and the real-time information of the robot work is collected and fed back.
As a preferable aspect of the present invention, wherein: the machine body comprises a robot fixing seat, a robot base arranged on the robot fixing seat, a rear motor arranged on the robot base, a rear mechanical arm connected with an output shaft of the rear motor, a front motor arranged at the top of the rear mechanical arm, a front mechanical arm connected with the output shaft of the front motor, and a winding machine component joint arranged at the tail end of the front mechanical arm, wherein the winding machine component joint is connected with a winding machine component; the winder subassembly is including connecting the winder fixing base that the winder subassembly connects, install driving motor on the winder fixing base, with driving motor output shaft's driving rotor, locating cutting off the edge of a knife on the driving rotor, installing sticky tape fixed axle on the winder fixing base, locate sticky tape fixed epaxial sticky tape and supply the wire casing that the pencil alternates the removal, the wire casing is located driving rotor circular position to set up with driving rotor integrated into one piece.
As a preferable aspect of the present invention, wherein: the robot base is fixed on the robot fixing seat through bolts.
A control method of a high-efficiency wire harness adhesive tape wrapping workstation comprises a control method of a control system, and specifically comprises the following steps: the MES manufacturing execution system receives the task information and sends the task information to the PLC master controller, the PLC master controller sends the information to the corresponding PLC slave controllers after receiving the task information, and the corresponding PLC slave controllers control the corresponding robots to wind the adhesive tape.
As a preferable aspect of the control method of the high-efficiency wire-bundle-wound tape workstation of the present invention, wherein: the method also comprises a control method of the real-time self-tuning system of the processing parameters, which comprises the following steps:
when the real-time self-tuning system of the processing parameters receives information, firstly, whether the information is task information is judged, if so, the processing parameters are sent to a PLC master controller, the PLC master controller sequentially controls the PLC sub-controllers and the robot to wind the adhesive tape, meanwhile, real-time information collection of the robot work is carried out, and the real-time information is fed back to the system; if not, the information is indicated as feedback information, and then the feedback information is analyzed:
judging whether the rotating speed of the driving motor is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, carrying out the next step;
judging whether the overlapping width of the adhesive tape is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, carrying out the next step;
judging whether the interval of the adhesive tapes is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller), and if so, carrying out the next step;
and judging whether the length of the winding wire harness is within the error allowable range, if not, correcting the parameters, sending the corrected processing parameters to the PLC main controller, and if so, ending the program.
As a preferable aspect of the control method of the high-efficiency wire-wrap tape station of the present invention, wherein: the method also comprises a control method of the fault self-detection system, which comprises the following steps:
the fault self-detection system firstly judges whether the frequency of parameter correction exceeds the specification, if not, the system normally works, and the system is finished; if yes, the system is indicated to have a fault, and the fault is analyzed next:
judging whether the correction frequency of the rotating speed of the driving motor exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the overlapping width of the adhesive tape exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the tape interval exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
and judging whether the correction frequency of the length of the winding wire harness exceeds the specification or not, and if so, sending a fault signal.
As a preferable aspect of the control method of the high-efficiency wire-wrap tape station of the present invention, wherein: the corresponding PLC sub-controllers control the corresponding robots to wind the adhesive tapes, further, the adhesive tape winding operation comprises adhesive tape winding operation and adhesive tape cutting operation, a rear motor controls a rear mechanical arm to work, and a front motor controls a front mechanical arm to work and is used for winding the adhesive tapes of the wire harnesses in the wire aligning grooves; on the winding machine component, a driving motor drives a cutting knife edge to work through a driving rotor, and the cutting knife edge is used for cutting off the wound adhesive tape.
The invention has the beneficial effects that: according to the workstation, the control system is used for winding the adhesive tape on the robots corresponding to the PLC sub-controllers through the PLC main controller, so that the adhesive tape is wound in an intelligent mode, complex manual adhesive tape winding work is not needed, a large amount of manpower is saved, the time for workers to separately train and learn new project drawings is avoided, the workstation can continuously work, the efficiency is higher, the quality of each product is consistent, and quality control can be well carried out; in addition, the real-time self-setting system of the processing parameters provides higher reliability for the operation of winding the adhesive tape on the wire harness, and the fault self-detection system realizes intelligent fault detection without manual detection, thereby saving a large amount of time and manpower. In conclusion, the workstation intelligently, efficiently, stably and safely realizes the continuous tape winding operation of the wire harness.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor. Wherein:
FIG. 1 is a flow chart of the operation of the control system of the present invention;
FIG. 2 is a schematic view of the robot of the present invention;
FIG. 3 is a schematic view of the construction of the winder assembly of the present invention;
FIG. 4 is a schematic diagram of a modular structure of the real-time self-tuning system for processing parameters according to the present invention;
FIG. 5 is a flow chart of the operation of the real-time self-tuning system of the present invention;
FIG. 6 is a schematic diagram of a modular structure of the self-fault-detection system of the present invention;
fig. 7 is a flow chart of the operation of the fault self-detection system of the present invention.
The reference numbers in the figures: 1. a winder assembly; 2. a winder assembly joint; 3. a front mechanical arm; 4. a front motor; 5. a rear mechanical arm; 6. a rear motor; 7. a robot base; 8. a bolt; 9. a robot holder; 10. a winding machine fixing seat; 11. a drive rotor; 12. a drive motor; 13. cutting off the knife edge; 14. a wire slot; 15. a rubber belt fixing shaft; 16. an adhesive tape; 101. a real-time self-tuning system of processing parameters; 1011. a first acquisition unit; 1012. a first judgment unit; 1013. a first judgment unit; 1014. a first transmitting unit; 201. a fault self-detection system; 2011. a second acquisition unit; 2012. a second judgment unit; 2013. and a second transmitting unit.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Referring to fig. 1, an embodiment of the present invention provides a high-efficiency wire-harness tape-winding workstation, which is composed of a control system, a robot, a real-time processing parameter self-tuning system 101, and a fault self-detection system 201; the intelligent winding machine has the advantages that the intelligent winding machine can wind the adhesive tape in an intelligent mode, a large amount of manpower is saved, continuous operation can be realized, the efficiency is improved, quality control can be well performed, in addition, the automatic setting machine is provided with a real-time self-tuning and fault self-detection system for processing parameters, parameter setting in processing work can be performed in real time, higher reliability is provided for the operation of winding the adhesive tape by a wire harness, manual detection is not needed, and a good fault analysis effect is realized on the parameters.
The control system is used for receiving tasks and controlling the robot to wind the adhesive tape, and comprises an MES manufacturing execution system, a PLC master controller connected with the MES manufacturing execution system, a plurality of PLC sub-controllers connected with the PLC master controller and corresponding robots connected with the corresponding PLC sub-controllers; the specific control method of the wire harness adhesive tape winding workstation comprises the following steps: the MES manufacturing execution system receives the task information and sends the task information to the PLC master controller, the PLC master controller sends the information to the corresponding PLC slave controllers after receiving the task information, the corresponding PLC slave controllers control the corresponding robots to wind the adhesive tape, further, the adhesive tape winding operation comprises adhesive tape winding operation and adhesive tape cutting operation, on the machine body, the rear motor 6 controls the rear mechanical arm 5 to work, and the front motor 4 controls the front mechanical arm 3 to work and is used for winding the adhesive tape of the wire harness in the wire slot 14; on the winding machine component, a driving motor 12 drives a cutting blade 13 to work through a driving rotor 11, and is used for cutting a wound adhesive tape 16.
The robot is used for receiving the instruction of a corresponding PLC sub-controller to perform wire-bundling adhesive tape winding operation and comprises a machine body and a winding machine assembly 1 arranged on the machine body; the specific components are as follows:
referring to fig. 2, the robot body includes a robot fixing seat 9, a robot base 7 mounted on the robot fixing seat 9, a rear motor 6 mounted on the robot base 7, a rear robot arm 5 connected to an output shaft of the rear motor 6, a front motor 4 mounted on the top of the rear robot arm 5, a front robot arm 3 connected to an output shaft of the front motor 4, and a winding machine assembly 1 joint mounted at the end of the front robot arm 3, the winding machine assembly joint 2 is connected to the winding machine assembly 1, and the robot base 7 is fixed on the robot fixing seat 9 through a bolt 8.
Referring to fig. 3, the winding machine assembly 1 of the present embodiment includes a winding machine fixing base 10 connected to the winding machine assembly connector 2, a driving motor 12 installed on the winding machine fixing base 10, a driving rotor 11 connected to an output shaft of the driving motor 12, a cutting blade 13 installed on the driving rotor 11, a tape fixing shaft 15 installed on the winding machine fixing base 10, a tape 16 installed on the tape fixing shaft 15, and a wire slot 14 for inserting and moving a wire harness, wherein the wire slot 14 is located at a circular position of the driving rotor 11 and is integrally formed with the driving rotor 11.
Referring to fig. 4, the real-time processing parameter self-tuning system 101 of the present embodiment is connected to a robot, and configured to perform real-time parameter correction on a current processing parameter of the robot and issue an instruction when the current processing parameter of the robot deviates from a preset parameter and exceeds a threshold, where the system includes a first obtaining unit 1011, a first determining unit 1012, a parameter correcting unit 1013, and a first sending unit 1014; the specific description is as follows:
the first acquiring unit 1011 acquires task information of the robot, rotational speed information of the driving motor 12, tape overlapping width information, tape interval information, and winding harness length information;
the first judgment unit 10131012 judges whether or not the task information, the rotational speed information of the drive motor 12, the tape overlapping width information, the tape interval information, and the winding harness length information acquired by the first acquisition unit 1011 satisfy the threshold values;
the parameter correction unit corrects the rotating speed parameter of the driving motor 12, the tape overlapping width parameter, the tape interval parameter and the winding harness length parameter which are acquired by the first acquisition unit 1011 in real time;
the first sending unit 1014 sends the information parameters corrected by the parameter correcting unit to the PLC master controller, the corresponding PLC slave controllers and the corresponding robots;
meanwhile, the processing parameter real-time self-tuning system 101 acquires whether the task information is the task information of the robot through the first acquisition unit 1011, and if so, the processing parameters are sent to the PLC master controller, and the real-time information of the robot work is collected and fed back.
Referring to fig. 5, in the control method of the real-time self-tuning system 101 for processing parameters in this embodiment, the real-time self-tuning system 101 for processing parameters has an effect that when the robot processing parameters deviate from the set parameters, the system can self-tune the processing parameters, thereby ensuring the reliability of the processing task. The method comprises the following specific steps:
when the real-time self-tuning system 101 of the processing parameters receives information, firstly, whether the information is task information is judged, if so, the processing parameters are sent to the PLC main controller, the PLC main controller sequentially controls the PLC sub-controllers and the robot to perform tape winding operation, meanwhile, real-time information collection of the robot work is performed, and the real-time information is fed back to the system; if not, the information is indicated to be feedback information, and then the feedback information is analyzed:
judging whether the rotating speed of the driving motor is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller), and if so, carrying out the next step;
judging whether the overlapping width of the adhesive tape is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, carrying out the next step;
judging whether the tape interval is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, carrying out the next step;
and judging whether the length of the winding wire harness is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, ending the program.
Referring to fig. 6, the fault self-detection system 201 of this embodiment is connected to the processing parameter real-time self-setting system 101, and is configured to automatically and gradually detect a cause of a fault of the system and send a fault signal when a parameter correction frequency of the processing parameter real-time self-setting system 101 exceeds a threshold, where the fault self-detection system 201 includes a second obtaining unit 2011, a second determining unit 2012 and a second sending unit 2013; the specific description is as follows:
the second acquiring unit 2011 acquires frequency information of parameter correction of the real-time self-tuning system 101 for processing parameters, correction frequency information of the rotation speed of the driving motor 12, correction frequency information of the tape overlapping width, correction frequency information of the tape interval, and correction frequency information of the length of the winding wire harness;
the second determination unit 2012 determines whether the frequency information of parameter correction, the correction frequency information of the rotational speed of the drive motor 12, the correction frequency information of the tape overlapping width, the correction frequency information of the tape interval, and the correction frequency information of the winding harness length acquired by the second acquisition unit 2011 satisfy the threshold values;
the second transmitting unit 2013 transmits a correction frequency failure signal of the rotational speed of the drive motor 12, a correction frequency failure signal of the tape overlapping width, a correction frequency failure signal of the tape interval, and a correction frequency failure signal of the winding harness length.
Referring to fig. 7, in order to implement the control method of the fault self-detection system 201 in this embodiment, when the system frequently performs parameter correction, the fault self-detection system 201 is to describe that the workstation has a fault, and the fault self-detection system 201 can automatically detect the cause of the fault of the system and send a fault signal, which is specifically as follows:
the fault self-detection system 201 firstly judges whether the frequency of parameter correction exceeds the specification, if not, the system works normally, and the system is finished; if yes, the system is indicated to have a fault, and the fault is analyzed next:
judging whether the correction frequency of the rotating speed of the driving motor exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the overlapping width of the adhesive tape exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the tape interval exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
and judging whether the correction frequency of the length of the winding wire harness exceeds the specification or not, and if so, sending a fault signal.
In conclusion, the workstation disclosed by the invention can be used for winding the adhesive tape on the corresponding robot controlled by the PLC sub-controllers through the PLC main controller by the control system, so that the adhesive tape can be wound in an intelligent manner without complicated manual adhesive tape winding work, a large amount of manpower is saved, the time for workers to train and learn new project drawings independently is avoided, the workstation disclosed by the invention can be used for continuously operating, the efficiency is higher, the quality of each product is consistent, and the quality control can be well carried out; in addition, the real-time self-setting system of the processing parameters provides higher reliability for the operation of winding the adhesive tape on the wire harness, and the fault self-detection system realizes intelligent fault detection without manual detection, thereby saving a large amount of time and manpower. In conclusion, the workstation intelligently, efficiently, stably and safely realizes the continuous tape winding operation of the wire harness.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A high-efficiency wire harness adhesive tape winding workstation is characterized by comprising a control system, a robot, a real-time self-tuning system (101) of processing parameters and a fault self-detection system (201);
the control system is used for receiving tasks and controlling the robot to wind the adhesive tape, and comprises an MES manufacturing execution system, a PLC master controller connected with the MES manufacturing execution system, a plurality of PLC sub-controllers connected with the PLC master controller and corresponding robots connected with the corresponding PLC sub-controllers;
the robot is used for receiving the instruction of the corresponding PLC sub-controller to carry out thread bundle tape winding operation and comprises a machine body and a winding machine assembly (1) arranged on the machine body;
the real-time self-tuning system (101) for the processing parameters is connected with the robot and used for carrying out real-time parameter correction on the current processing parameters of the robot and sending out an instruction when the current processing parameters of the robot deviate from preset parameters and exceed a threshold value, and comprises a first acquisition unit (1011), a first judgment unit (1012), a parameter correction unit (1013) and a first sending unit (1014);
the fault self-detection system (201) is connected with the real-time processing parameter self-setting system (101), is used for automatically and gradually detecting the reason of the fault of the system when the parameter correction frequency of the real-time processing parameter self-setting system (101) exceeds a threshold value, and sends a fault signal, and comprises a second acquisition unit (2011), a second judgment unit (2012) and a second sending unit (2013).
2. The high-efficiency wire harness taping station according to claim 1, wherein the first acquiring unit (1011) acquires task information of the robot, driving motor (12) rotation speed information, tape overlapping width information, tape interval information, and winding harness length information;
the first judgment unit (1012) judges whether the task information, the rotating speed information of the driving motor (12), the tape overlapping width information, the tape interval information and the winding harness length information which are acquired by the first acquisition unit (1011) meet a threshold value;
the parameter correcting unit (1013) corrects the rotating speed parameter, the adhesive tape overlapping width parameter, the adhesive tape interval parameter and the winding wire harness length parameter of the driving motor (12) acquired by the first acquiring unit (1011) in real time;
and the first sending unit (1014) sends the information parameters corrected by the parameter correcting unit to a PLC master controller, a corresponding PLC slave controller and a corresponding robot.
3. A high-efficiency wire harness tape-winding workstation according to claim 1, wherein the second acquiring unit (2011) acquires frequency information of parameter correction of the real-time self-tuning system (101) of the processing parameters, correction frequency information of a rotation speed of a driving motor (12), correction frequency information of a tape overlapping width, correction frequency information of a tape interval, and correction frequency information of a winding wire harness length;
the second judging unit (2012) judges whether the frequency information of the parameter correction, the correction frequency information of the rotational speed of the drive motor (12), the correction frequency information of the tape overlapping width, the correction frequency information of the tape interval, and the correction frequency information of the length of the winding wire harness acquired by the second acquiring unit (2011) satisfy a threshold value;
the second transmitting unit (2013) transmits a correction frequency failure signal of the rotation speed of the driving motor (12), a correction frequency failure signal of the tape overlapping width, a correction frequency failure signal of the tape interval, and a correction frequency failure signal of the winding harness length.
4. The station as claimed in claim 2, wherein the real-time self-tuning system (101) of the processing parameters obtains the task information of the robot through the first obtaining unit (1011), and if yes, the processing parameters are sent to the PLC master controller, and the real-time information of the robot work is collected and fed back.
5. The high-efficiency wire harness adhesive tape winding workstation as claimed in claim 1, wherein the machine body comprises a robot fixing seat (9), a robot base (7) installed on the robot fixing seat (9), a rear motor (6) installed on the robot base (7), a rear mechanical arm (5) connected with an output shaft of the rear motor (6), a front motor (4) installed at the top of the rear mechanical arm (5), a front mechanical arm (3) connected with an output shaft of the front motor (4), and a winding machine component (1) joint installed at the tail end of the front mechanical arm (3), wherein the winding machine component joint (2) is connected with the winding machine component (1);
coiler subassembly (1) is including connecting coiler fixing base (10), the installation that coiler subassembly connects (2) driving motor (12) on coiler fixing base (10), with driving motor (12) output shaft's driving rotor (11), locate cutting off edge of a knife (13) on driving rotor (11), install sticky tape fixed axle (15) on coiler fixing base (10), locate sticky tape (16) on sticky tape fixed axle (15) and supply the pencil to alternate wire casing (14) that remove, wire casing (14) are located driving rotor (11) circular position to set up with driving rotor (11) integrated into one piece.
6. A high efficiency strand taping station as claimed in claim 5, wherein the robot base (7) is fixed to the robot holder (9) by means of bolts (8).
7. A control method applied to the high-efficiency wire harness adhesive tape wrapping workstation according to any one of claims 1 to 6, which is characterized by comprising the following control methods of a control system:
and the MES manufacturing execution system receives the task information and sends the task information to the PLC master controller, the PLC master controller sends the information to the corresponding PLC slave controllers after receiving the task information, and the corresponding PLC slave controllers control the corresponding robots to wind the adhesive tapes.
8. The control method of the high-efficiency wire-harness adhesive tape-wrapping workstation as claimed in claim 7, further comprising a control method of the real-time self-tuning system (101) of the processing parameters, which is as follows:
when the real-time self-tuning system (101) of the processing parameters receives information, firstly, whether the information is task information is judged, if so, the processing parameters are sent to the PLC master controller, the PLC master controller sequentially controls the PLC slave controllers and the robot to wind the adhesive tape, meanwhile, real-time information collection of the robot work is carried out, and the real-time information is fed back to the system; if not, the information is indicated to be feedback information, and then the feedback information is analyzed:
judging whether the rotating speed of the driving motor is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller), and if so, carrying out the next step;
judging whether the overlapping width of the adhesive tape is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller), and if so, carrying out the next step;
judging whether the tape interval is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, carrying out the next step;
and judging whether the length of the winding wire harness is within an error allowable range, if not, correcting the parameters, sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, ending the program.
9. The control method of the high-efficiency wire-bundle tape-winding workstation according to claim 8, further comprising a control method of the fault self-detection system (201), specifically as follows:
the fault self-detection system (201) firstly judges whether the frequency of parameter correction exceeds the specification, if not, the system works normally, and the system is ended; if yes, the system is indicated to have a fault, and the fault is analyzed next:
judging whether the correction frequency of the rotating speed of the driving motor exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the overlapping width of the adhesive tape exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the tape interval exceeds the specification or not, if so, sending a fault signal, and if not, carrying out the next step;
and judging whether the correction frequency of the length of the winding wire harness exceeds the specification or not, and if so, sending a fault signal.
10. The control method of the high-efficiency wire harness taping workstation according to claim 7, wherein the corresponding PLC sub-controller controls the corresponding robot to perform taping work, further, the taping work comprises taping work and taping cutting work, on the machine body, the rear motor (6) controls the rear robot arm (5) to work, and the front motor (4) controls the front robot arm (3) to work for taping the wire harness in the wire casing (14); on the winding machine component, a driving motor (12) drives a cutting knife edge (13) to work through a driving rotor (11) and is used for cutting off the wound adhesive tape (16).
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| JP2007301680A (en) * | 2006-05-11 | 2007-11-22 | Nachi Fujikoshi Corp | Robot arm diagnosis device |
| CN107322952A (en) * | 2017-07-06 | 2017-11-07 | 哈尔滨理工大学 | A kind of robot fiber winding work station |
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| CN110444344A (en) * | 2019-08-28 | 2019-11-12 | 诸暨中澳自动化设备有限公司 | Thin full-automatic tape wrapping machine head, device and method thereof |
| CN110767381A (en) * | 2019-11-14 | 2020-02-07 | 上海应用技术大学 | Control method of automatic wire harness coating equipment |
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2022
- 2022-04-29 CN CN202210468721.XA patent/CN114927289B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007301680A (en) * | 2006-05-11 | 2007-11-22 | Nachi Fujikoshi Corp | Robot arm diagnosis device |
| CN107322952A (en) * | 2017-07-06 | 2017-11-07 | 哈尔滨理工大学 | A kind of robot fiber winding work station |
| CN108033045A (en) * | 2018-01-10 | 2018-05-15 | 苏州蓝王机床工具科技有限公司 | A kind of hand-held open type harness wrapping machine and its operation method |
| CN110444344A (en) * | 2019-08-28 | 2019-11-12 | 诸暨中澳自动化设备有限公司 | Thin full-automatic tape wrapping machine head, device and method thereof |
| CN110767381A (en) * | 2019-11-14 | 2020-02-07 | 上海应用技术大学 | Control method of automatic wire harness coating equipment |
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