CN114927289B - High-efficiency wire harness tape winding workstation and method thereof - Google Patents
High-efficiency wire harness tape winding workstation and method thereof Download PDFInfo
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- CN114927289B CN114927289B CN202210468721.XA CN202210468721A CN114927289B CN 114927289 B CN114927289 B CN 114927289B CN 202210468721 A CN202210468721 A CN 202210468721A CN 114927289 B CN114927289 B CN 114927289B
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a high-efficiency wire harness tape winding workstation and a method thereof, wherein the high-efficiency wire harness tape winding workstation comprises a control system, a robot, a real-time self-setting system for processing parameters and a fault self-detection system; the control system is used for receiving tasks and controlling the robot to carry out tape winding operation, the real-time self-setting system of 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 cause of the fault of the system. According to the workstation disclosed by the invention, the control system is used for controlling the corresponding robots to wind the adhesive tape through the PLC master controller, so that the intelligent mode of winding the adhesive tape is achieved, a large amount of manpower is saved, the efficiency is higher, and quality control can be well performed; in addition, the real-time self-tuning system for the processing parameters provides higher reliability for the wire harness tape winding work, 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 tape winding workstation and a method thereof.
Background
The development of the wire harness processing industry has been 100 years old, the wire harness processing mainly takes human labor as a main part, the typical labor-intensive industry is adopted, along with the continuous development of automatic equipment, the current wire harness processing factory is converted from the labor-intensive industry into the full-automatic industry, and the traditional procedures of manual wire cutting, wire twisting, tin dipping, end pressing and the like are combined and automatically completed in the full-automatic machine, so that the efficiency is improved, and the product quality is improved continuously. However, with the continuous increase of production equipment, the requirement and efficiency of the order of the wire harness processing plant are also important considerations, so the dynamic development of the age is continuously researched, and the self-product adaptation of the product is optimized to the development trend of the wire harness processing plant along with the development of the age; meanwhile, with the development of artificial intelligence, the intelligent robot continuously replaces the artificial, 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, current pencil processing, especially pencil twines sticky tape work, and most artifical handheld pencil twines the sticky tape machine and carries out semi-automatization's pencil twines sticky tape operation, and not only efficiency is general, and the workman need train alone and learn new skill operation to different projects, and the pencil twines relevant equipment of sticky tape at the present stage does not have the real-time correction of processing parameter and intelligent fault detection function simultaneously, and intelligent degree is lower, has intangibly brought the puzzlement for production.
Disclosure of Invention
Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.
The present invention has been made in view of the above-described problems occurring in the conventional wire harness processing apparatus.
Therefore, one of the purposes of the invention is to provide a high-efficiency wire harness tape winding workstation and a method thereof, which utilize an intelligent mode to wind the tape, save a great deal of manpower, can continuously operate, improve the efficiency, and can well perform quality control.
In order to solve the technical problems, the invention provides the following technical scheme: a high-efficiency wire harness tape winding workstation comprises a control system, a robot, a real-time self-setting system for processing parameters and a fault self-detection system; the control system is used for receiving tasks and controlling the robot to carry out tape winding operation 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 wire harness tape winding operation and comprises a machine body and a winding machine assembly arranged on the machine body; the real-time self-tuning system of the machining parameters is connected with the robot and is used for carrying out real-time parameter correction on the current machining parameters of the robot and sending out instructions when the current machining parameters of the robot deviate from preset parameters and exceed a threshold value, and the real-time self-tuning system comprises a first acquisition unit, a first judgment unit, a parameter correction unit and a first sending unit; the fault self-detection system is connected with the processing parameter real-time self-tuning system, and is used for automatically and gradually detecting the cause of the fault of the system when the parameter correction frequency of the processing parameter real-time self-tuning system exceeds a threshold value and sending a fault signal, and the fault self-detection system comprises a second acquisition unit, a second judgment unit and a second sending unit.
As a preferred embodiment of the present invention, wherein: the first acquisition unit acquires task information, driving motor rotation speed information, tape overlapping width information, tape interval information and winding wire harness length information of the robot; the first judging unit judges whether the task information, the driving motor rotating speed information, the adhesive tape overlapping width information, the adhesive tape interval information and the winding wire harness length information acquired by the first acquiring unit meet a threshold value or not; the parameter correction unit corrects the rotation 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 acquired by the first acquisition unit in real time; and the first sending unit sends the information parameters corrected by the parameter correction unit to the PLC master controller, and the corresponding PLC sub controllers and the corresponding robots.
As a preferred embodiment of the present invention, wherein: the second acquisition unit acquires frequency information of parameter correction of the real-time self-tuning system of the machining parameters, frequency information of correction of the rotating speed of the driving motor, frequency information of correction of the overlapping width of the adhesive tape, frequency information of correction of the interval of the adhesive tape and frequency information of correction of the length of the winding wire harness; the second judging unit judges whether the frequency information corrected by the parameters acquired by the second acquiring unit, the frequency information corrected by the rotating speed of the driving motor, the frequency information corrected by the overlapping width of the adhesive tape, the frequency information corrected by the interval of the adhesive tape and the frequency information corrected by the length of the winding wire harness meet a threshold value or not; 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 preferred embodiment of the present invention, wherein: and the processing parameters are sent to a PLC (programmable logic controller) master controller if the task information of the robot is obtained through the first obtaining unit in the real-time self-tuning system, and real-time information of the robot work is collected and fed back.
As a preferred embodiment of the present invention, wherein: the machine body comprises a robot fixing seat, a robot base, a rear motor, a rear mechanical arm, a front motor, a front mechanical arm and a winding machine component connector, wherein the robot base is arranged on the robot fixing seat, the rear motor is arranged on the robot base, the rear mechanical arm is connected with an output shaft of the rear motor, the front motor is arranged at the top of the rear mechanical arm, the front mechanical arm is connected with an output shaft of the front motor, the winding machine component connector is arranged at the tail end of the front mechanical arm, and the winding machine component connector is connected with a winding machine component; the winding machine assembly comprises a winding machine fixing seat connected with the winding machine assembly joint, a driving motor arranged on the winding machine fixing seat, a driving rotor connected with an output shaft of the driving motor, a cutting-off knife edge arranged on the driving rotor, an adhesive tape fixing shaft arranged on the winding machine fixing seat, an adhesive tape arranged on the adhesive tape fixing shaft and a wire slot for inserting and moving a wire harness, wherein the wire slot is positioned at a circular position of the driving rotor and integrally formed with the driving rotor.
As a preferred embodiment 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 tape winding 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, and after the PLC master controller receives the task information, the information is sent to the corresponding PLC sub-controllers, and the corresponding PLC sub-controllers control the corresponding robots to carry out tape winding operation.
As a preferable mode of the control method of the high-efficiency wire harness taping station of the present invention, wherein: the control method of the real-time self-tuning system for the processing parameters is further included, and the control method is specifically as follows:
when the processing parameters receive information from the setting system in real time, firstly judging whether the processing parameters are task information, if yes, sending the processing parameters to a PLC (programmable logic controller) master controller, and the PLC master controller sequentially controls a PLC sub-controller and a robot to carry out tape winding operation, simultaneously carries out real-time information collection of the robot operation and feeds the real-time information back to the system; if not, the description information is feedback information, and the feedback information is analyzed:
judging whether the rotating speed of the driving motor is within an error allowable range, if not, correcting parameters, sending 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 the error allowable range, if not, correcting parameters, and sending corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, performing the next step;
judging whether the tape interval is within the error allowable range, if not, correcting the parameters, and sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, performing 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), and if so, ending the program.
As a preferable mode of the control method of the high-efficiency wire harness taping station of the present invention, wherein: the control method of the fault self-detection system is also included, and specifically comprises the following steps:
the fault self-detection system firstly judges whether the frequency of parameter correction exceeds the regulation, if not, the system works normally, and the system is ended; if yes, the system is indicated to have faults, and the faults are analyzed:
judging whether the correction frequency of the rotating speed of the driving motor exceeds the regulation, 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 regulation, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the adhesive tape interval exceeds the regulation, 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 regulation, and if so, sending a fault signal.
As a preferable mode of the control method of the high-efficiency wire harness taping station of the present invention, wherein: the corresponding PLC sub-controllers control the corresponding robots to perform tape winding operation, further, the tape winding operation comprises tape winding operation and tape cutting operation, on the machine body, the rear motor controls the rear mechanical arm to operate, and the front motor controls the front mechanical arm to operate, so that the tape winding operation of the wire harness in the wire slot is performed; on the winding machine component, a driving motor drives a cutting knife edge to work through a driving rotor and is used for cutting off the wound adhesive tape.
The invention has the beneficial effects that: according to the workstation disclosed by the invention, the control system controls the corresponding robot to wind the adhesive tape through the PLC master controller, so that the intelligent mode of winding the adhesive tape is achieved, the complex manual adhesive tape winding work is not needed, a great amount of manpower is saved, the time for workers to independently train and learn new project drawings is avoided, the workstation disclosed by the invention can continuously operate, the efficiency is higher, the quality of each product is consistent, and the quality control can be well performed; in addition, the real-time self-tuning system for the processing parameters provides higher reliability for the wire harness tape winding work, the fault self-detection system realizes intelligent fault detection, manual detection is not needed, and a large amount of time and labor are saved. In summary, the workstation provided by the invention is intelligent, efficient, stable and safe, and realizes continuous tape winding operation on the wire harness.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. 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 a robot structure according to the present invention;
FIG. 3 is a schematic view of the structure of the winding machine 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 workflow diagram of a real-time self-tuning system for process parameters according to the present invention;
FIG. 6 is a schematic diagram of a modular construction of the fault self-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.
Reference numerals in the drawings: 1. a winder assembly; 2. a winding machine 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 fixing seat; 10. a winding machine fixing seat; 11. driving a rotor; 12. a driving motor; 13. cutting off the knife edge; 14. a wire slot; 15. a tape fixing shaft; 16. an adhesive tape; 101. the processing parameter real-time self-setting system; 1011. a first acquisition unit; 1012. a first judgment unit; 1013. a parameter correction 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.
Description of the embodiments
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
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 other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be 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, in an embodiment of the present invention, a high-efficiency wire harness taping workstation is provided, which comprises a control system, a robot, a real-time self-tuning system 101 for processing parameters, and a fault self-detection system 201; the intelligent type automatic tape winding device has the advantages that the intelligent type tape winding device is used for winding the adhesive tape, a large amount of manpower is saved, continuous operation can be realized, the efficiency is improved, quality control can be well carried out, in addition, the intelligent type automatic tape winding device has the advantages that the real-time self-setting and fault self-detection system for processing parameters is provided, parameter setting in processing work can be carried out in real time, higher reliability is provided for wire harness tape winding work, manual detection is not needed, and a good fault analysis effect on the parameters is realized.
The control system is used for receiving tasks and controlling the robot to carry out tape winding operation 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 control method of the specific wire harness tape winding work station comprises the following steps: the MES manufacturing execution system receives task information and sends the task information to the PLC master controller, the PLC master controller sends the information to the corresponding PLC sub-controllers after receiving the task information, the corresponding PLC sub-controllers control the corresponding robots to perform tape winding operation, further, the tape winding operation comprises tape winding operation and tape cutting operation, on a machine body, the rear motor 6 controls the rear mechanical arm 5 to work, the front motor 4 controls the front mechanical arm 3 to work, and the tape winding operation is performed on the wire harness in the wire slot 14; on the winding machine assembly, a driving motor 12 drives a cutting blade 13 to work through a driving rotor 11 and is used for cutting the wound adhesive tape 16.
The robot is used for receiving the instruction of the corresponding PLC sub-controller to perform wire harness 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 machine body includes a robot fixing base 9, a robot base 7 installed on the robot fixing base 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 assembly 1 joint installed at the tail end of the front mechanical arm 3, the winding machine assembly joint 2 is connected with the winding machine assembly 1, and the robot base 7 is fixed on the robot fixing base 9 through bolts 8.
Referring to fig. 3, the winding machine assembly 1 of the present embodiment includes a winding machine fixing base 10 connected to a winding machine assembly joint 2, a driving motor 12 mounted 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 provided on the driving rotor 11, a tape fixing shaft 15 mounted on the winding machine fixing base 10, a tape 16 provided on the tape fixing shaft 15, and a wire slot 14 for inserting and moving a wire harness, the wire slot 14 being located at a circular position of the driving rotor 11 and integrally formed with the driving rotor 11.
Referring to fig. 4, a real-time self-tuning system 101 for processing parameters according to the present embodiment is connected to a robot, and is configured to perform real-time parameter correction and instruct the current processing parameters of the robot when the current processing parameters of the robot deviate from preset parameters and exceed a threshold value, and includes a first acquiring unit 1011, a first judging unit 1012, a parameter correcting unit 1013, and a first transmitting unit 1014; the specific explanation is as follows:
the first acquisition unit 1011 acquires task information of the robot, rotation speed information of the driving motor 12, tape overlapping width information, tape interval information, and winding harness length information;
the first determination unit 1013 determines whether the task information, the driving motor 12 rotation speed information, the tape overlap width information, the tape interval information, and the winding harness length information acquired by the first acquisition unit 1011 satisfy the threshold;
the parameter correction unit corrects the rotation speed parameter, the tape overlapping width parameter, the tape interval parameter and the winding wire harness length parameter of the driving motor 12, the tape overlapping width parameter, the tape interval parameter and the winding wire harness length parameter acquired by the first acquisition unit 1011 in real time;
the first transmitting unit 1014 transmits the information parameters corrected by the parameter correcting unit to the PLC master controller, and the corresponding PLC sub controllers and the corresponding robots;
meanwhile, the processing parameters are obtained from the setting system 101 in real time through the first obtaining unit 1011 to obtain whether the processing parameters are task information of the robot, if yes, the processing parameters are sent to the PLC master controller, and real-time information of the robot work is collected and fed back.
Referring to fig. 5, in order to illustrate a control method of the real-time self-tuning system 101 for machining parameters according to this embodiment, the real-time self-tuning system 101 for machining parameters has the function of self-tuning the machining parameters when the machining parameters of the robot deviate from the set parameters, thereby guaranteeing the reliability of the machining task. The method comprises the following steps:
when the processing parameters receive information from the setting system 101 in real time, firstly judging whether the processing parameters are task information, if yes, sending the processing parameters to a PLC (programmable logic controller) master controller, and the PLC master controller sequentially controls a PLC sub-controller and a robot to carry out tape winding operation, simultaneously carries out real-time information collection of the robot operation and feeds the real-time information back to the system; if not, the description information is feedback information, and the feedback information is analyzed:
judging whether the rotating speed of the driving motor is within an error allowable range, if not, correcting parameters, sending 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 the error allowable range, if not, correcting parameters, and sending corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, performing the next step;
judging whether the tape interval is within the error allowable range, if not, correcting the parameters, and sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, performing 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), and if so, ending the program.
Referring to fig. 6, in the present embodiment, the fault self-detecting system 201 is connected to the real-time processing parameter self-tuning system 101, and is configured to automatically and gradually detect a cause of a fault in the system and send a fault signal when a parameter correction frequency of the real-time processing parameter self-tuning system 101 exceeds a threshold value, where the fault self-detecting system 201 includes a second acquiring unit 2011, a second judging unit 2012, and a second sending unit 2013; the specific explanation is as follows:
the second acquiring unit 2011 acquires frequency information of parameter correction of the machining parameter from the setting system 101 in real time, frequency information of correction of the rotation speed of the driving motor 12, frequency information of correction of the overlapping width of the adhesive tape, frequency information of correction of the interval of the adhesive tape, and frequency information of correction of the length of the winding wire harness;
the second judging unit 2012 judges whether the frequency information corrected by the parameter acquired by the second acquiring unit 2011, the frequency information corrected by the rotation speed of the driving motor 12, the frequency information corrected by the tape overlapping width, the frequency information corrected by the tape interval, and the frequency information corrected by the length of the winding harness satisfy the 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 overlap 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 illustrate a control method of the fault self-detecting system 201 according to the present embodiment, when the system frequently performs parameter correction, the fault self-detecting system 201 indicates that a workstation fails, and the fault self-detecting system 201 can automatically detect a cause of the failure of the system and send a fault signal, specifically as follows:
the fault self-detection system 201 firstly judges whether the frequency of parameter correction exceeds the regulation, if not, the system works normally, and the system ends; if yes, the system is indicated to have faults, and the faults are analyzed:
judging whether the correction frequency of the rotating speed of the driving motor exceeds the regulation, 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 regulation, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the adhesive tape interval exceeds the regulation, 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 regulation, and if so, sending a fault signal.
In summary, the control system controls the corresponding robot to wind the adhesive tape through the PLC master controller, so that the intelligent mode of winding the adhesive tape is achieved, complex manual adhesive tape winding work is not needed, a large amount of manpower is saved, the time of workers to independently train and learn new project drawings is avoided, the work station can continuously operate, the efficiency is higher, the quality of each product is consistent, and quality control can be well performed; in addition, the real-time self-tuning system for the processing parameters provides higher reliability for the wire harness tape winding work, the fault self-detection system realizes intelligent fault detection, manual detection is not needed, and a large amount of time and labor are saved. In summary, the workstation provided by the invention is intelligent, efficient, stable and safe, and realizes continuous tape winding operation on the wire harness.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The high-efficiency wire harness tape winding workstation is characterized by comprising a control system, a robot, a real-time self-setting system (101) for processing parameters and a fault self-detection system (201);
the control system is used for receiving tasks and controlling the robot to carry out tape winding operation 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 wire harness 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) of the processing parameters is connected with the robot and is used for carrying out real-time parameter correction on the current processing parameters of the robot and sending out instructions when the current processing parameters of the robot deviate from preset parameters and exceed a threshold value, and the real-time self-tuning system 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 processing parameter real-time self-tuning system (101) and is used for automatically and gradually detecting the cause of the fault of the system when the parameter correction frequency of the processing parameter real-time self-tuning system (101) exceeds a threshold value and sending a fault signal, and the fault self-detection system comprises a second acquisition unit (2011), a second judging unit (2012) and a second sending unit (2013);
the first acquisition unit (1011) acquires task information of the robot, rotation speed information of a driving motor (12), tape overlapping width information, tape interval information, and winding harness length information;
the first judging unit (1012) judges whether the task information, the driving motor (12) rotation speed information, the tape overlapping width information, the tape interval information, and the winding harness length information acquired by the first acquiring unit (1011) satisfy a threshold;
the parameter correction unit (1013) corrects the rotation speed parameter, the tape overlapping width parameter, the tape interval parameter and the winding wire harness length parameter of the driving motor (12) acquired by the first acquisition unit (1011) in real time;
the first transmitting unit (1014) transmits the information parameters corrected by the parameter correcting unit to a PLC master controller, and a corresponding PLC sub controller and a corresponding robot;
the second acquisition unit (2011) acquires frequency information of parameter correction of the machining parameter real-time self-tuning system (101), correction frequency information of rotating speed of the driving motor (12), correction frequency information of overlapping width of the adhesive tape, correction frequency information of adhesive tape interval and correction frequency information of length of the winding wire harness;
the second judging unit (2012) judges whether the frequency information corrected by the parameter acquired by the second acquiring unit (2011), the corrected frequency information of the rotation speed of the driving motor (12), the corrected frequency information of the overlapping width of the adhesive tape, the corrected frequency information of the interval between the adhesive tapes and the corrected frequency information of the length of the winding harness meet a threshold value;
the second transmitting unit (2013) transmits a correction frequency fault signal of the rotation speed of the driving motor (12), 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.
2. The high-efficiency wire harness taping workstation as claimed in claim 1, wherein the processing parameters are obtained from the setting system (101) in real time through the first obtaining unit (1011) whether the processing parameters are task information of the robot, if yes, the processing parameters are sent to the PLC master controller, and real-time information of the robot work is collected and fed back.
3. A high efficiency wire harness taping station as claimed in claim 1, wherein the machine body comprises a robot fixing base (9), a robot base (7) mounted on the robot fixing base (9), a rear motor (6) mounted on the robot base (7), a rear mechanical arm (5) connected with an output shaft of the rear motor (6), a front motor (4) mounted on top of the rear mechanical arm (5), a front mechanical arm (3) connected with an output shaft of the front motor (4), and a winder assembly (1) joint mounted at an end of the front mechanical arm (3), wherein the winder assembly joint (2) is connected with the winder assembly (1);
the winding machine assembly (1) comprises a winding machine fixing seat (10) connected with a winding machine assembly joint (2), a driving motor (12) installed on the winding machine fixing seat (10), a driving rotor (11) connected with an output shaft of the driving motor (12), a cutting edge (13) arranged on the driving rotor (11), an adhesive tape fixing shaft (15) installed on the winding machine fixing seat (10), an adhesive tape (16) arranged on the adhesive 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).
4. A high efficiency harness taping station according to claim 3, wherein the robot base (7) is secured to the robot mount (9) by bolts (8).
5. A control method applied to the high-efficiency wire harness taping workstation as claimed in any one of claims 1 to 4, comprising a control method of a control system, specifically comprising the following steps:
the MES manufacturing execution system receives the task information and sends the task information to the PLC master controller, and after receiving the task information, the PLC master controller sends the task information to the corresponding PLC sub-controllers, and the corresponding PLC sub-controllers control the corresponding robots to carry out tape winding operation.
6. The method for controlling a high-efficiency wire harness taping station as claimed in claim 5, further comprising a method for controlling a real-time self-tuning system (101) of processing parameters, specifically comprising:
when the processing parameters receive information from the setting system (101) in real time, firstly judging whether the processing parameters are task information, if yes, sending the processing parameters to a PLC (programmable logic controller) main controller, and the PLC main controller sequentially controls the PLC sub-controller and the robot to carry out tape winding operation, simultaneously carries out real-time information collection of the robot operation and feeds the real-time information back to the system; if not, the description information is feedback information, and the feedback information is analyzed:
judging whether the rotating speed of the driving motor is within an error allowable range, if not, correcting parameters, sending 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 the error allowable range, if not, correcting parameters, and sending corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, performing the next step;
judging whether the tape interval is within the error allowable range, if not, correcting the parameters, and sending the corrected processing parameters to a PLC (programmable logic controller) master controller, and if so, performing 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), and if so, ending the program.
7. The method for controlling a high efficiency wire harness taping station of claim 6, further comprising a fault self-detection system (201) control method, comprising:
the fault self-detection system (201) firstly judges whether the frequency of parameter correction exceeds the regulation, if not, the system works normally, and the system is ended; if yes, the system is indicated to have faults, and the faults are analyzed:
judging whether the correction frequency of the rotating speed of the driving motor exceeds the regulation, 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 regulation, if so, sending a fault signal, and if not, carrying out the next step;
judging whether the correction frequency of the adhesive tape interval exceeds the regulation, 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 regulation, and if so, sending a fault signal.
8. The control method of the high-efficiency wire harness taping workstation according to claim 5, wherein the corresponding PLC sub-controller controls the corresponding robot to perform taping operation, further, taping operation comprises taping operation and taping operation, on a machine body, a rear motor (6) controls a rear mechanical arm (5) to operate, and a front motor (4) controls a front mechanical arm (3) to operate, so as to perform taping operation on the wire harness in the wire slot (14); on the winding machine component, a driving motor (12) drives a cutting knife edge (13) to work through a driving rotor (11) for cutting off the wound adhesive tape (16).
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| CN202210468721.XA CN114927289B (en) | 2022-04-29 | 2022-04-29 | High-efficiency wire harness tape winding workstation and method thereof |
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| CN202210468721.XA CN114927289B (en) | 2022-04-29 | 2022-04-29 | High-efficiency wire harness tape winding workstation and method thereof |
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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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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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| CN114927289A (en) | 2022-08-19 |
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