CN114952915A - Manipulator, manipulator assembly, robot and method of assembling plug with wire harness - Google Patents

Abstract

The application relates to a manipulator, a manipulator assembly, a robot and a method for assembling a plug with a wire harness. The manipulator comprises a base (21); the wire smoothing assembly (22) is arranged on the base (21), and at least part of the wire smoothing assembly (22) is positioned on one side of the base (21) in the first direction; the clamping piece (23) is arranged on one side, close to the wire smoothing assembly (22), of the base (21) and is positioned on one side, in the second direction, of the wire smoothing assembly (22); wherein the first direction and the second direction are perpendicular. Therefore, when the plug with the wire harness is assembled, the wire smoothing assembly is used for performing wire smoothing operation, so that the plug can accurately reach the position where the clamping piece is located, the clamping piece can accurately clamp the plug, the accuracy of clamping the plug by the clamping piece is improved, and the assembling accuracy and the assembling efficiency of the plug are improved.

Description

Manipulator, manipulator assembly, robot and method of assembling plug with wire harness

technical field

The present application relates to the technical field of wire harness assembly, and in particular, to a manipulator, a manipulator assembly, a robot and a method for assembling a plug with a wire harness.

Background technique

With the development of the electronic and information age, the wire harness industry has been known as the "nerve" and "vessel" of the city, shouldering the supporting functions of the pillar industries of the national economy in all walks of life. Wire harnesses have been used in the fields of automobiles, home appliances, computers, communication equipment, military, and aviation instruments.

There are many types of connector devices used in the wire harness processing industry, the wire harness is thinner, and the assembly accuracy is required to be high. Inserting a plug with a harness into a connector jack is a relatively common operation on an assembly line. At present, an assembly robot is usually used for automatic assembly. Specifically, the camera on the robot first takes pictures and spatial position recognition of the plug with the wire harness, and then grabs the plug with the wire harness according to the recognized position, and finally performs the insertion operation.

However, because the spatial position of the plug with the wire harness is difficult to identify very accurately, and the robot will slightly change the position of the plug after touching the wire harness or the plug, which affects the accuracy of the assembly and is prone to unsuccessful assembly.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a manipulator, a manipulator assembly, a robot and a method for assembling a plug with a wire harness in order to solve the problem that the robot in the conventional technology has low assembly accuracy when assembling a plug with a wire harness.

In a first aspect, the present application provides a manipulator for assembling a plug with a wire harness, the manipulator comprising:

pedestal;

A wire-pulling assembly is disposed on the base, and at least part of the wire-pulling assembly is located on one side of the base in a first direction; the wire-pulling assembly is used for contacting the wire harness along the first direction ;

a clamping piece, which is arranged on the side of the base close to the wire-pulling assembly, and is located on the side of the wire-pulling assembly in the second direction; the clamping piece is used for clamping the wire in the first direction holding the plug; wherein the second direction is perpendicular to the first direction.

The above-mentioned manipulator is provided with a wire-pulling assembly and a clamping member, so that when assembling a plug with a wire harness, the wire-pulling operation is first performed by the wire-pulling assembly, so that the plug can accurately reach the position of the clamping member, so that the clamping member can be clamped. The plug can accurately clamp the plug, which improves the accuracy of clamping the plug by the clamp, thereby improving the assembly accuracy and assembly efficiency of the plug.

In one of the embodiments, the wire-pulling assembly is movably connected to the base in the first direction.

In one of the embodiments, the wire-pulling assembly includes a wire-pulling part, and the wire-pulling part is used for clamping the wire harness;

An elastic member is arranged between the wire-pulling assembly and the base, so that the wire-pulling part moves relative to the base along the first direction.

In one of the embodiments, a side of the thread-stretching portion away from the base is provided with a thread-stretching surface;

In the third direction, a positioning protrusion is provided on one side of the line-stretching surface, and a positioning groove is provided on the other side of the line-stripping surface, and at least part of the outer contour of the positioning protrusion is aligned with the positioning groove. to fit the inner contour;

Wherein, the third direction is perpendicular to the first direction and the second direction.

In one of the embodiments, the base is provided with an assembly cavity extending through the base along the first direction;

The wire-pulling assembly further includes a connector and a fitting, the connector extending along the first direction,

Wherein, some of the connecting pieces pass through the assembling cavity, and both ends of the connecting piece protrude from the assembling cavity; ; The fitting is connected with one end of the connecting piece away from the clamping piece.

In one embodiment, one end of the elastic member is connected to the fitting, and the other end is connected to the fitting cavity.

In one embodiment, the inner wall of the assembly cavity is provided with a first fixing post, the fitting is provided with a second fixing post, one end of the elastic member is connected to the first fixing post, and the The other end of the elastic piece is connected with the second fixing column.

In a second aspect, the present application provides a manipulator assembly including two manipulators of the first aspect.

In the above-mentioned manipulator assembly, when assembling the plug with the wire harness, the wire-pulling assemblies of the two manipulators cooperate with each other to carry out the wire-pulling operation, so that the plug can accurately reach between the two clamping members, so that the clamping member can accurately clamp the plug. Therefore, the accuracy of clamping the plug by the clamping member is improved, and the assembly accuracy and assembly efficiency of the plug are further improved.

In a third aspect, the present application provides a robot, including the manipulator assembly of the second aspect.

In the above-mentioned robot, when assembling the plug with the wire harness, the wire-pulling components of the two manipulators cooperate with each other to carry out the wire-pulling operation, so that the plug can accurately reach between the two clamping members, so that the clamping member can accurately clamp the plug. , the accuracy of clamping the plug by the clamping piece is improved, and the assembly accuracy and assembly efficiency of the plug are further improved.

In a fourth aspect, the present application provides a method for a robot to assemble a plug with a wire harness. The robot of the third aspect is used to assemble the plug with a wire harness. A force sensing sensor is provided on the robot, and the force sensing sensor is used to obtain all The force information of the manipulator components;

The method includes:

Identify the location of the plug with harness;

moving the manipulator assembly to a position surrounding the plug with harness;

controlling the manipulator assembly to close until the force information reaches a first preset threshold in the first direction;

controlling the manipulator assembly to move toward the plug until the force information reaches a second preset threshold in a second direction toward the plug;

The manipulator assembly is controlled to be further closed until the force information reaches a third preset threshold in the first direction.

In the above assembly method, when assembling the plug with the wire harness, the wire-pulling components of the two manipulators cooperate with each other to carry out the wire-pulling and closing operations, and the force information on the manipulator components is obtained in real time during the wire-pulling and closing process. On the one hand, it can accurately reach between the two clamping parts, and on the other hand, it can accurately contact the clamping parts, so that the clamping parts can accurately clamp the plug, improve the accuracy of clamping the plug by the clamping parts, and further improve the Assembly accuracy and assembly efficiency of the plug.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the traditional technology, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or the traditional technology. Obviously, the drawings in the following description are only the For some embodiments of the application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic diagram of a manipulator assembly assembly wiring harness according to an embodiment of the application;

2 is a schematic diagram of another robot assembly assembly wiring harness provided by an embodiment of the application;

3 is a schematic structural diagram of the manipulator in FIG. 1 under a first viewing angle;

FIG. 4 is a schematic structural diagram of the manipulator in FIG. 1 under a second viewing angle;

Fig. 5 is the front view of the manipulator in Fig. 4;

Fig. 6 is the A-direction view of the manipulator in Fig. 5;

Fig. 7 is the sectional view along C-C line of the manipulator in Fig. 6;

Fig. 8 is the B-direction view of the manipulator in Fig. 5;

9 is a cross-sectional view of the manipulator in FIG. 8 along line D-D;

Fig. 10 is the structural representation of the manipulator in Fig. 2;

FIG. 11 is a schematic flowchart of a method for a robot to assemble a plug with a wire harness according to an embodiment of the present application.

Description of reference numbers:

1-Robot assembly; 2-Robot; 21-Base; 211-Assembly cavity; 212-First fixed column; 213-Assembly part; - Positioning protrusion; 2213 - Positioning groove; 222 - Connecting piece; 2221 - Assembly hole; 223 - Assembly part; 224 - Second fixing column; 25- Fastener; 3- Harness.

Detailed ways

In order to make the above objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Back, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the indicated device or Elements must have a particular orientation, be constructed and operate in a particular orientation and are therefore not to be construed as limitations on this application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

In this application, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In this application, unless otherwise expressly stated and defined, a first feature "on" or "under" a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or an intervening element may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for the purpose of illustration only and do not represent the only embodiment.

As used herein, the singular forms "a," "an," and "the/the" can include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "comprising/comprising" or "having" etc. designate the presence of stated features, integers, steps, operations, components, parts or combinations thereof, but do not preclude the presence or addition of one or more Possibilities of other features, integers, steps, operations, components, parts or combinations thereof. Also, in this specification, the term "and/or" includes any and all combinations of the associated listed items.

It should be noted that traditional robots only rely on cameras for visual positioning, and are sensitive to factors such as ambient light, plug color, plug shape, and background color. Even when the above environmental factors are controlled, it is still difficult to accurately identify the spatial position and posture of the plug, which leads to a large error in the relative position and posture of the plug and the end effector of the robot after grasping, which affects subsequent plugs. The success rate of insert operations.

In view of this, the embodiments of the present application provide a robot, a manipulator assembly, and a manipulator, which can improve the assembly accuracy and assembly efficiency of the plug. The robot includes a robotic arm and a robotic arm assembly, wherein the number of robotic arms is two, the robotic arm assembly includes two robotic arms, and the two robotic arms are respectively assembled on the two robotic arms. The robot also includes a camera and a force-sensing sensor, and the camera can be set on the robotic arm for photographing and identifying the spatial position of the wire harness. The force sensing sensor is arranged on the manipulator, and the force sensing sensor can be a multi-dimensional force sensor, which is used to sense the magnitude and direction of the force applied by the manipulator to the wire harness and the plug, so as to avoid damage to the wire harness by the manipulator.

Specifically, as shown in FIG. 1 and FIG. 2 , each manipulator assembly 1 includes two manipulators 2 . When assembling the plug with the wire harness 3 , the two manipulators 2 cooperate with each other to perform wire-stretching and clamping operations. The wire-pulling operation refers to: the wire-pulling assembly 22 moves toward the plug while holding the wire harness 3 .

Referring to FIG. 3 , the manipulator 2 includes a base 21 , a wire-pulling component 22 and a clamping member 23 . The wire-pulling assembly 22 is disposed on the base 21, and at least part of the wire-pulling assembly 22 is located on one side of the base 21 in the first direction a. Before the wire-pulling assembly 22 performs the wire-pulling operation, it first contacts the wire harness along the first direction a, wraps (or surrounds) the wire harness, and then moves toward the direction close to the plug. The clamping member 23 is arranged on the side of the base 21 facing the plug to be clamped, and is located on the side of the wire-pulling assembly 22 in the second direction b; the clamping member 23 is used for clamping the plug in the first direction a . Wherein, the second direction b is perpendicular to the first direction a. In addition, the base 21 is also provided with a mounting part 213, which is used for connecting with the robotic arm, and the robotic arm is used to move the robotic arm 2 to the target position as a whole. For example, the robotic arm can be a 6-axis or 7-axis robotic arm .

It should be noted that, in an embodiment, when the wire-pulling assembly 22 performs the wire-pulling operation on the wire harness along the second direction b, when the wire-pulling assembly 22 is stretched to the end of the wire harness (the end close to the plug), it clamps The end face of the plug 23 and the plug can directly form surface contact, and then the clamping member 23 clamps the plug. In another embodiment, when the wire-pulling assembly 22 performs a wire-pulling operation on the wire harness along the second direction b, when the wire-pulling assembly 22 is stretched to the end of the wire harness, the clamping member 23 can move along the first direction a, The holding member 23 is brought into surface contact with the end face of the plug, and then the holding member 23 holds the plug. In the embodiment of the present application, when the wire-pulling assembly 22 is stretched to the end of the wire harness (closer to the end of the plug), the wire-pulling assembly 22 moves so that the clamping member 23 is in surface contact with the end face of the plug.

Specifically, as shown in FIG. 1 , when assembling the wire harness 3 , the two manipulators 2 first move to an appropriate position, so that the wire harness 3 can be partially wrapped or surrounded by the wire-stretching assembly 22 . Next, the wire-pulling assemblies 22 of the two manipulators 2 are moved relative to each other, so that the two wire-pulling assemblies 22 are closed (closed), so that the wire harness 3 is clamped (held) between the two wire-pulling assemblies 22 . Then, the two manipulators 2 move along the wire harness 3 toward the plug, so that the plug can accurately reach the position of the clamping member 23 . After the manipulator 2 and the end face of the plug form stable surface contact, the two manipulators 2 continue to move toward each other along the first direction a, so that the two clamping members 23 can accurately clamp the plug. The accuracy of clamping the plug by the clamping member 23 is improved, thereby improving the assembly accuracy and assembly efficiency of the plug.

It should be noted that the position and posture of the plug can be corrected with the aid of the force-sensing sensor during the whole process of grasping and drawing the wire, which further ensures that the position and posture of the plug are controllable and eliminates uncertainties in the environment. , which improves the accuracy of clamping the plug by the clamping member 23, thereby improving the assembly efficiency, accuracy and success rate of the plug.

In one of the embodiments, the wire-pulling assembly 22 is movably arranged on the base 21 . In this way, the posture and position of the wire-pulling assembly 22 can be easily adjusted. On the one hand, when the manipulator 2 "picks up" the wire harness, the posture of the wire-sweeping assembly 22 can be adjusted as required according to the position of the wire harness; The position is convenient for the clamping member 23 to be clamped.

Further, the wire-pulling assembly 22 is movably connected to the base 21 in the first direction a, that is, the wire-pulling assembly 22 can move relative to the base 21 in the first direction a. In this way, after the manipulator 2 forms a stable surface contact with the end face of the plug, the bases 21 and the clamping members 23 of the two manipulators 2 move toward each other in the first direction a, and the two wire-pulling assemblies 22 move in directions away from each other. , so that the two clamping members 23 can accurately clamp the plug.

3-9, in one embodiment, in the first direction a, the wire-pulling assembly 22 includes a wire-pulling part 221, and the wire-pulling part 221 is used for clamping the wire harness. The side of the wire-pulling portion 221 away from the base 21 is provided with a wire-pulling surface 2211 . A side of the clamping member 23 away from the base 21 has a clamping surface 231 .

In this way, the wire-pulling assembly 22 is in contact with the wire harness mainly through the wire-pulling portion 221 during the wire-pulling operation. Further, the wire-pulling portion 221 can be in contact with the wire harness through the wire-pulling surface 2211 . Meanwhile, when the clamping member 23 clamps the plug, the clamping surface 231 is in contact with the plug. It can be understood that the force sensing sensor can be arranged on the wire-stretching surface 2211 . Therefore, in the process of grasping and drawing the wire, the position and posture of the plug can be corrected with the aid of the force sensing sensor, which further ensures that the position and posture of the plug are controllable, eliminates uncertain factors in the environment, and improves the clamping force. The holding member 23 holds the plug with accuracy, thereby improving the assembly accuracy and assembly efficiency of the plug.

In one embodiment, in the third direction c, a positioning protrusion 2212 is provided on one side of the thread-stretching surface 2211, and a positioning groove 2213 is provided on the other side of the thread-stretching surface 2211. At least part of the positioning protrusion 2212 is provided with a positioning groove 2213. The outer contour matches the inner contour of the positioning groove 2213 . Wherein, the third direction c is perpendicular to the first direction a and the second direction b.

In this way, during the closing process of the two wire-pulling assemblies 22, the positioning protrusions 2212 and the positioning grooves 2213 can be fitted with each other to ensure that the two wire-pulling assemblies 22 are closed accurately.

In one embodiment, an elastic member 24 is provided between the wire-pulling assembly 22 and the base 21 , so that the wire-pulling part 221 can move relative to the base 21 in the first direction. Wherein, the elastic force direction of the elastic member 24 can be located in the first direction a, and when the elastic member 24 is contracted or stretched, the wire-pulling portion 221 can be driven to move in the first direction.

In one embodiment, the wire-pulling assembly 22 can be located on the side of the base 21 close to the wire harness, and the elastic member 24 is located between the base 21 and the wire-pulling assembly 22, and one end of the elastic member 24 is connected to the wire-pulling assembly 22. connected, and the other end is connected to the base 21 .

In the embodiment of the present application, as shown in FIGS. 5 , 8 and 9 , the base 21 is provided with an assembly cavity 211 which penetrates through the base 21 along the first direction a, and the wire-pulling assembly 22 passes through the assembly cavity 211 , and Both ends of the wire-pulling assembly 22 protrude from the assembling cavity 211 . An elastic member 24 is provided between one end of the wire-pulling assembly 22 away from the wire-pulling part 221 and the base 21 , so that the wire-pulling assembly 22 can move relative to the base 21 in the first direction a. Specifically, the elastic member 24 extends along the first direction a, and at the same time, the elastic member 24 can be stretched or contracted in the first direction a, so that when the wire-pulling assembly 22 is in contact with the wire harness in the first direction a, it can control the The two manipulators 2 continue to move toward each other, so that when the base 21 and the clamping member 23 continue to move toward the plug, the elastic member 24 is elongated, and the wire-pulling assembly 22 keeps in contact with the wire harness of the plug.

In one of the embodiments, the wire-pulling assembly 22 further includes a connecting piece 222 and a fitting piece 223, and the connecting piece 222 extends along the first direction a. Part of the connecting piece 222 passes through the assembly cavity 211 , and both ends of the connecting piece 222 protrude from the assembly cavity 211 . The fitting part 223 is connected with one end of the connecting part 222 away from the clamping part 23 . In addition, one end of the elastic member 24 is connected to the fitting 223 , and the other end is connected to the fitting cavity 211 .

In this arrangement, the wire-pulling assembly 22 is divided into two parts, on the one hand, the manufacturing difficulty of the wire-pulling assembly 22 is reduced, and on the other hand, the wire-pulling assembly 22 is easy to assemble. Specifically, during assembly, the connector 222 can be assembled first, and then the assembly 223 and the elastic member 24 can be installed at the same time.

It can be understood that, the connecting member 222 may be provided with an assembly hole 2221 , and the fastener 25 passes through the assembly hole 2221 to connect the assembly member 223 and the connecting member 222 . Specifically, the connector 222 may be provided with a plurality of mounting holes 2221, and the plurality of mounting holes 2221 are arranged at intervals along the first direction a. In this way, when the fitting 223 is connected to different fitting holes 2221, the relative positions of the wire-pulling part 221 and the clamping member 23 (or the base 21) are different, so that the wire-pulling assembly 22 can be adjusted according to the specifications of different plugs. position, and improve the application versatility of the manipulator 2.

In one embodiment, the inner wall of the assembly cavity 211 is provided with a first fixing post 212, the fitting 223 is provided with a second fixing post 224, one end of the elastic member 24 is connected to the first fixing post 212, and the elastic member 24 is The other end is connected to the second fixing post 224 . In the embodiment of the present application, both the first fixing column 212 and the second fixing column 224 are bolts. The base 21 is provided with a first fastening hole (not shown), and the first fixing post 212 penetrates through the first fastening hole from the outside of the base 21 . The fitting 223 is provided with a second fastening hole (not shown), and the second fixing post 224 is inserted through the second fastening hole from the top of the fitting 223 .

In the embodiment of the present application, two different wire-pulling assemblies 22 are provided.

Referring to FIGS. 3-9 , the positioning protrusion 2212 of the first type of wire drawing assembly 22 is a cylinder, the end of the positioning protrusion 2212 is a sphere, and the positioning groove 2213 is a spherical groove. In this way, after the positioning protrusions 2212 and the positioning grooves 2213 are fitted, it can be ensured that the two wire-pulling assemblies 22 can be in a predetermined closed position in the first direction a, the second direction b and the third direction c, ensuring that the two The wire-pulling assembly 22 is fully closed.

Referring to FIGS. 2 and 10 , the positioning protrusion 2212 of the second type of wire-pulling assembly 22 is a triangular structure, and the positioning groove 2213 is formed by two triangular structures. The outer surface of the triangular structure in the third direction c is a plane, and the inner surface is an inclined plane, so that when "picking up" the wire harness, the outer surface can fit the table on which the wire harness is placed, and the wire harness is "shoveled" up, The wire harness can be slid along the inner surface to the wire drawing surface 2211.

Embodiments of the present application also provide a method for a robot to assemble a plug with a wire harness. The method adopts the above-mentioned robot to assemble a plug with a wire harness.

Referring to Figure 11, the method includes:

S100: Identify the location of the plug with harness. Specifically, the robot can initially position the plug with the wire harness through the camera.

S200: Move the robot assembly to a position that surrounds the plug with harness. Referring to FIG. 1 , the manipulator 2 moves to the position where the wire harness is located, and the moving manipulator 2 "picks up" the wire harness to surround the wire harness.

S300: Control the manipulator assembly to close until the force information in the first direction reaches a first preset threshold. Among them, the two manipulators 2 are "closed", the two wire-sweeping assemblies 22 are closed, and the wire harness is located between the two wire-sweeping assemblies 22 . The first preset threshold may be the force on the wire harness. When the force information reaches the first preset threshold, it indicates that the wire-stretching assembly 22 is in contact with the wire harness.

S400: Control the manipulator assembly to move toward the plug until the force information reaches a second preset threshold in the second direction toward the plug. When the force information reaches the second preset threshold, it indicates that the end face of the plug is in surface contact with the gripper 23 of the manipulator. Wherein, when the other end of the wire harness is fixed, after the wire-pulling portion 221 forms stable surface contact with the end face of the plug, the posture of the plug in the two rotational degrees of freedom directions has been corrected due to the stable surface contact, and force transmission is formed. In addition, the force-sensing sensor on the robot can detect the magnitude of the force in the opposite direction of the stroke as a determination of whether a stable surface contact is formed.

S500: Control the manipulator assembly to be further closed until the force information in the first direction reaches a third preset threshold. Specifically, the wire-pulling assemblies 22 of the two manipulators 2 further move toward each other, and when the "close" reaches a certain level, the force information reaches the third preset threshold, indicating that the two clamping members 23 firmly clamp the plug. This closing corrects the attitude of the plug in another rotational degree of freedom. So far, the attitude of the plug (three rotational degrees of freedom) will be completely corrected in the initial state with large uncertainty. Thus, a good foundation is laid for the subsequent insertion operation, that is, the relative posture of the plug and the clamping jaw is completely determined. Finally, the manipulator 2 can be moved to the target position, and the plug can be inserted into the jack to be connected.

It should be noted that the sizes of the first preset threshold, the second preset threshold and the third preset threshold may be determined according to actual conditions. The size of the threshold is not limited.

The robot provided by the embodiment of the present application may be combined with a force sensing sensor, so as to sense and control the force exerted by the manipulator 2 . And, on the one hand, when the spatial position and posture of the plug have great uncertainty, the plug can be grasped; After the operation is completed, the relative position and attitude of the plug and the manipulator 2 can be ensured to be controllable, thereby eliminating uncertain factors in the environment to the greatest extent, and laying a good foundation for the insertion of the plug.

It can be understood that, the solutions provided by the embodiments of the present application can effectively eliminate uncertain factors in the environment. When the spatial position and attitude of the plug are within a certain error range, visual positioning may not be relied on; even if the camera must be used for rough positioning of the object, the solution provided by the embodiments of the present application can further eliminate the need for camera positioning. After positioning, the relative position and posture of the remaining plugs and the manipulator 2 are uncertain, thereby further improving the success rate of the insertion operation.

In the description of this specification, reference to the description of the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that a particular feature, structure, material or feature described in connection with the embodiment or example is included in the present specification in at least one embodiment or example of the application. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features of the above-described embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A manipulator for assembling a plug with a wire harness, comprising:

a base (21);

the wire smoothing assembly (22) is arranged on the base (21), and at least part of the wire smoothing assembly (22) is positioned on one side of the base (21) in the first direction; the wire stroking assembly (22) is used for contacting the wire harness along the first direction;

the clamping piece (23) is arranged on one side, close to the wire smoothing assembly (22), of the base (21) and is positioned on one side, in the second direction, of the wire smoothing assembly (22), and the clamping piece (23) is used for clamping the plug along the first direction; wherein the second direction is perpendicular to the first direction.

2. The manipulator according to claim 1, characterized in that the wire stroking assembly (22) is movably connected to the base (21) in the first direction.

3. The manipulator according to claim 2, characterized in that the wire stroking assembly (22) comprises a stroking part (221), wherein the stroking part (221) is used for clamping the wire harness;

an elastic piece (24) is arranged between the wire stroking assembly (22) and the base (21) so that the wire stroking part (221) moves relative to the base (21) along the first direction.

4. The manipulator according to claim 3, characterized in that the side of the wire smoothing part (221) far away from the base (21) is provided with a wire smoothing surface (2211);

in a third direction, a positioning protrusion (2212) is arranged on one side of the wire stroking surface (2211), a positioning groove (2213) is arranged on the other side of the wire stroking surface (2211), and at least part of the outer contour of the positioning protrusion (2212) is matched with the inner contour of the positioning groove (2213);

wherein the third direction is perpendicular to the first direction and the second direction.

5. The manipulator according to claim 3, characterized in that the base (21) is provided with a fitting cavity (211) penetrating the base (21) in the first direction; the wire stroking assembly (22) further comprises a connector (222) and a fitting (223), the connector (222) extending in the first direction;

wherein, part of the connecting piece (222) penetrates through the assembling cavity (211), and both ends of the connecting piece (222) extend out of the assembling cavity (211); the wire smoothing part (221) is arranged at one end, close to the clamping part (23), of the connecting part (222); the fitting part (223) is connected with one end of the connecting part (222) far away from the clamping part (23).

6. The robot hand according to claim 5, wherein one end of the elastic member (24) is connected to the fitting member (223) and the other end is connected to the fitting cavity (211).

7. The manipulator according to claim 5, wherein a first fixing column (212) is arranged on an inner wall surface of the assembly cavity (211), a second fixing column (224) is arranged on the assembly part (223), one end of the elastic member (24) is connected with the first fixing column (212), and the other end of the elastic member (24) is connected with the second fixing column (224).

8. A manipulator assembly, characterized by comprising two manipulators (2) according to any of claims 1-7.

9. A robot, characterized by comprising a robot arm and a manipulator assembly (1) according to claim 8, said manipulator assembly (1) being arranged on said robot arm.

10. A method for assembling a plug with a wiring harness by a robot, which is characterized in that the robot is adopted to assemble the plug with the wiring harness according to claim 9, and a force sensing sensor is arranged on the robot and used for acquiring stress information of a manipulator assembly (1);

the method comprises the following steps:

identifying a location of the plug with the wiring harness;

moving the robot assembly to a position surrounding the plug of the harness;

controlling the mechanical arm assembly to fold until the stress information reaches a first preset threshold value in the first direction;

controlling the manipulator assembly to move towards the plug until the stress information reaches a second preset threshold in a second direction towards the plug;

and controlling the mechanical arm assembly to be further folded until the stress information reaches a third preset threshold value in the first direction.

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