CN206619854U - A kind of aircraft wire harness automatic wiring machine - Google Patents
A kind of aircraft wire harness automatic wiring machine Download PDFInfo
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- CN206619854U CN206619854U CN201720211315.XU CN201720211315U CN206619854U CN 206619854 U CN206619854 U CN 206619854U CN 201720211315 U CN201720211315 U CN 201720211315U CN 206619854 U CN206619854 U CN 206619854U
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Abstract
The utility model discloses a kind of aircraft wire harness automatic wiring machine, including material storehouse, slide unit, automatic wire feeder, routing machine people, workbench；Workbench is arranged on material storehouse front end, and slide unit is slidably connected on the table, and routing machine people is arranged on slide unit, and automatic wire feeder is arranged on slide unit and docked with material storehouse；Expect that storehouse includes pedestal, charging track, feeding track, tray deck, material storage dish, material storage dish is rotatably connected on pedestal by rotary shaft；The track that feeds is separately fixed on pedestal circumference with feeding track, and tray deck is located above material storage dish and is directly anchored on pedestal, is provided with tray deck on charging cylinder and feeding cylinder, material storage dish and is detachably provided with some bobbin loaders and the slotting disk of column wiring.The utility model can realize the Full-automatic wiring of aircraft wire harness, simple in construction, practical, substantially reduce human cost, improve wiring efficiency and the degree of accuracy.
Description
Technical field
The utility model is related to a kind of automatic wiring machine, and in particular to a kind of aircraft wire harness automatic wiring machine, belongs to aircraft
Equipment field.
Background technology
Domestic Aircraft wire harness is connected up by manually mostly, because cable is numerous on aircraft, and with aircraft function not
Disconnected abundant, the electrical system of aircraft becomes to become increasingly complex, the increasing number of cable on aircraft, and manual routing needs a large amount of people
Power, while need operating personnel to have higher technical capability, it is cumbersome and error-prone.Therefore, it is badly in need of a kind of aircraft wire harness
Full-automatic wiring equipment.
The application for a patent for invention of Application No. 20141023402 discloses a kind of Aircraft Cables bundle conductor automatic routing system
And its wiring method, it is possible to achieve the wiring by machine of aircraft wire harness.There is following subject matter in above-mentioned application：Need by under
All wires of good line are placed in distribution trough, and hand delivery is to robot hand as needed, and aircraft wire harness needs leads
Line species is various, and specification is hundreds and thousands of, and distribution slot space is limited, and above scheme implements extremely difficult, it is also desirable to substantial amounts of
Manual labor；The various latches for needing single latch memory module storage wire to need, make complete machine structure complicated, and operation is not
Just；Line robot using three directions of X, Y, Z axis control respectively it is mobile by the way of, the free degree not enough and move it is dumb.
The content of the invention
In order to solve the not enough above of prior art, the utility model provides a kind of aircraft wire harness automatic wiring machine, and it can
It is simple in construction, practical to realize the Full-automatic wiring of aircraft wire harness, substantially reduce human cost, improve wiring efficiency and
The degree of accuracy.
The purpose of this utility model is realized by following scheme, with reference to accompanying drawing：
A kind of aircraft wire harness automatic wiring machine, including material storehouse 1, slide unit 2, automatic wire feeder 3, routing machine people 4, workbench
8；Workbench 8 is arranged on the material front end of storehouse 1, and slide unit 2 is slidably connected on workbench 8, and routing machine people 4 is arranged on slide unit 2, from
Move wire feeder 3 to be arranged on slide unit 2, the automatic rear end of wire feeder 3 is docked with material storehouse 1, material storehouse 1 can be carried out certainly automatic wire feeder 3
Dynamic feeding.
Further, the material storehouse 1 includes link 7, pedestal 19, charging track 17, feeding track 18, material storage dish 11,
Pedestal 19 is fixed on link 7, and material storage dish 11 is rotatably connected on pedestal 19 by rotary shaft；Feed track 17 and feeding
Track 18 is separately fixed on the circumference of pedestal 19 and feed track 17 and the angled setting of feeding track 18, feeding track 18
Track outer end docked with the automatic wire feeder 3.
Further, the material storehouse 1 also includes tray deck 21, and tray deck 21 is located at the top of material storage dish 11 and is directly anchored to
On pedestal 19, charging cylinder 12 and feeding cylinder 13, the charging cylinder axis of cylinder 12 and charging track 17 are installed on tray deck 21
Coaxially, the cylinder axis of feeding cylinder 13 and feeding track 18 are coaxial；Some bobbin loaders 14 are detachably installed on the material storage dish 11
Disk 15 is inserted with some column wirings；The cylinder axis front end of charging cylinder 12 and feeding cylinder 13 can be with bobbin loader 14 or column wiring
Insert the clamping of disk 15.
Further, several storings seat 16, the bobbin loader 14 and column wiring are evenly equipped with the circumference of material storage dish 11
Insert disk 15 to be slidably mounted on corresponding storing seat 16, storing seat 16, charging track 17 and the height of feeding track 18 are concordant, charging
The track of track 17 and feeding track 18 is inner can be docked with corresponding storing seat 16.
Further, the bobbin loader 14 includes bobbin loader fixed seat 141, bobbin 142, card line mechanism 146, bobbin 142
It is fixed in bobbin loader fixed seat 141, card line mechanism 146 is fixed on the outside of bobbin loader fixed seat 141.
Further, the card line mechanism 146 include card line mechanism supports frame 1461, take-up mouthfuls 1462, tell line mouthful 1463,
Line clamped block 1464, card line mechanism supports frame 1461 is fixed on the bottom plate of bobbin loader fixed seat 141, is told line mouthful 1463 and is received
Line mouthful 1462 is separately positioned on the rear and front end of card line mechanism supports frame 1461, and line clamped block 1464, which is arranged on, tells line mouthful 1463 and take-up
On card line mechanism supports frame 1461 between mouth 1462.
Further, the automatic wire feeder 3 includes wire feeder track and is fixed on the line sending of wire feeder rail end
Mechanism, wire feeder track is docked with the material storehouse 1；Wire agency includes Wire Wheel 301, Wire Wheel motor 302, fixed mount
303rd, limited block 304, sanction line knife 305, sanction line knife rest 306, wire agency base 307, wire agency base 307 are fixed on line sending
Device rail end, Wire Wheel 301 is two groups, and two groups of Wire Wheels are symmetricly set on wire agency base 307, and two groups of Wire Wheels
It can be slided respectively by cylinder drives edge wire agency base 307 to both sides folding, every group of Wire Wheel passes through a line sending wheel driving
The dynamic driving of motor 302 rotation；Fixed mount 303 is arranged on Wire Wheel front end, and the top of fixed mount 303 is provided with telescopic limited block
304；A pair of sanction line knife rests 306 are fixed on the front end of fixed mount 303, and cutting out line knife rest 306 can slide under cylinder driving to folding, cut out
Line knife 305 is fixed on the inner side of sanction line knife rest 306, and two cutting edges are respectively fixed on one and cut out on line knife rest 306.
Further, the routing machine people 4 includes the sixdegree-of-freedom simulation being fixed on slide unit 2 and installed in six
The manipulator 5 of degree-of-freedom manipulator end；Manipulator 5 includes cloth the end of a thread 501, gripping head 505, switching mechanism 506, conversion driving
Motor 507, cloth the end of a thread 501 and gripping head 505 are separately fixed in switching mechanism 506 and position is mutually perpendicular to, conversion driving electricity
Machine 507 is used to drive switching mechanism 506 to rotate.
Further, aircraft wire harness automatic wiring machine also include optics wire size identification and meter counter 6, optics wire size identification and
Meter counter 6 is arranged on slide unit 2 and positioned at the automatic front of wire feeder 3.
The utility model has advantages below：
1. the utility model use integrated form material storehouse, can will the cable of a large amount of different wire size specifications and wiring needed for it is various
Wire harness is stored entirely in material storehouse, and automatic push correspondence drum or terminal are needed according to wiring, easy to operate, helps realize entirely certainly
Dynamic wiring；And material storage dish is turntable structure, saves space, additionally provides charging and feeding track, is easy to operating personnel's feeding
The need for meeting routing machine self-feeding simultaneously.
2. the utility model is designed using slide unit, routing machine people, automatic wire feeder, optics wire size are recognized and note rice device
It is installed on slide unit, integrated level is high, simple in construction, convenient and practical.
3. the utility model is coordinated using sixdegree-of-freedom simulation and multifunction manipulator, wiring is flexible, and Multi Role Aircraft
Tool hand be related to can by feeding, be routed through the completion of manipulator, simplify structure.
4. the card line mechanism of the utility model design and the wire agency coordinated with it, can be achieved the automatic line sending of machine, and
Delicate structure, line sending effect is good.
, can be according to the work of routing path free splicing suitable dimension 5. utility model works platform uses splicing construction
Platform.
Brief description of the drawings
Fig. 1 is the utility model aircraft wire harness automatic wiring machine axonometric drawing；
Fig. 2 is material storehouse axonometric drawing；
Fig. 3 is material storehouse front view；
Fig. 4 is the storing loader mechanism axonometric drawing in material storehouse；
Fig. 5 is storing loader mechanism front sectional view；
Fig. 6 is storing seat axonometric drawing；
Fig. 7 is charging track axonometric drawing；
Fig. 8 is feeding track axonometric drawing；
Fig. 9 is bobbin loader axonometric drawing；
Figure 10 is bobbin loader axonometric drawing；
Figure 11 is card line mechanism axonometric drawing；
Figure 12 is wire agency first state axonometric drawing；
Figure 13 is wire agency first state front view；
Figure 14 is wire agency first state top view；
Figure 15 is wire agency the second state axonometric drawing；
Figure 16 is wire agency the second state top view；
Figure 17 is wire agency third state axonometric drawing；
Figure 18 is wire agency third state front view；
Figure 19 is wire agency third state top view；
Figure 20 is manipulator axonometric drawing；
Figure 21 is manipulator front view；
In figure：
1- expects storehouse, 2- slide units, the automatic wire feeders of 3-, 4- routing machine people, 5- manipulators, the identification of 6- optics wire size and note rice
Device, 7- links, 8- workbench；
11- material storage dishes, 12- charging cylinders, 13- feeding cylinders, 14- bobbin loaders, 15- column wirings insert disk, 16- storings,
17- charging tracks, 18- feeding tracks, 19- pedestals, 20- air cylinder supports, 21- tray decks, 22- pinch plates；
141- bobbin loader fixed seats, 142- bobbins, 143- claws, 144- sliding blocks, 145- spring spacing mechanisms, 146- cards
Line mechanism；1461- card line mechanism supports framves, 1462- take-ups mouthful, 1463- Tu Xiankou, 1464- line clamped blocks, 1465- cable-through holes；
301- Wire Wheels, 302- Wire Wheel motors, 303- fixed mounts, 304- limited blocks, 305- cuts out line knife, and 306- is cut out
Line knife rest；
501- cloth the end of a thread, 502- incoming lines, 503- cable tray, 504- line outlets, 505- gripping heads, 506- interpreters
Structure, 507- conversion motors, 508- video cameras, 509- gripping pawls.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is discussed in detail：
As shown in figure 1, a kind of aircraft wire harness automatic wiring machine, including material storehouse 1, slide unit 2, automatic wire feeder 3, routing machine
Device people 4, the identification of optics wire size and meter counter 6, workbench 8, host computer.Workbench 8 is arranged on the material front end of storehouse 1, and slide unit 2, which is slided, to be connected
It is connected on workbench 8, it can be on the table top of workbench 8 along the slip of the slide rail of workbench 8, and routing machine people 4 is arranged on slide unit 2,
Routing machine people 4 is made up of sixdegree-of-freedom simulation and manipulator 5, and automatic wire feeder 3 is arranged on slide unit 2, automatic wire feeder 3
Rear end is with expecting that the feeding track 16 in storehouse 1 is docked, and the identification of optics wire size and meter counter 6 are arranged on slide unit 2 and positioned at automatic line sending
The front of device 3.
As shown in Figures 2 to 6, material storehouse 1 includes link 7, the storing loader mechanism being fixed on link 7, is arranged on
Bobbin loader 14, column wiring on storing loader mechanism are inserted disk 15, charging cylinder 12, feeding cylinder 13, charging track 17 and sent
Expect track 18.As shown in Figure 5, Figure 6, storing loader mechanism be rotary-disk type structure, including pedestal 19, charging track 17, feeding rail
Road 18, material storage dish 11, storing seat 16, tray deck 21, air cylinder support 20；Wherein, pedestal 19 is fixed on link 7, material storage dish
11 are rotatably connected on pedestal 19 by rotary shaft, and rotary shaft is driven by motor, and storing seat 16, which is evenly arranged in material storage dish 11, to be justified
Zhou Shang, tray deck 21 is located at the top of material storage dish 11 and is directly anchored on pedestal 19, makes tray deck 21 not with 11 turns of material storage dish
Dynamic, two air cylinder supports 20 are mutually perpendicular to be fixed on tray deck 21.Charging track 17 is separately fixed at base with feeding track 18
It is coaxial with an air cylinder support 20 respectively on 19 circumference of seat and charging track 17 and the angle in 90 ° of feeding track 18 are distributed.Feeding
Docked with automatic wire feeder 3 the track outer end of track 18；The 17 grades of feeding tracks 18 of track that feed are highly identical, with being fixed on storage
The height of storing seat 16 on charging tray 11 is concordant, makes track the inner of charging track 17 and feeding track 18 can be with corresponding storage
Material seat 16 is docked.
As shown in Figures 2 to 4, according to practical wiring needs, by a number of bobbin loader 14 and a number of wiring
Post is inserted disk 15 and is arranged on material storage dish 11；Bobbin loader 14 is used to install drum, and column wiring, which inserts disk 15, to be used for required for placement wiring
Cable source fixed column, wrapping post and cable source tail fixed column etc..Charging cylinder 12 and feeding cylinder 13 are separately fixed at one
On individual air cylinder support 20, the charging cylinder axis of cylinder 12 and charging track 17 are coaxial, the cylinder axis of feeding cylinder 13 and feeding track 18
Coaxially, the cylinder axis front end of charging cylinder 12 and feeding cylinder 13 is respectively and fixedly provided with bayonet socket plate, for being inserted with bobbin loader or column wiring
The clamping of disk 15.
As shown in fig. 7, storing seat 16 is slide rail type structure, including the track that is slidably connected for bobbin loader 14 and positioned at rail
The spacing interface arrangment of road end.As shown in figure 8, charging track 17 includes support base and the track being fixed on support base
Body, track body outer end is fixed with baffle plate.As shown in figure 9, feeding track 18 includes support base and is fixed on support base
On sliding rail, sliding rail two ends respectively with storing seat 16 track and the line sending orbital docking of automatic wire feeder 3, make line
Plate rail 14 can slide into automatic wire feeder 3 from material storage dish 16.
As shown in Figure 10, Figure 11, bobbin loader 14 include bobbin loader fixed seat 141, bobbin 142, claw 143, sliding block 144,
Spring spacing mechanism 145, card line mechanism 146 and bayonet socket 147.Wherein, bobbin 142 is fixed on the riser of bobbin loader fixed seat 141
On, the front end stationary jaw 143 of bobbin 142, sliding block 144 is fixed on below the bottom plate of bobbin loader fixed seat 141, spring spacing mechanism
145 are arranged on bottom plate, and card line mechanism 146 is fixed on plate outer side, and bayonet socket 147 is fixed on bottom plate medial end, for dress
Expect the bayonet socket plate connection on cylinder or feeding cylinder.Drum is enclosed on bobbin 142 and spacing by claw 143, cable head from
Card line mechanism 146 is passed, and bobbin loader 14 is connected by sliding block 144 with storing seat 16.
As shown in figure 12, card line mechanism 146 includes card line mechanism supports frame 1461, take-up mouthful 1462, tells line mouthful 1463, card
Line block 1464, cable-through hole 1465.Card line mechanism supports frame 1461 is bolted on the bottom plate of bobbin loader fixed seat 141, is told
Line mouthful 1463 and take-up mouthful 1462 are separately positioned on the rear and front end of card line mechanism supports frame 1461, are telling line mouthful 1463 and take-up mouthful
Also the cable on cable-through hole 1465, drum is set to be penetrated from take-up mouthful 1462 by dividing plate between 1462, by cable-through hole 1465
Pass afterwards from telling line mouthfuls 1463, cable-through hole 1465 can prevent cable from loosening；Line clamped block 1464, which is arranged on, tells line mouthful 1463 and take-up
On card line mechanism supports frame 1461 between mouth 1462, line clamped block 1464 is spring structure, can be with respect to card line mechanism supports frame
1461 clampings or ejection, when line clamped block 1464 is ejected with respect to card line mechanism supports frame 1461, can block and be through Tu Xiankou
Cable between 1463 and take-up mouthful 1462.
Material storehouse 1 operation principle be：
A number of bobbin loader 14 and column wiring are inserted into disk 15 in advance to be mounted respectively on material storage dish 11.During charging, behaviour
Make personnel station in charging track 17 side, motor driving material storage dish 11 turns to correct position, and feeding cylinder 12 forward extends out gas
Cylinder shaft, makes the bayonet socket plate of the front end of feeding cylinder 12 and the bayonet socket clamping of the rear end of bobbin loader 14, further by the bobbin loader after clamping
14 push to charging track 17 until side shield is spacing to bobbin loader 14 outside charging track by storing seat 16；Operator will wind line
The drum of cable is assembled on the bobbin 142 of bobbin loader 14, and cable knob is passed through into card line mechanism 146；After drum is installed, dress
Material cylinder 12 withdraws cylinder axis backward, drives bobbin loader 14 back to slide into storing seat 16 along charging track, is stored up when returning to original position
The spacing interface arrangment of material seat 16 carries out spacing, the cylinder axis of feeding cylinder 12 continuation withdrawal to bobbin loader 14, makes the bayonet socket of front end
Plate departs from bobbin loader 14, completes drum feeding.The feeding principle and bobbin loader of column wiring are essentially identical, and rotating material storage dish 11 is
Column wiring inserts disk 15 just to charging cylinder 12, and column wiring is inserted disk 15 and pushes to charging track by charging cylinder 12, operator according to
Need to insert various column wirings insertion column wiring after disk 15, the charging traction column wiring of cylinder 12 is inserted disk 15 and returned in original position, completion
Material.When connecting up feeding, motor driving material storage dish 11 is rotated, and required bobbin loader 14 or column wiring are inserted into disk 15 turns to and feeding
The position that track 18 is docked, has the push bobbin loader 14 of feeding cylinder 13 or column wiring to insert disk 15 and slides into feeding by storing seat 16
Track 18, makes bobbin loader 14 dock the automatic line sending of progress with automatic wire feeder 3, or grips column wiring by manipulator 5, continue into
Row self routing.After the gripping of the line sending or column wiring that complete the drum cable, feeding cylinder 13 is by bobbin loader 14 or connects up
Post inserts disk 15 and retracts material storage dish original position, continues next charging or feeding process.
As shown in figure 1, automatic wire feeder 3 includes wire feeder track and is fixed on the Wire-feeding machine of wire feeder rail end
Structure.Wire feeder track is fixed on slide unit 2, and wire feeder track is docked with the feeding track 18 on the material pedestal 19 of storehouse 1, both tracks
Width is consistent with height.Wire feeder track and expect that the bobbin loader 14 or column wiring in storehouse 1 are inserted disk 15 and coordinated, by bobbin loader 14 or
The slotting disk 15 of column wiring, which slides into, carries out subsequent operation on wire feeder track.Wire agency and the card line mechanism of the front end of bobbin loader 14
146 coordinate, and carry out automatic line sending work.
As shown in figure 13, wire agency includes Wire Wheel 301, Wire Wheel motor 302, fixed mount 303, limited block
304th, cut out line knife 305, cut out line knife rest 306, wire agency base 307.Wire agency base 307 is fixed on slide unit 2 and fixed
In wire feeder rail end.One group two-by-two of 4 Wire Wheels 301, two groups of Wire Wheels are respectively by Wire Wheel support block with wire feeder
Track centerline is that symmetry axis is symmetricly set on Wire Wheel base 307, and two groups of Wire Wheel support blocks can pass through cylinder respectively
Drives edge wire agency base 307 drives the overall folding of two groups of Wire Wheels to two Slideslips, and every group of Wire Wheel passes through one
The driving rotation of Wire Wheel motor 302.Wire Wheel 301 clamps the cable-through hole of card line mechanism 146 under Wire Wheel support block folding
The cable at 1465 two ends, and rotated under the driving of Wire Wheel motor 302 towards wire agency front end, by the cable of clamping forward
End conveying.Fixed mount 303 is arranged on Wire Wheel support block front end, the top of fixed mount 303 provided with can under cylinder driving it is vertical to
The limited block 304 stretched down.Line clamped block 1464 of the limited block 304 just to card line mechanism 146, limited block 304 is extended downwardly from, by card
Line block 1464 is pushed, and line clamped block 1464 is in gripping orientation with respect to card line mechanism supports frame 1461, makes cable can be along card line mechanism 146
Conveying, when limited block 304 is retracted, line clamped block 1464 rebounds upwards, blocks cable.A pair of sanction line knife rests 306 are fixed on fixed mount
303 front ends, and, cutting out line knife rest 306 can slide under cylinder driving to both sides folding, cut out line knife positioned at wire agency foremost
305 are fixed on the inner side top of sanction line knife rest 306, and two cutting edges are respectively fixed on one and cut out on line knife rest 306.Line knife 305 is cut out to be located at
The front of line mouthful 1463 is told by card line mechanism 146, cuts out line knife rest 306 and is closed under cylinder driving, closes 305 liang of cutting edges of sanction line knife
Close, the cable severing that Tu Xiankou is spued.
Wire agency is divided into three working conditions during complete machine self routing：
First state is SBR：As shown in Figure 13 to Figure 17, before automatic line sending or after automatic line sending terminates, two are sent
Line wheel support block, to two Slideslips, separates two groups of Wire Wheels, line sending turbin generator 302 does not work, Wire Wheel under cylinder driving
301 do not rotate, and the limited block 304 on fixed mount 303 is in retracted mode, cut out line knife rest 306 under cylinder driving to two Slideslips,
Open the cutting edge of sanction line knife 305.Bobbin loader 14 slides into end along wire feeder track, now, card line mechanism 146 and wire agency
It is engaged, two groups of Wire Wheels are located at the both sides of card line mechanism 146 respectively, the symmetrical Wire Wheel 301 of each pair just corresponds to cable-through hole
The cable both sides at 1465 two ends, because two groups of Wire Wheels are into separated position, Wire Wheel is not clamped now to cable；Limited block
304 are located at the top of line clamped block 1464 of card line mechanism 146, now extend downwardly from propping up line clamped block 1464 by limited block 304 and push,
Cable can be along the activity of card line mechanism 146；The line mouthful 1463 of telling of card line mechanism 146 is located at the rear end of sanction line knife 305, cuts out the sword of line knife 305
Mouth opens, it is impossible to by cable severing.
Second state is line sending state：As shown in Figure 18 to Figure 21, two Wire Wheel support blocks are inside under cylinder driving
Slideslip, makes Wire Wheel 301 step up the cable at the cable-through hole two ends of card line mechanism 146, and Wire Wheel motor 302 works, driving
Wire Wheel is rotated towards extreme direction before wire agency, and the cable phase front end being clamped in the middle of two groups of Wire Wheels is conveyed；Limited block 304
Still prop up line clamped block 1464 and push clamping, cable can be conveyed along card line mechanism 146；1463, line mouthful is told by card line mechanism 146
In cutting out the rear end of line knife 305, cut out the cutting edge of line knife 305 and open, not severing cable；In this case, do not stop under the drive of Wire Wheel 301
Forward end conveys cable, and the cable transferred out carries out self routing work after being extracted by manipulator 5.
The third state is sanction wire state：When cable wiring work on current drum is completed, automatic line sending need to be stopped：Line sending
Wheel drive motor 302 stops, and Wire Wheel 301 is stopped operating；The inside Slideslip under cylinder driving of line knife rest 306 is cut out, makes sanction
305 liang of cutting edge closures of line knife will tell the cable severing that line mouthful 1463 spues.The line sending work of automatic wire feeder is completed.
Routing machine people 4 includes the sixdegree-of-freedom simulation being fixed on slide unit 2 and installed in sixdegree-of-freedom simulation
The manipulator 5 of end, manipulator 5 include cloth the end of a thread 501, gripping head 505, switching mechanism 506, conversion motor 507 and
Video camera 508.Cloth the end of a thread 501 and gripping head 505 is separately fixed on the bottom surface of switching mechanism 506 and medial surface and position is mutual
Vertically, conversion motor 507 is fixed on switching mechanism lateral surface, and the driving switching mechanism 506 of its drive shaft is rotated, and makes cloth the end of a thread
501 and gripping head 505 can change position as needed；The end of gripping head 505 is provided with Pneumatic clamping pawl 509；Video camera 508 leads to
Cross connecting plate and be fixed on the top of conversion motor 50, positioned at the top of manipulator 5.Cloth the end of a thread 501 is used to extract automatic wire feeder 3
Convey the cable come and connected up on workbench 8, the generally hollow structure of cloth the end of a thread 501, it is cable tray that it is internal
503, the upper end of cable tray 503 thinks that vertical direction is provided with incoming line 502 with it, and the other end of cable tray 503, which is provided with, mouth occurs
504.Gripping head 505 is used to capture the column wirings such as cable source fixed column, wrapping post and the cable source tail fixed column needed for connecting up
And the specified fixing hole for inserting column wiring on workbench 8.Video camera 8 is used to detect the working condition of manipulator.
The course of work of manipulator 5 is：After column wiring, which inserts disk 15, to be pushed to the wire feeder track of automatic wire feeder,
Down, crawl column wiring inserts the cable source fixed column on disk 15 to the gripping head 505 of manipulator 5, as slide unit 2 is moved to work
The top appropriate location of platform 8, gripping head 505 inserts the cable source fixed column of crawl the fixing hole of predeterminated position on workbench
Interior, as slide unit 2 is moved forward, column wiring needed for the crawl the next position of gripping head 505 is placed on precalculated position, unified, crawl
First 505 capture required cable source fixed column, wrapping post or cable source tail fixed column according to the position of slide unit 2 successively and are placed on
The predeterminated position of workbench 8.Column wiring is all placed and finished, the correcting action of slide unit 2, and switching mechanism 506 is by cloth the end of a thread 501
The former position of gripping head 505 is transformed into, if line outlet 504 is down, slide unit 2 is provided with circular hole, and line outlet 504 can be made to insert circular hole
It is interior, until incoming line 502 be directed at the card line mechanism 146 that is connected to automatic wire feeder 3 tell line mouthfuls 1463, cable is from incoming line
502 enter cloth the end of a thread 501, are stretched out after cable tray 503 from line outlet 504, slide unit 2 is moved to the default wiring of the cable
Original position, manipulator start wiring, from line outlet 502 export cable fixed by cable source fixed column, then according to
Default wiring route, bypasses passed through wrapping post successively, completes to reach final position after cabling and is fixed by cable source tail
Post, that is, complete the once wiring of the cable.
As shown in figure 1, introducing the course of work of the present utility model briefly below：
The material feeding of storehouse 1 work is carried out first, and bobbin loader 14 and column wiring are inserted into disk 15 is pre-installed in material storehouse material storage dish 11
On；According to real aircraft harness wiring needs, host computer calculates required cable model, quantity and column wiring type, quantity；
Start feeding, drum and all kinds of column wirings are installed to line by the task that operating personnel assign according to host computer by the track 17 that feeds
Plate rail 14 and column wiring are inserted on disk 15, staff and complete feeding work.
Start wiring, host computer plans the wiring route of wire harness, and specified column wiring is inserted disk 15 according to instruction and pushed away by material storehouse 1
Automatic wire feeder 3 is delivered to, the gripping head 505 of manipulator 5 captures the column wiring specified, and PC control slide unit 2 is by the cloth planned
Line circuit is moved to precalculated position, and column wiring is placed on the relevant position on workbench 8, work by six degree of freedom routing machine people 4
Make the fixing hole that platform 8 is provided with array, for fixed wiring post；Slide unit 2 continues to press circuit forward slip, everywhere pre-determined bit
Put, manipulator just captures required column wiring from automatic wire feeder 3 and is placed into the relevant position of workbench 8, if current column wiring
The column wiring inserted on disk 15 is finished, and slide unit 2 returns to initial position, and current column wiring is inserted disk 15 and withdraw and push by material storehouse 1 comes new
Column wiring insert disk 15, continue to capture and placement process, until completing the placement work of all column wirings.
Slide unit 2 returns to initial position, and column wiring is inserted disk 15 and withdrawn, according to the cloth line of host computer, will loaded by material storehouse
The bobbin loader 14 for having required drum pushes to automatic wire feeder 3, and automatic wire feeder 3 works, and wire agency is in first state and line
Plate rail 14 is docked, subsequently into the second state start convey cable, manipulator 5 by switching mechanism by cloth the end of a thread 501 change to
Working position, cable is exported by cloth the end of a thread 501, and cable is pulled to the identification of optics wire size and metering by six degree of freedom routing machine people 4
Device 6 carries out wire size identification, and host computer plans the wiring route of the cable according to the wire size of identification, and slide unit 2 is moved according to wiring route
Dynamic, manipulator 5 fixes cable by the fixed column clamping of cable source first, with the movement of slide unit 2, and manipulator 5 is by cable
The wrapping post on by-pass is connected up successively, optics wire size identification and the complete monitoring cable of meter counter 6 output length, when to
Up to designated length, wire agency enters third state severing and conveys cable, and manipulator 5 continues to connect up until reaching line termination position
Put and by cable source tail fixed column by cable clamping；Thus the wiring of a cable is completed, slide unit 2 returns to initial position, entered
Enter the wiring circulation of next cable, until all cable wirings are completed, the good marking of cables of cloth is bundled into wire harness, that is, completes wire harness
Self routing process.
Claims (9)
1. a kind of aircraft wire harness automatic wiring machine, it is characterised in that including material storehouse (1), slide unit (2), automatic wire feeder (3), cloth
Line robot (4), workbench (8)；Workbench (8) is arranged on material storehouse (1) front end, and slide unit (2) is slidably connected at workbench (8)
On, routing machine people (4) is arranged on slide unit (2), and automatic wire feeder (3) is arranged on slide unit (2), after automatic wire feeder (3)
End is docked with material storehouse (1), and material storehouse (1) can carry out self-feeding to automatic wire feeder (3).
2. a kind of aircraft wire harness automatic wiring machine as claimed in claim 1, it is characterised in that the material storehouse (1) includes connection
Frame (7), pedestal (19), charging track (17), feeding track (18), material storage dish (11), pedestal (19) are fixed on link (7)
On, material storage dish (11) is rotatably connected on pedestal (19) by rotary shaft；The track (17) that feeds is solid respectively with feeding track (18)
It is scheduled on pedestal (19) circumference and feed track (17) and the angled setting of feeding track (18), the rail of feeding track (18)
Docked with the automatic wire feeder (3) road outer end.
3. a kind of aircraft wire harness automatic wiring machine as claimed in claim 2, it is characterised in that the material storehouse (1) also includes branch
Frame disk (21), tray deck (21) is located above material storage dish (11) and is directly anchored on pedestal (19), is installed on tray deck (21)
There are charging cylinder (12) and feeding cylinder (13), charging cylinder (12) cylinder axis are with feeding track (17) coaxially, feeding cylinder
(13) cylinder axis and feeding track (18) are coaxial；Some bobbin loaders (14) are detachably installed and some on the material storage dish (11)
Column wiring inserts disk (15)；The cylinder axis front end of charging cylinder (12) and feeding cylinder (13) can be with bobbin loader (14) or column wiring
Insert disk (15) clamping.
4. a kind of aircraft wire harness automatic wiring machine as claimed in claim 3, it is characterised in that on material storage dish (11) circumference
Some storing seats (16) are evenly equipped with, the bobbin loader (14) and column wiring insert disk (15) and be slidably mounted on corresponding storing seat (16)
On, storing seat (16), charging track (17) and feeding track (18) height are concordant, charging track (17) and feeding track (18)
Track is inner can be docked with corresponding storing seat (16).
5. a kind of aircraft wire harness automatic wiring machine as claimed in claim 3, it is characterised in that the bobbin loader (14) includes line
Plate rail fixed seat (141), bobbin (142), card line mechanism (146), bobbin (142) are fixed in bobbin loader fixed seat (141), card
Line mechanism (146) is fixed on the outside of bobbin loader fixed seat (141).
6. a kind of aircraft wire harness automatic wiring machine as claimed in claim 5, it is characterised in that card line mechanism (146) bag
Include card line mechanism supports frame (1461), take-up mouthful (1462), Tu Xiankou (1463), line clamped block (1464), card line mechanism supports frame
(1461) it is fixed on bobbin loader fixed seat (141) bottom plate, Tu Xiankou (1463) and take-up mouthful (1462) are separately positioned on
Card line mechanism supports frame (1461) rear and front end, line clamped block (1464) is arranged between Tu Xiankou (1463) and take-up mouthful (1462)
Card line mechanism supports frame (1461) on.
7. a kind of aircraft wire harness automatic wiring machine as claimed in claim 1, it is characterised in that automatic wire feeder (3) bag
Include wire feeder track and be fixed on the wire agency of wire feeder rail end, wire feeder track is docked with the material storehouse (1)；Send
Line mechanism includes Wire Wheel (301), Wire Wheel motor (302), fixed mount (303), limited block (304), sanction line knife
(305) line knife rest (306), wire agency base (307), are cut out, wire agency base (307) is fixed on wire feeder rail end,
Wire Wheel (301) is two groups, and two groups of Wire Wheels are symmetricly set on wire agency base (307), and two groups of Wire Wheels can be distinguished
Slided by cylinder drives edge wire agency base (307) to both sides folding, every group of Wire Wheel passes through a line sending wheel drive electricity
Machine (302) driving rotation；Fixed mount (303), which is arranged at the top of Wire Wheel front end, fixed mount (303), is provided with telescopic limited block
(304)；Cut out line knife rests (306) and be fixed on fixed mount (303) front end for a pair, cutting out line knife rest (306) can be under cylinder driving to opening
Close and slide, cut out line knife (305) and be fixed on the inside of sanction line knife rest (306), two cutting edges are respectively fixed on one and cut out line knife rest (306)
On.
8. a kind of aircraft wire harness automatic wiring machine as claimed in claim 1, it is characterised in that routing machine people (4) bag
Include the sixdegree-of-freedom simulation being fixed on slide unit (2) and the manipulator (5) installed in sixdegree-of-freedom simulation end；Machinery
Hand (5) includes cloth the end of a thread (501), gripping head (505), switching mechanism (506), conversion motor (507), cloth the end of a thread (501)
It is separately fixed at gripping head (505) in switching mechanism (506) and position is mutually perpendicular to, conversion motor (507) is used to drive
Manual converting mechanism (506) is rotated.
9. a kind of aircraft wire harness automatic wiring machine as claimed in claim 1, it is characterised in that also including the identification of optics wire size and
Meter counter (6), the identification of optics wire size and meter counter (6) are arranged on slide unit (2) and in front of automatic wire feeder (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211315.XU CN206619854U (en) | 2017-03-07 | 2017-03-07 | A kind of aircraft wire harness automatic wiring machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211315.XU CN206619854U (en) | 2017-03-07 | 2017-03-07 | A kind of aircraft wire harness automatic wiring machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206619854U true CN206619854U (en) | 2017-11-07 |
Family
ID=60231758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720211315.XU Withdrawn - After Issue CN206619854U (en) | 2017-03-07 | 2017-03-07 | A kind of aircraft wire harness automatic wiring machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206619854U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106711866A (en) * | 2017-03-07 | 2017-05-24 | 长春理工大学 | Automatic wiring machine for airplane wire harness |
| CN107992686A (en) * | 2017-12-06 | 2018-05-04 | 长春理工大学 | A kind of beam path for Full-automatic wiring machine generates system |
| CN109917749A (en) * | 2019-03-29 | 2019-06-21 | 北京理工大学 | The wiring method and device of automatic control |
| CN112498792A (en) * | 2020-12-09 | 2021-03-16 | 无锡瑞进智能工程有限公司 | Wire belt packaging machine capable of rapidly switching consumables |
-
2017
- 2017-03-07 CN CN201720211315.XU patent/CN206619854U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106711866A (en) * | 2017-03-07 | 2017-05-24 | 长春理工大学 | Automatic wiring machine for airplane wire harness |
| CN106711866B (en) * | 2017-03-07 | 2018-05-11 | 长春理工大学 | A kind of aircraft harness automatic wiring machine |
| CN107992686A (en) * | 2017-12-06 | 2018-05-04 | 长春理工大学 | A kind of beam path for Full-automatic wiring machine generates system |
| CN107992686B (en) * | 2017-12-06 | 2021-03-26 | 长春理工大学 | Wire harness path generation system for full-automatic wiring machine |
| CN109917749A (en) * | 2019-03-29 | 2019-06-21 | 北京理工大学 | The wiring method and device of automatic control |
| CN109917749B (en) * | 2019-03-29 | 2020-12-04 | 北京理工大学 | Automatic control wiring method and device |
| CN112498792A (en) * | 2020-12-09 | 2021-03-16 | 无锡瑞进智能工程有限公司 | Wire belt packaging machine capable of rapidly switching consumables |
| CN112498792B (en) * | 2020-12-09 | 2022-08-09 | 无锡瑞进智能工程有限公司 | Wire belt packaging machine capable of rapidly switching consumables |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171107 Effective date of abandoning: 20180511 |