CN212578593U

CN212578593U - Plug wire manipulator and automatic plug wire electrician training device

Info

Publication number: CN212578593U
Application number: CN202022046297.9U
Authority: CN
Inventors: 杨丽; 代克杰; 李鹏飞; 马正森
Original assignee: Pingdingshan University
Current assignee: Pingdingshan University
Priority date: 2020-09-18
Filing date: 2020-09-18
Publication date: 2021-02-23
Anticipated expiration: 2030-09-18

Abstract

The utility model relates to a wire plugging manipulator and an automatic wire plugging electrician training device; an angle control motor of the wire plugging and unplugging manipulator is installed on a bottom plate of a U-shaped fixing frame, a rotating shaft of the angle control motor vertically penetrates out of the center of the bottom plate of the U-shaped fixing frame downwards and then is fixedly connected with the center of a top plate of an inverted U-shaped fixing frame, two wire plugging and unplugging mechanisms are respectively arranged on two side plates of the inverted U-shaped fixing frame, and a wire fixing mechanism is arranged in the middle of the inverted U-shaped fixing frame; the electrician training device with the wire plugging and unplugging manipulator further comprises a rack, wherein a three-dimensional shifting mechanism is arranged on the upper surface of the rack, the wire plugging and unplugging manipulator is mounted on the three-dimensional shifting mechanism, and a wiring board, a standby wiring board and a wire collecting board are further arranged in the middle of the upper surface of the rack; the utility model discloses a plug line action of plug line manipulator is quick accurate, can pull out the electric wire on the wiring board that has inserted individual layer or multilayer electric wire, and the real device of instructing of electrician makes real standard efficiency improve, and the form is various, has improved the real enthusiasm of instructing of student.

Description

Plug wire manipulator and automatic plug wire electrician training device

The technical field is as follows:

the utility model relates to a real device of instructing of plug line manipulator and electrician, in particular to real device of instructing of plug line manipulator and automatic plug line electrician.

(II) background art:

the electronic and electrical profession is a subject with strong practicability, the teaching of the electronic and electrical profession is obviously different from other theoretical teaching, for the electronic and electrical profession, the practical training is the key for learning the subject well, and is an essential link in the electronic and electrical high-grade education, the electronic and electrical profession can exercise the ability of students to design and debug actual circuits and the ability to solve actual problems, so that the students can combine the learned knowledge and practice to become qualified electronic and electrical technical personnel, and the electronic and electrical profession adapts to the needs of various enterprises in the electronic industry for talents. At present, the degree of difficulty of electrician's real standard constantly increases, and is boring tasteless moreover, and the student need constantly plug wire and pull out the line when putting up and demolising the circuit, trains inefficiency, influences student's enthusiasm. The existing practical training device is generally simple in structure, is only provided with a plug board, a plurality of plug wires and other auxiliary tools, and is not suitable for the development requirements of modern teaching.

(III) content of the utility model:

the to-be-solved technical problem of the utility model is: the utility model provides a real device of instructing of plug line manipulator and automatic plug line electrician, this plug line manipulator's plug line action is quick accurate, can pull out the electric wire on the plug board that has inserted single-layer or multilayer electric wire, and real device of instructing of electrician not only makes real efficiency of instructing improve, makes the real form of instructing of electrician various moreover, has improved the real enthusiasm of instructing of student.

The technical scheme of the utility model:

a wire plugging and unplugging manipulator comprises an angle control motor, a U-shaped fixing frame, a reversed U-shaped fixing frame, two wire plugging and unplugging sliding table cylinders, two wire plugging and unplugging clamping jaw cylinder fixing plates, a CCD image sensor, a coaxial light source fixing plate, a rotating cylinder fixing plate, a pen-shaped cylinder fixing plate, a wire fixing sliding table cylinder fixing plate, a wire fixing clamping jaw cylinder and a wire fixing clamping jaw cylinder fixing plate; the CCD image sensor is arranged on the outer wall of one side plate of the U-shaped fixing frame, a shooting port of the CCD image sensor faces downwards vertically, the upper end of a vertically arranged coaxial light source fixing plate is also fixed on the outer wall of one side plate of the U-shaped fixing frame, the coaxial light source is fixed at the lower end of the coaxial light source fixing plate, and the coaxial light source is positioned right below the shooting port of the CCD image sensor; the angle control motor is installed on a bottom plate of the U-shaped fixing frame, a rotating shaft of the angle control motor vertically penetrates out of the center of the bottom plate of the U-shaped fixing frame downwards and then is fixedly connected with the center of a top plate of the inverted U-shaped fixing frame, bases of two wire plugging and unplugging sliding table cylinders are respectively installed on the outer walls of two side plates of the inverted U-shaped fixing frame, sliding tables of the two wire plugging and unplugging sliding table cylinders slide in the vertical direction, bases of the two wire plugging and unplugging clamping jaw cylinders are respectively installed on the sliding tables of the two wire plugging and unplugging sliding table cylinders through two wire plugging and unplugging clamping jaw cylinder fixing plates, and each wire plugging and unplugging clamping jaw cylinder is provided; each pair of plug wire clamping jaws is provided with a diffuse reflection probe, one side of each pair of plug wire clamping jaws is provided with an optical fiber probe, the optical fiber probe is away from the pair of plug wire clamping jaws by a distance, the diffuse reflection probes and the detection ports of the optical fiber probes are all arranged downwards, the heights of the diffuse reflection probes and the detection ports of the optical fiber probes are higher than the height of the lower end surface of the plug wire clamping jaw, and the optical fiber probes are fixed on the plug wire clamping jaw cylinder fixing plates at the sides of the plug wire clamping jaws through optical fiber probe fixing plates; the rotary air cylinder fixing plate is transversely arranged in the middle of the inverted U-shaped fixing frame, two ends of the rotary air cylinder fixing plate are respectively and fixedly connected with the inner walls of two side plates of the inverted U-shaped fixing frame, the base of the rotary air cylinder is arranged on the upper surface of the rotary air cylinder fixing plate, the rotating shaft of the rotary air cylinder vertically penetrates out of the rotary air cylinder fixing plate and then is fixedly connected with the upper surface of the horizontally arranged pen-shaped air cylinder fixing plate, the base of the pen-shaped air cylinder is arranged on the lower surface of the pen-shaped air cylinder fixing plate, the push rod of the pen-shaped air cylinder is vertically arranged, the central line of the push rod of the pen-shaped air cylinder, the central line of the rotating shaft of the rotary air cylinder and the central line of the rotating shaft of the angle control motor are overlapped together, the upper surface of the horizontally arranged line fixing sliding table air cylinder fixing, the sliding table of the wire fixing sliding table cylinder slides in the horizontal direction, the base of the wire fixing clamping jaw cylinder is installed on the sliding table of the wire fixing sliding table cylinder through the wire fixing clamping jaw cylinder fixing plate, a wire fixing clamping jaw extending towards the horizontal direction is installed on the wire fixing clamping jaw cylinder, and the clamping face of the wire fixing clamping jaw is vertically arranged.

The wire plugging and unplugging manipulator further comprises four optical fiber amplifiers, the four optical fiber amplifiers are installed on two sides of a bottom plate of the U-shaped fixing frame through optical fiber amplifier fixing plates, two optical fiber amplifiers are respectively arranged on two sides of the U-shaped fixing frame, and the optical fiber output ends of the two diffuse reflection probes and the optical fiber output ends of the two optical fiber probes are respectively connected with the optical fiber input ends of the four optical fiber amplifiers.

The optical fiber probe fixing plate is an L-shaped plate, the upper end of the L-shaped plate is connected with the plug wire clamp claw cylinder fixing plate, and the optical fiber probe is installed on a horizontal plate at the lower end of the L-shaped plate; antiskid plates are stuck on the clamping surfaces of the wire inserting and pulling clamping jaw and the wire fixing clamping jaw; the line fixing clamping jaw cylinder fixing plate is an inverted L-shaped plate, the upper surface of the inverted L-shaped plate is fixedly connected with a sliding table of a line fixing sliding table cylinder, and a base of the line fixing clamping jaw cylinder is arranged at an inward-folding angle of the inverted L-shaped plate.

The distance between the optical fiber probe on one side of each pair of plug wire clamping jaws and the pair of plug wire clamping jaws is not more than the width of the pair of plug wire clamping jaws in the horizontal direction.

The plug line manipulator adopts plug fastener claw cylinder to snatch of electric wire, adopts plug line slip table cylinder control plug fastener claw cylinder in the removal of vertical direction, adopts angle control motor control manipulator's rotation, utilizes CCD image sensor to gather image information.

An automatic wire plugging and unplugging electric practical training device comprising the wire plugging and unplugging manipulator further comprises a rack, four electric shifting tables moving linearly, a wire plugging plate, a standby wire plate, a wire collecting plate and a control circuit; the four electric shifting tables are respectively: the first electric shifting table, the second electric shifting table, the third electric shifting table and the fourth electric shifting table; two first supports are respectively arranged on the left side and the right side of the upper surface of the rack, a first electric displacement table and a second electric displacement table are respectively arranged on the two first supports, table surfaces of the first electric displacement table and the second electric displacement table are positioned in the same horizontal plane, and moving tracks of the first electric displacement table and the second electric displacement table are parallel to each other and are oppositely arranged; two ends of a moving track of the third electric displacement table are respectively fixed on the table surfaces of the first electric displacement table and the second electric displacement table, and the table surface of the third electric displacement table is vertically arranged; the back of a moving track of the fourth electric displacement table is fixedly connected with the table top of the third electric displacement table, and the moving track of the fourth electric displacement table is vertically arranged; the other side plate of the U-shaped fixing frame in the wire plugging and unplugging manipulator is fixedly connected with the table top of the fourth electric displacement table; the middle part of the upper surface of the rack is provided with three second supports, the wiring board, the standby wiring board and the wire collecting plate are respectively arranged on the three second supports, the wiring board, the standby wiring board and the wire collecting plate are horizontally arranged, and the wiring board, the standby wiring board and the wire collecting plate are all positioned below the wire plugging manipulator; the four electric shifting tables and the wire plugging and unplugging manipulator are connected with a control circuit, and the control circuit is arranged on the rack.

The driving motors in the four electric displacement tables are all stepping driving motors, the strokes of the first electric displacement table and the second electric displacement table are the same, and the moving track of the third electric displacement table is vertical to the moving tracks of the first electric displacement table and the second electric displacement table. The four electric displacement tables are responsible for moving the wire plugging and unplugging manipulator in X, Y, Z three-dimensional space: the first electric shifting table and the second electric shifting table are responsible for movement of the wire plugging and unplugging manipulator in the X direction, the third electric shifting table is responsible for movement of the wire plugging and unplugging manipulator in the Y direction, and the fourth electric shifting table is responsible for movement of the wire plugging and unplugging manipulator in the Z direction.

The driving motor in the fourth electric displacement platform is a stepping driving motor with a brake.

The patch board is provided with N unordered wire holes, the spare wire board and the wire collecting board are respectively provided with M wire holes arranged in a matrix form, the row and column directions of the wire hole matrix formed by the M wire holes are respectively consistent with the moving track directions of the first electric shifting table and the third electric shifting table, and N and M are natural numbers more than or equal to 2.

Before the practical training, the electric wire is manually inserted into the wire hole of the spare wire board, the two ends of the electric wire are provided with plugs, the electric wire is convenient to insert and pull out, the upper portion of each plug is provided with a jack, and the multi-layer plug is convenient to insert.

The rack is a box-type rack, a box door is arranged on the side surface of the rack, and universal wheels are arranged at the bottom of the rack; the control circuit comprises a touch screen display and a motor driver, the touch screen display is connected with a display port of the PLC, a motor control port of the PLC is connected with an angle control motor in the wire plugging and unplugging manipulator and driving motors in the four electric shifting tables through a motor driver, a cylinder control port of the PLC is connected with a wire plugging and unplugging sliding table cylinder, a wire plugging and unplugging clamping claw cylinder, a rotating cylinder, a pen-shaped cylinder, a fixed wire sliding table cylinder and a fixed wire clamping claw cylinder in the wire plugging and unplugging manipulator through the pneumatic element, an image information interface of the PLC is connected with a CCD (charge coupled device) image sensor in the wire plugging and unplugging manipulator, a light source control port of the PLC is connected with a coaxial light source in the wire plugging and unplugging manipulator, and output ends of four optical fiber amplifiers in the wire plugging and unplugging manipulator are respectively connected with four light detection signal input ends of the PLC; the touch screen display is installed on the upper surface of the rack through the display support, the vertical height of the touch screen display can be adjusted, the touch screen display is used for displaying a working interface of control software and performing man-machine interaction, a student can conveniently perform circuit design, and the motor driver, the PLC and the pneumatic element are arranged in the rack.

The universal wheels comprise non-braking universal wheels and braking universal wheels; the frame of frame is the aluminium alloy, and the material of the outer wall of frame is ya keli, and the material of first support is square steel.

The working process of the electrician training device is as follows:

before the electrician training device starts working, wires are manually inserted into wire holes of a spare wire board, plugs at two ends of each wire are respectively inserted into the two wire holes, and all the wires are arranged in a row; during operation, the four electric shifting tables drive the wire plugging and unplugging manipulator to move smoothly in X, Y, Z three-dimensional space, the PLC stores the horizontal position coordinates of the wire plugging and unplugging manipulator according to images of wire holes shot by the CCD image sensor or the wire holes plugged with wires, and then controls the four electric shifting tables, the angle control motor, the two wire plugging and unplugging sliding table cylinders, the two wire plugging and unplugging clamping jaw cylinders, the rotating cylinder, the pen-shaped cylinder, the fixed wire sliding table cylinder and the fixed wire clamping jaw cylinder according to requirements, so that wire taking, wire plugging, wire unplugging and wire rewinding are completed.

When a wire is taken out, the PLC controller controls the four electric shifting tables to drive the wire plugging and unplugging manipulator to move above the spare wire plate, horizontal position coordinates of two ends of the same wire on the spare wire plate are respectively obtained according to images shot by the CCD image sensor, then the PLC controller controls the four electric shifting tables and the angle control motor to enable one wire plugging and unplugging claw cylinder to move right above one end of the wire, the wire plugging and unplugging claw is opened, the sliding table of the wire plugging and unplugging sliding table cylinder moves downwards to enable the wire plugging and unplugging claw to reach the wire, then the wire plugging and unplugging clamping claw is closed to clamp a plug at one end of the wire, then the sliding table of the wire plugging and unplugging sliding table cylinder moves upwards to take out one end of the; and the other wire plugging and unplugging clamping jaw air cylinder moves to the position right above the other end of the wire under the driving of the four electric shifting tables and the angle control motor, and the other end of the wire is taken out to finish the wire taking action.

When a wire is plugged, the PLC controller controls the four electric displacement tables to drive the wire plugging manipulator to move above the wiring board (various components required by building a circuit can be pre-plugged on the wiring board), so that one wire plugging claw cylinder moves right above one wire hole needing the wire plugging, the sliding table of the wire plugging sliding table cylinder moves downwards, a plug at one end of the wire is inserted into the wire hole, then the wire plugging clamping jaw is opened, and the sliding table of the wire plugging sliding table cylinder moves upwards again to complete the insertion of one end of the wire; and then, moving another wire plugging and unplugging claw cylinder to the position right above another wire hole needing wire plugging, and plugging the other end plug of the wire into the another wire hole to finish wire plugging.

Through continuously getting the line, the plug wire, the final completion circuit is built, then, the student just can carry out the debugging experiment of circuit, and the back is accomplished in the experiment, need all pull out the electric wire on the plug wire board and put on receiving the line board to the real use of instructing in the next time, just at this moment need this electrician to instruct the device to carry out wire pulling and receive the line operation.

During the wire drawing, four electronic aversion platforms of PLC controller control drive plug line manipulator and remove to the top of wiring board, then angle control motor is controlled again, make one of them plug line clamp claw cylinder move directly over the one end of the electric wire that needs to be pulled out, plug line clamp claw is opened, the slip table of plug line slip table cylinder moves down, when diffuse reflection probe acquires optical signal, the slip table of plug line slip table cylinder stops the downstream, then plug line clamp claw is closed, press from both sides the plug of tight electric wire one end, divide two kinds of circumstances to handle after that:

if the optical fiber probe detects an optical signal (only one layer of plug is shown), the sliding table of the plugging wire sliding table cylinder moves upwards to the highest position, and one end of the electric wire is pulled out;

if the optical fiber probe can not detect optical signals (at least one layer of plug is arranged below the plug), the PLC controls the rotary cylinder to rotate, controls the push rod of the pen-shaped cylinder to extend, enables the wire fixing clamping jaw to move to one side below the plug, enables the wire fixing clamping jaw to be opened, then enables the sliding table of the wire fixing sliding table cylinder to extend forwards, enables the wire fixing clamping jaw to clamp the adjacent plug below the plug, closes the wire fixing clamping jaw to clamp the adjacent plug below the plug, then enables the sliding table of the wire plugging sliding table cylinder to move upwards to the highest position, and pulls out one end of the electric wire; after one end of the wire is pulled out, the wire fixing clamping jaw is opened, the push rod of the wire fixing sliding table cylinder and the pen-shaped cylinder contracts, and the rotary cylinder is restored to the state before working, so that a wire pulling action is completed; because the adjacent plug below this plug is pressed from both sides tightly to the solidus clamping jaw, can prevent to pull out the plug below this plug when pulling out the line, cause the maloperation.

According to the wire pulling method, the other wire clamping claw pulling cylinder moves to the position right above the other end of the wire under the driving of the four electric shifting tables and the angle control motor, the other end of the wire is taken out, and finally wire pulling is completed.

The wire take-up action is similar to the wire plugging action, and the difference is that the electric wire is plugged into the wire collecting plate, and the details are not described.

The diffuse reflection probe on the wire plugging and unplugging manipulator is used for detecting whether the wire plugging and unplugging clamping jaw moves downwards to an electric wire plug on the wiring board or not, and if the wire plugging and unplugging clamping jaw moves to the electric wire plug on the wiring board, the diffuse reflection probe can acquire an optical signal and then transmits the signal to the PLC; the optical fiber probe is used for sensing the surface of the patch board, and then judges whether the plug of the electric wire plugged on the patch board is single-layer or multi-layer (more than 2 layers), if the plug is multi-layer, the optical fiber probe cannot sense the surface of the patch board, and cannot detect optical signals.

The utility model has the advantages that:

1. the utility model discloses a plug line manipulator adopts two plug line slip table cylinders and two plug line clamp claw cylinders on the both sides of the inverted U-shaped mount to realize the plug of electric wire, adopts CCD image sensor to carry out plug line position detection, and the plug line action is quick accurate; in addition, the wire plugging and unplugging manipulator adopts a rotary cylinder, a pen-shaped cylinder, a wire fixing sliding table cylinder and a wire fixing clamping jaw cylinder in the middle of an inverted U-shaped fixing frame to fix adjacent plugs below wire plugs needing to be unplugged, the situation that the plugs below the plugs needing to be unplugged are also unplugged when multi-layer wires are unplugged can be prevented, misoperation is caused, the wire plugging and unplugging manipulator can not only be used for unplugging wires on a wiring board plugged with single-layer wires, but also be used for unplugging wires on the wiring board plugged with the multi-layer wires, and the wire plugging and unplugging manipulator is very suitable for being used on electrician practical training devices, robots and other equipment.

2. The utility model discloses a plug line work of real standard in-process of electrician is accomplished to four rectilinear movement's electronic aversion platform drive plug line manipulator, and plug line action is accurate, can replace the student to get the line fast accurately, plug wire, pull out the line and receive the line, not only makes real standard efficiency improve, makes the real form of instructing of electrician various moreover, has improved the real enthusiasm of instructing of student.

3. The utility model discloses the bottom of frame is equipped with the universal wheel, removes, convenient to carry.

(IV) description of the drawings:

fig. 1 is a schematic structural view of a wire plugging/unplugging manipulator;

FIG. 2 is a left side view of the structure of FIG. 1;

FIG. 3 is a schematic diagram of the right side view of FIG. 1;

FIG. 4 is a rear view of the structure of FIG. 1;

fig. 5 is a schematic perspective view of a wire plugging/unplugging manipulator;

fig. 6 is an enlarged schematic view of a three-dimensional structure connected between a rotary cylinder, a pen-shaped cylinder, a wire fixing sliding table cylinder and a wire fixing clamping jaw cylinder in the wire plugging and unplugging manipulator;

FIG. 7 is a schematic view of a reduced structure of the automatic plug wire electrician training apparatus;

fig. 8 is an enlarged schematic view of the patch panel of fig. 7.

(V) detailed embodiment:

referring to fig. 1 to 8, in the drawings, the wire plugging and unplugging manipulator includes an angle control motor 11, a U-shaped fixing frame 23, an inverted U-shaped fixing frame 24, two wire plugging and unplugging sliding table cylinders 25, two wire plugging and unplugging clamp claw cylinders 27, two wire plugging and unplugging clamp claw cylinder fixing plates 26, a CCD image sensor 12, a coaxial light source 13, a coaxial light source fixing plate 30, a rotating cylinder 41, a rotating cylinder fixing plate 42, a pen-shaped cylinder 44, a pen-shaped cylinder fixing plate 43, a wire fixing sliding table cylinder 46, a wire fixing sliding table cylinder fixing plate 45, a wire fixing clamping claw cylinder 48 and a wire fixing clamping claw cylinder fixing plate 47; the CCD image sensor 12 is installed on the outer wall of one side plate of the U-shaped fixing frame 23, the shooting port of the CCD image sensor 12 is vertically downward, the upper end of a vertical coaxial light source fixing plate 30 is also fixed on the outer wall of one side plate of the U-shaped fixing frame 23, the coaxial light source 13 is fixed at the lower end of the coaxial light source fixing plate 30, and the coaxial light source 13 is positioned right below the shooting port of the CCD image sensor 12; the angle control motor 11 is installed on a bottom plate of the U-shaped fixing frame 23, a rotating shaft of the angle control motor 11 vertically penetrates out of the center of the bottom plate of the U-shaped fixing frame 23 downwards and then is fixedly connected with the center of a top plate of the inverted U-shaped fixing frame 24, bases of two wire plugging and unplugging sliding table cylinders 25 are respectively installed on the outer walls of two side plates of the inverted U-shaped fixing frame 24, sliding tables of the two wire plugging and unplugging sliding table cylinders 25 slide in the vertical direction, bases of two wire plugging and unplugging clamp claw cylinders 27 are respectively installed on sliding tables of the two wire plugging and unplugging sliding table cylinders 25 through two wire plugging and unplugging clamp claw cylinder fixing plates 26, and each wire plugging and unplugging clamp claw cylinder 27 is provided with; each pair of plug wire clamping jaws 28 is provided with a diffuse reflection probe 40, one side of each pair of plug wire clamping jaws 28 is provided with an optical fiber probe 38, the optical fiber probe 38 is at a distance from the pair of plug wire clamping jaws 28, the detection ports of the diffuse reflection probe 40 and the optical fiber probe 38 are both arranged downwards, the heights of the detection ports of the diffuse reflection probe 40 and the optical fiber probe 38 are both higher than the height of the lower end face of the plug wire clamping jaw 28, and the optical fiber probe 38 is fixed on the plug wire clamping jaw cylinder fixing plate 26 at the side of the pair of plug wire clamping jaws 28 through an optical fiber probe fixing plate 39; a rotary cylinder fixing plate 42 is transversely installed in the middle of the inverted U-shaped fixing frame 24, two ends of the rotary cylinder fixing plate 42 are respectively and fixedly connected with the inner walls of two side plates of the inverted U-shaped fixing frame 24, a base of a rotary cylinder 41 is installed on the upper surface of the rotary cylinder fixing plate 42, a rotating shaft of the rotary cylinder 41 vertically penetrates out of the rotary cylinder fixing plate 42 and then is fixedly connected with the upper surface of a horizontally arranged pen-shaped cylinder fixing plate 43, a base of the pen-shaped cylinder 44 is installed on the lower surface of the pen-shaped cylinder fixing plate 43, a push rod of the pen-shaped cylinder 44 is vertically arranged, the central line of the push rod of the pen-shaped cylinder 44, the central line of the rotating shaft of the rotary cylinder 41 and the central line of the rotating shaft of the angle control motor 11 are superposed together, the upper surface of the horizontally arranged line fixing sliding table cylinder fixing plate 45 is fixedly connected with the lower end of the push rod of the pen-, the sliding table of the wire fixing sliding table cylinder 46 slides in the horizontal direction, the base of the wire fixing clamping jaw cylinder 48 is installed on the sliding table of the wire fixing sliding table cylinder 46 through the wire fixing clamping jaw cylinder fixing plate 47, a wire fixing clamping jaw 49 extending towards the horizontal direction is installed on the wire fixing clamping jaw cylinder 48, and the clamping surface of the wire fixing clamping jaw 49 is vertically arranged.

The wire plugging and unplugging manipulator further comprises four optical fiber amplifiers 51, the four optical fiber amplifiers 51 are mounted on two sides of the bottom plate of the U-shaped fixing frame 23 through optical fiber amplifier fixing plates 52, two optical fiber amplifiers 51 are respectively arranged on two sides of the U-shaped fixing frame 23, and the optical fiber output ends of the two diffuse reflection probes 40 and the two optical fiber probes 38 are respectively connected with the optical fiber input ends of the four optical fiber amplifiers 51.

The optical fiber probe fixing plate 39 is an L-shaped plate, the upper end of the L-shaped plate is connected with the plug wire clamp claw cylinder fixing plate 26, and the optical fiber probe 38 is installed on a horizontal plate at the lower end of the L-shaped plate;

anti-skid plates

29 and 50 are respectively stuck on the clamping surfaces of the wire plugging and unplugging clamping jaws 28 and the wire fixing clamping jaws 49; the line fixing clamping jaw cylinder fixing plate 47 is an inverted L-shaped plate, the upper surface of the inverted L-shaped plate is fixedly connected with a sliding table of the line fixing sliding table cylinder 46, and the base of the line fixing clamping jaw cylinder 48 is arranged at the inner folding angle of the inverted L-shaped plate.

The fiber optic probe 38 on one side of each pair of the pluggable wire clamp jaws 28 is spaced from the pair of pluggable wire clamp jaws 28 by a distance no greater than the width of the pair of pluggable wire clamp jaws 28 in the horizontal direction.

The wire plugging manipulator adopts a wire plugging clamping claw cylinder 27 to grab wires, adopts a wire plugging sliding table cylinder 25 to control the movement of the wire plugging clamping claw cylinder 27 in the vertical direction, adopts an angle control motor 11 to control the rotation of the manipulator, and utilizes a CCD image sensor 12 to acquire image information.

The automatic wire plugging and unplugging electric practical training device comprising the wire plugging and unplugging manipulator further comprises a rack 5, four linearly moving electric shifting tables, a wire plugging plate 7, a wire backup plate 8, a wire take-up plate 9 and a control circuit; the four electric shifting tables are respectively: a first electric shifting table 1, a second electric shifting table 2, a third electric shifting table 3 and a fourth electric shifting table 4; two first supports 6 are respectively arranged on the left side and the right side of the upper surface of the rack 5, the first electric displacement table 1 and the second electric displacement table 2 are respectively arranged on the two first supports 6, table surfaces of the first electric displacement table 1 and the second electric displacement table 2 are positioned in the same horizontal plane, and moving tracks of the first electric displacement table 1 and the second electric displacement table 2 are parallel to each other and are oppositely arranged; two ends of a moving track of the third electric displacement table 3 are respectively fixed on the table surfaces of the first electric displacement table 1 and the second electric displacement table 2, and the table surface of the third electric displacement table 3 is vertically arranged; the back of the moving track of the fourth electric displacement table 4 is fixedly connected with the table top of the third electric displacement table 3, and the moving track of the fourth electric displacement table 4 is vertically arranged; the other side plate of the U-shaped fixing frame 23 in the wire plugging and unplugging manipulator is fixedly connected with the table top of the fourth electric displacement table 4; the middle part of the upper surface of the rack 5 is provided with three second supports 10, the patch board 7, the standby board 8 and the wire collecting plate 9 are respectively installed on the three second supports 10, the patch board 7, the standby board 8 and the wire collecting plate 9 are all horizontally arranged, and the patch board 7, the standby board 8 and the wire collecting plate 9 are all located below the wire plugging manipulator; the four electric shifting tables and the wire plugging and unplugging manipulator are connected with a control circuit, and the control circuit is arranged on the rack 5.

The driving motors in the four electric displacement tables are all stepping driving motors, the strokes of the first electric displacement table 1 and the second electric displacement table 2 are the same, and the moving track of the third electric displacement table 3 is vertical to the moving tracks of the first electric displacement table 1 and the second electric displacement table 2. The four electric displacement tables are responsible for moving the wire plugging and unplugging manipulator in X, Y, Z three-dimensional space: the first electric displacement table 1 and the second electric displacement table 2 are responsible for movement of the wire plugging and unplugging manipulator in the X direction, the third electric displacement table 3 is responsible for movement of the wire plugging and unplugging manipulator in the Y direction, and the fourth electric displacement table 4 is responsible for movement of the wire plugging and unplugging manipulator in the Z direction.

The driving motor in the fourth electric displacement table 4 is a stepping driving motor with a brake.

The patch board 7 is provided with N unordered wire holes 36, the spare wire plate 8 and the take-up wire plate 9 are both provided with M wire holes 36 arranged in a matrix form, the row and column directions of a wire hole matrix formed by the M wire holes 36 are respectively consistent with the moving track directions of the first electric shifting table 1 and the third electric shifting table 3, and both N and M are natural numbers more than or equal to 2.

Before the practical training, the electric wire 22 is manually inserted into the wire hole 36 of the spare wire plate 8, the two ends of the electric wire 22 are provided with the plugs 21, the electric wire is convenient to plug and unplug, and the upper portion of each plug 21 is provided with the jack, so that the multi-layer plug is convenient to plug.

The rack 5 is a box-type rack, a box door 14 is arranged on the side surface of the rack 5, and universal wheels are arranged at the bottom of the rack 5; the control circuit comprises a touch screen display 17 and a motor driver 19, the touch screen display 17 is connected with a display port of the PLC 37, a motor control port of the PLC 37 is connected with an angle control motor 11 in the wire plugging and unplugging manipulator and driving motors in four electric shifting tables through a motor driver 19, a cylinder control port of the PLC 37 is connected with a wire plugging and unplugging sliding table cylinder 25, a wire plugging and unplugging clamping claw cylinder 27, a rotating cylinder 41, a pen-shaped cylinder 44, a wire fixing sliding table cylinder 46 and a wire fixing clamping claw cylinder 48 in the wire plugging and unplugging manipulator through the pneumatic element 20, an image information interface of the PLC 37 is connected with a CCD image sensor 12 in the wire plugging and unplugging manipulator, a light source control port of the PLC 37 is connected with a coaxial light source 13 in the wire plugging and unplugging manipulator, and output ends of four optical fiber amplifiers 51 in the wire plugging and unplugging manipulator are respectively connected with four light detection signal input ends of the PLC 37; the touch screen display 17 is installed on the upper surface of the rack 5 through the display support 18, the vertical height of the touch screen display is adjustable, the touch screen display 17 is used for displaying a working interface of control software and performing man-machine interaction, students can conveniently perform circuit design, and the motor driver 19, the PLC 37 and the pneumatic element 20 are arranged in the rack 5.

The universal wheels comprise a non-braking universal wheel 15 and a braking universal wheel 16; the frame of frame 5's material is the aluminium alloy, and the material of the outer wall of frame 5 is ya keli, and the material of first support 6 is square steel.

The working process of the electrician training device is as follows:

before the electrician training device starts working, the wires 22 are manually inserted into the wire holes 36 of the spare wire board 8, plugs at two ends of each wire 22 are respectively inserted into the two wire holes 36, and all the wires 22 are arranged in a row; during operation, the four electric shifting tables drive the wire plugging manipulator to move smoothly in X, Y, Z three-dimensional space, the PLC 37 stores the horizontal position coordinates of the wire plugging manipulator according to the images of the wire holes 36 or the wire holes inserted with the electric wires 22 shot by the CCD image sensor 12, and then controls the four electric shifting tables, the angle control motor 11, the two wire plugging sliding table cylinders 25, the two wire plugging clamp claw cylinders 27, the rotating cylinder 41, the pen-shaped cylinder 44, the fixed wire sliding table cylinder 46 and the fixed wire clamping claw cylinder 48 according to requirements, so that wire taking, wire plugging and wire collection are completed.

When taking out the wire, the PLC controller 37 controls the four electric shifting tables to drive the wire plugging manipulator to move above the spare wire board 8, and respectively obtains horizontal position coordinates of two ends of the same wire 22 on the spare wire board 8 according to an image shot by the CCD image sensor 12, then the PLC controller 37 controls the four electric shifting tables and the angle control motor 11 to make one wire plugging and unplugging clamping jaw cylinder 27 move right above one end of the wire 22, the wire plugging and unplugging clamping jaw 28 is opened, the sliding table of the wire plugging and unplugging sliding table cylinder 25 moves downwards to make the wire plugging and unplugging clamping jaw 28 reach the wire 22, then the wire plugging and unplugging clamping jaw 28 is closed to clamp the plug 21 at one end of the wire 22, then the sliding table of the wire plugging and unplugging sliding table cylinder 25 moves upwards to take out one end of the wire 22; the other wire clamping claw inserting and extracting cylinder 27 moves to the position right above the other end of the wire 22 under the driving of the four electric shifting tables and the angle control motor 11, and the other end of the wire 22 is taken out to finish the wire taking action.

During plugging, the PLC controller 37 controls the four electric displacement tables to drive the plugging and unplugging manipulator to move above the plug board 7 (various components required for building a circuit can be pre-plugged on the plug board 7), so that one plugging and unplugging clamping jaw cylinder 27 moves right above one wire hole 36 needing plugging, the sliding table of the plugging and unplugging sliding table cylinder 25 moves downwards, the plug 21 at one end of the wire 22 is inserted into the wire hole 36, then the plugging and unplugging clamping jaw 28 is opened, and the sliding table of the plugging and unplugging sliding table cylinder 25 moves upwards again to complete the insertion of one end of the wire 22; then, the other wire insertion/extraction claw cylinder 27 is moved to a position right above the other wire hole 36 to be inserted, and the other end plug 21 of the electric wire 22 is inserted into the other wire hole 36, thereby completing the wire insertion operation.

The circuit is finally built through continuous wire taking and plugging, then students can carry out debugging experiments on the circuit, after the experiments are completed, the wires 22 on the plug board 7 need to be pulled out and placed on the wire take-up plate 9 for next practical training, and at this time, the electrician practical training device needs to be used for wire pulling and wire take-up operations.

During the line drawing, PLC controller 37 controls four electronic aversion platforms and drives plug line manipulator and remove to the top of wiring board 7, then angle control motor 11 is controlled again, make one of them plug line clamp claw cylinder 27 move directly over the one end of the electric wire 22 that needs to be pulled out, plug line clamp claw 28 is opened, plug line slide table cylinder 25's slip table moves down, when acquiring optical signal up to diffuse reflection probe 40, plug line slide table cylinder 25's slip table stops the downstream, then plug line clamp claw 28 is closed, press from both sides the plug 54 of tight electric wire 22 one end, divide two kinds of circumstances to handle after that:

if the optical fiber probe 38 detects an optical signal (only one layer of plug is illustrated), the sliding table of the plugging wire sliding table cylinder 25 moves upwards to the highest position, and one end of the electric wire 22 is pulled out;

if the optical fiber probe 38 can not detect the optical signal (it is explained that there is at least one layer of plug below the plug 54), the PLC controller 37 controls the rotating cylinder 41 to rotate, controls the push rod of the pen-shaped cylinder 44 to extend, so that the wire fixing clamping jaw 49 moves to one side below the plug 54, and opens the wire fixing clamping jaw 49, then the sliding table of the wire fixing sliding table cylinder 46 extends forwards, so that the wire fixing clamping jaw 49 clamps the adjacent plug 53 below the plug 54, the wire fixing clamping jaw 49 closes, and clamps the adjacent plug 53 below the plug 54, and then the sliding table of the wire plugging sliding table cylinder 25 moves upwards to the highest position, and pulls out one end of the electric wire 22; after one end of the electric wire 22 is pulled out, the wire fixing clamping jaw 49 is opened, the push rods of the wire fixing sliding table cylinder 46 and the pen-shaped cylinder 44 are contracted, the rotary cylinder 41 is restored to the state before working, and a wire pulling action is completed; because the wire fixing clamping jaw 49 clamps the adjacent plug 53 below the plug 54, the plug 53 below the plug 54 can be prevented from being pulled out when wires are pulled out, and misoperation can be prevented.

According to the wire drawing method, another wire clamping claw inserting and drawing cylinder 27 moves to the position right above the other end of the wire 22 under the driving of the four electric shifting tables and the angle control motor 11, the other end of the wire 22 is taken out, and finally the wire drawing action is completed.

The wire take-up action is similar to the wire plugging action except that the wire 22 is plugged onto the wire plugging plate 9, which is not described in detail.

The diffuse reflection probe 40 on the wire plugging manipulator is used for detecting whether the wire plugging clamping jaw 28 moves downwards to the wire plug on the wiring board 7, if the wire plugging clamping jaw moves to the wire plug on the wiring board 7, the diffuse reflection probe 40 acquires an optical signal and then transmits the signal to the PLC 37; the optical fiber probe 38 is used for sensing the surface of the patch panel 7, and further determines whether the plug of the electric wire 22 inserted into the patch panel 7 is single-layer or multi-layer (more than 2 layers), and if the plug is multi-layer, the optical fiber probe 38 cannot sense the surface of the patch panel 7, and cannot detect an optical signal.

Claims

1. The utility model provides a plug line manipulator, characterized by: the device comprises an angle control motor, a U-shaped fixing frame, a reversed U-shaped fixing frame, two wire plugging and unplugging sliding table cylinders, two wire plugging and unplugging clamping jaw cylinder fixing plates, a CCD image sensor, a coaxial light source fixing plate, a rotating cylinder fixing plate, a pen-shaped cylinder fixing plate, a wire fixing sliding table cylinder fixing plate, a wire fixing clamping jaw cylinder and a wire fixing clamping jaw cylinder fixing plate; the CCD image sensor is arranged on the outer wall of one side plate of the U-shaped fixing frame, a shooting port of the CCD image sensor faces downwards vertically, the upper end of a vertically arranged coaxial light source fixing plate is also fixed on the outer wall of one side plate of the U-shaped fixing frame, the coaxial light source is fixed at the lower end of the coaxial light source fixing plate, and the coaxial light source is positioned right below the shooting port of the CCD image sensor; the angle control motor is installed on a bottom plate of the U-shaped fixing frame, a rotating shaft of the angle control motor vertically penetrates out of the center of the bottom plate of the U-shaped fixing frame downwards and then is fixedly connected with the center of a top plate of the inverted U-shaped fixing frame, bases of two wire plugging and unplugging sliding table cylinders are respectively installed on the outer walls of two side plates of the inverted U-shaped fixing frame, sliding tables of the two wire plugging and unplugging sliding table cylinders slide in the vertical direction, bases of the two wire plugging and unplugging clamping jaw cylinders are respectively installed on the sliding tables of the two wire plugging and unplugging sliding table cylinders through two wire plugging and unplugging clamping jaw cylinder fixing plates, and each wire plugging and unplugging clamping jaw cylinder is provided; each pair of plug wire clamping jaws is provided with a diffuse reflection probe, one side of each pair of plug wire clamping jaws is provided with an optical fiber probe, the optical fiber probe is away from the pair of plug wire clamping jaws by a distance, the diffuse reflection probes and the detection ports of the optical fiber probes are all arranged downwards, the heights of the diffuse reflection probes and the detection ports of the optical fiber probes are higher than the height of the lower end surface of the plug wire clamping jaw, and the optical fiber probes are fixed on the plug wire clamping jaw cylinder fixing plates at the sides of the plug wire clamping jaws through optical fiber probe fixing plates; the rotary air cylinder fixing plate is transversely arranged in the middle of the inverted U-shaped fixing frame, two ends of the rotary air cylinder fixing plate are respectively and fixedly connected with the inner walls of two side plates of the inverted U-shaped fixing frame, the base of the rotary air cylinder is arranged on the upper surface of the rotary air cylinder fixing plate, the rotating shaft of the rotary air cylinder vertically penetrates out of the rotary air cylinder fixing plate and then is fixedly connected with the upper surface of the horizontally arranged pen-shaped air cylinder fixing plate, the base of the pen-shaped air cylinder is arranged on the lower surface of the pen-shaped air cylinder fixing plate, the push rod of the pen-shaped air cylinder is vertically arranged, the central line of the push rod of the pen-shaped air cylinder, the central line of the rotating shaft of the rotary air cylinder and the central line of the rotating shaft of the angle control motor are overlapped together, the upper surface of the horizontally arranged line fixing sliding table air cylinder fixing, the sliding table of the wire fixing sliding table cylinder slides in the horizontal direction, the base of the wire fixing clamping jaw cylinder is installed on the sliding table of the wire fixing sliding table cylinder through the wire fixing clamping jaw cylinder fixing plate, a wire fixing clamping jaw extending towards the horizontal direction is installed on the wire fixing clamping jaw cylinder, and the clamping face of the wire fixing clamping jaw is vertically arranged.

2. The wire plugging manipulator according to claim 1, wherein: the optical fiber amplifier comprises a U-shaped fixing frame, and is characterized by further comprising four optical fiber amplifiers, wherein the four optical fiber amplifiers are arranged on two sides of the bottom plate of the U-shaped fixing frame through optical fiber amplifier fixing plates, and the optical fiber output ends of the two diffuse reflection probes and the optical fiber output ends of the two optical fiber probes are respectively connected with the optical fiber input ends of the four optical fiber amplifiers.

3. The wire plugging manipulator according to claim 2, wherein: the optical fiber probe fixing plate is an L-shaped plate, the upper end of the L-shaped plate is connected with the plug wire clamp claw cylinder fixing plate, and the optical fiber probe is installed on a horizontal plate at the lower end of the L-shaped plate; antiskid plates are stuck on the clamping surfaces of the wire inserting and pulling clamping jaw and the wire fixing clamping jaw; the line fixing clamping jaw cylinder fixing plate is an inverted L-shaped plate, the upper surface of the inverted L-shaped plate is fixedly connected with a sliding table of a line fixing sliding table cylinder, and a base of the line fixing clamping jaw cylinder is arranged at an inward-folding angle of the inverted L-shaped plate.

4. The wire plugging manipulator according to claim 2, wherein: the distance between the optical fiber probe on one side of each pair of plug wire clamping jaws and the pair of plug wire clamping jaws is not more than the width of the pair of plug wire clamping jaws in the horizontal direction.

5. An automatic wire plugging and unplugging electrician training device comprising the wire plugging and unplugging manipulator of any one of claims 2-4, which is characterized in that: the multifunctional power supply is characterized by also comprising a rack, four electric shifting tables moving linearly, a wiring board, a standby board, a wiring board and a control circuit; the four electric shifting tables are respectively: the first electric shifting table, the second electric shifting table, the third electric shifting table and the fourth electric shifting table; two first supports are respectively arranged on the left side and the right side of the upper surface of the rack, a first electric displacement table and a second electric displacement table are respectively arranged on the two first supports, table surfaces of the first electric displacement table and the second electric displacement table are positioned in the same horizontal plane, and moving tracks of the first electric displacement table and the second electric displacement table are parallel to each other and are oppositely arranged; two ends of a moving track of the third electric displacement table are respectively fixed on the table surfaces of the first electric displacement table and the second electric displacement table, and the table surface of the third electric displacement table is vertically arranged; the back of a moving track of the fourth electric displacement table is fixedly connected with the table top of the third electric displacement table, and the moving track of the fourth electric displacement table is vertically arranged; the other side plate of the U-shaped fixing frame in the wire plugging and unplugging manipulator is fixedly connected with the table top of the fourth electric displacement table; the middle part of the upper surface of the rack is provided with three second supports, the wiring board, the standby wiring board and the wire collecting plate are respectively arranged on the three second supports, the wiring board, the standby wiring board and the wire collecting plate are horizontally arranged, and the wiring board, the standby wiring board and the wire collecting plate are all positioned below the wire plugging manipulator; the four electric shifting tables and the wire plugging and unplugging manipulator are connected with a control circuit, and the control circuit is arranged on the rack.

6. The automatic plug wire electrician training device of claim 5, wherein: the driving motors in the four electric displacement tables are stepping driving motors, the strokes of the first electric displacement table and the second electric displacement table are the same, and the moving track of the third electric displacement table is vertical to the moving tracks of the first electric displacement table and the second electric displacement table.

7. The automatic plug wire electrician training device of claim 6, wherein: and the driving motor in the fourth electric displacement platform is a stepping driving motor with a brake.

8. The automatic plug wire electrician training device of claim 6, wherein: the patch board is provided with N unordered wire holes, the spare wire board and the wire collecting board are respectively provided with M wire holes arranged in a matrix form, the row and column directions of a wire hole matrix formed by the M wire holes are respectively consistent with the moving track directions of the first electric shifting table and the third electric shifting table, and N and M are natural numbers more than or equal to 2.

9. The automatic plug wire electrician training device of claim 5, wherein: the rack is a box-type rack, a box door is arranged on the side surface of the rack, and universal wheels are arranged at the bottom of the rack; the control circuit comprises a touch screen display and a motor driver, the touch screen display is connected with a display port of the PLC, a motor control port of the PLC is connected with an angle control motor in the wire plugging and unplugging manipulator and driving motors in the four electric shifting tables through a motor driver, a cylinder control port of the PLC is connected with a wire plugging and unplugging sliding table cylinder, a wire plugging and unplugging clamping claw cylinder, a rotating cylinder, a pen-shaped cylinder, a fixed wire sliding table cylinder and a fixed wire clamping claw cylinder in the wire plugging and unplugging manipulator through the pneumatic element, an image information interface of the PLC is connected with a CCD (charge coupled device) image sensor in the wire plugging and unplugging manipulator, a light source control port of the PLC is connected with a coaxial light source in the wire plugging and unplugging manipulator, and output ends of four optical fiber amplifiers in the wire plugging and unplugging manipulator are respectively connected with four light detection signal input ends of the PLC; the touch screen display passes through the display support and installs on the upper surface of frame, and motor drive, PLC controller and pneumatic element set up in the frame.

10. The automatic plug wire electrician training device of claim 9, wherein: the universal wheels comprise non-braking universal wheels and braking universal wheels; the frame of frame is the aluminium alloy, and the material of the outer wall of frame is ya keli, and the material of first support is square steel.