KR20240076856A - Collaborative multi robot based automatic process system for assembling and inspecting wiring harness - Google Patents

Abstract

An automated process system based on collaborative multi-robots is provided. A system for assembling and inspecting a wiring harness according to one embodiment, comprising: a table; An assembly plate coupled to the table; A wire magazine that holds the wire; a first collaborative robot including multi-joints capable of picking up the wire from the magazine, placing it on the assembly plate, and performing a taping operation on the wire; and a second collaborative robot including multi-joints capable of picking up the wire strands of the wire, placing them on the assembly plate, and attaching a sponge to the wire. The first collaborative robot and the second collaborative robot include the They can be arranged to face each other with a table in between, so that they do not interfere with each other's movements.

Description

Collaborative multi-robot based automated process system for wiring harness assembly and inspection {COLLABORATIVE MULTI ROBOT BASED AUTOMATIC PROCESS SYSTEM FOR ASSEMBLING AND INSPECTING WIRING HARNESS}

The present invention relates to wiring harness assembly and inspection using a collaborative multi-robot.

Wiring harness is a bundle of wires used in various fields such as automobiles, home appliances, railway vehicles, and aircraft. It is an electrical component that transmits power and signals to PCBs, power starting points, and sensors.

The wiring harness consists of wires for connecting and operating electrical equipment, and terminals and connectors that make up the connection. This wiring harness is manufactured as a set that can connect electrical components. Depending on the electrical components applied, a large number of wire bundles and a large number of connectors to connect the bundles are assembled to produce a complex structure.

The manufacturing process of wiring harness largely consists of wire cutting, terminal crimping, connector assembly, SUB assembly, finished product assembly, energization inspection, and product inspection.

Here, the finished product assembly involves the worker bringing and laying the wires that have been completed up to sub-assembly on the assembly board, and attaching taping to bind several strands of wire and a sponge to protect the wires to produce one product. At this time, the assembly plate is essentially used to manufacture the wiring harness. The installation work refers to a work in which a worker arranges and fixes the wiring harness according to the assembly drawing on the assembly drawing board. After the laying work is completed, taping and sponge attachment are performed on the wire bundle to assemble the wiring harness.

Afterwards, the assembled wiring harness is hung on a hanger (product holder) and moved to the inspection waiting area. The worker manually inserts it into the inspection jig and inspects it for abnormalities in the current circuit using a current circuit tester. After passing the energization test, product inspection of the wiring harness is performed to complete the production of the wiring harness.

Currently, during the wiring harness manufacturing process, workers manually perform the finished product assembly process, which involves placing and fixing dozens of wires, and the energization inspection process of the wiring harness with dozens of inspection stages, which requires a lot of work time and manpower. Problems such as increased manufacturing costs, difficulties in manpower management, and human error occur frequently.

In order to solve the above problems, the present invention provides a method for reducing the working time invested in the finished product assembly process and the energization inspection process of the wiring harness and improving manpower management.

For example, the present invention provides a system in which a dual gripper mounted on a plurality of collaborative multi-robots supplies/places/tapes/sponge forms a harness without tool replacement, and performs inspection in one process without a separate process movement. We would like to provide

In order to solve the above problems, the present invention provides a system for assembling and inspecting wiring harnesses, comprising: a table; An assembly plate coupled to the table; A wire magazine that holds the wire; a first collaborative robot including multi-joints capable of picking up the wire from the magazine, placing it on the assembly plate, and performing a taping operation on the wire; and a second collaborative robot including multi-joints capable of picking up the wire strands of the wire, placing them on the assembly plate, and attaching a sponge to the wire. The first collaborative robot and the second collaborative robot include the We provide an automated process system based on collaborative multi-robots, which have an arrangement structure in which they face each other with a table in between and do not interfere with each other's movements.

In addition, the first collaborative robot includes a first dual gripper unit including a wire pickup gripper mounted on a rotatable end of the first collaborative robot and a taping gripper mounted at an angle that does not interfere with the wire pickup gripper, The second collaborative robot may include a second dual gripper unit including a wire strand gripper mounted on a rotatable end of the second collaborative robot and a sponge attachment gripper mounted at an angle that does not interfere with the wire strand gripper. .

In addition, the assembled drawing board is attached to the upper part of the table in the form of a plate-shaped tile, and a protrusion is formed on the upper part of the assembled drawing board, so that the wire holding member and the energization inspection jig having a coupling part corresponding to the protruding part can be easily attached and detached.

Additionally, the table may include an automatic height adjustment function.

Meanwhile, the wire pickup gripper includes a wire gripper capable of gripping an end of the wire; and a gripper driving unit that drives the wire gripper, wherein the wire strand gripper has wire guide slits positioned on both sides of the wire strand gripper to straightly arrange the wire below the wire strand gripper. ; and a plurality of rollers located below the wire strand gripper, passing through the wire guide slit and gripping the wire disposed in a straight line below the wire strand gripper.

According to one embodiment of the present invention, by automating at least part of the wiring harness assembly process, the work time required for the process can be reduced, manpower management can be improved, and the rate of occurrence of defective products due to human error can be reduced.

In addition, according to an embodiment of the present invention, the energization test can be performed immediately upon completion of the wiring harness assembly process, thereby reducing the work time required for the energization test and improving manpower management.

Figure 1 shows a collaborative multi-robot-based automated process system according to an embodiment.
Figure 2 shows a wire pickup gripper according to one embodiment.
Figure 3 shows a wire strand gripper according to one embodiment.
Figure 4 shows a sponge attachment gripper according to one embodiment.
Figure 5 shows an assembled plate and a wire mounting member according to an embodiment.
Figure 6 shows assembled drawings according to each embodiment.

Hereinafter, embodiments of the present invention are described in detail. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and to convey the content of the present invention to those skilled in the art. It is provided for more complete information.

In this specification, when an element is referred to as being located 'above' or 'below' another element, this means that the element is located directly 'above' or 'below' another element, or that there is an additional element between those elements. It includes all meanings that can be included. In this specification, the terms 'upper' or 'lower' are relative concepts established from the observer's viewpoint. If the observer's viewpoint is different, 'upper' may mean 'lower', and 'lower' may mean 'upper'. It could mean.

In a plurality of drawings, like symbols refer to substantially the same elements. In addition, terms such as 'include' or 'have' are intended to specify the existence of the described feature, number, step, operation, component, part, or combination thereof, but are not intended to indicate the existence of one or more other features, numbers, or steps. , it should be understood that it does not exclude in advance the possibility of the existence or addition of operations, components, parts, or combinations thereof.

In describing embodiments of the present invention, terms are defined in consideration of functions in the embodiments of the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification.

Hereinafter, it will be described in detail with reference to the drawings.

Figure 1 shows a collaborative multi-robot-based automated process system according to an embodiment.

Referring to FIG. 1, the collaborative multi-robot-based automated process system 1 for wiring harness assembly and inspection includes a table 100, an assembly plate 110, a first collaborative robot 200, and a second collaborative robot 300. ) and a wire magazine 400.

The table 100 of the collaborative multi-robot-based automated process system (1) forms a flat top that is level with the floor to enable wiring harness assembly and inspection, and the first collaborative robot 200 and the second collaborative robot ( 300) and a function that allows the worker to adjust the height to an appropriate height for working on the table 100 may be provided. For example, the height adjustment function of the table 100 may be performed automatically. As an example, the height adjustment function uses one or more of the operator's shoulder height, the height of the highest point of the loaded wiring harness, and the efficient movement path of the first collaborative robot 200 and the second collaborative robot 300 as parameters. It can be entered and performed automatically. As an example, the height adjustment function may include machine learning and/or deep learning learning steps of artificial intelligence. At this time, a known algorithm may be applied to the machine learning and/or deep learning learning step. Additionally, a member or shape may be formed on the upper part of the table 100 to enable it to be combined with the assembly plate 110.

The assembly plate 110 is a part where wires are laid and wiring harness is manufactured, and is attached to the upper part of the table 100 in the form of a plate-shaped tile. At this time, when fixing the assembly plate 110 on the top of the table, it can be fixed in various ways, such as combining uneven parts, attaching Velcro, combining with screws, and combining with magnets, but is not limited to this.

The first collaborative robot 200 and the second collaborative robot 300 are collaborative robots in the form of multi-joint robot arms, and can be arranged to face each other with the table 100 in between. Accordingly, the first collaborative robot 200 and the second collaborative robot 300 can have an arrangement structure that does not interfere with each other's movements. At this time, the working radius of the first collaborative robot 200 and the second collaborative robot 300 may cover the upper part of the table 100. Accordingly, since the worker may approach within the working radius of the first collaborative robot 200 and the second collaborative robot 300, a form of cooperative operation in which the worker can approach and intervene inside the system in which the robot is operating is possible. Certified robots can be used.

For example, the first collaborative robot 200 and the second collaborative robot 300 may be driven by programming and performing movements specified by input coordinate values.

For example, the first collaborative robot 200 and the second collaborative robot 300 may be driven by manual manipulation by an operator.

For example, the first collaborative robot 200 and the second collaborative robot 300 may be driven by controlling their own movements using artificial intelligence and various sensors. As an example, the artificial intelligence may apply known machine learning algorithms and/or deep learning algorithms. Accordingly, an automated wiring harness assembly process may be possible. In addition, the various sensors include vision sensors, radar sensors, lidar sensors, infrared sensors, pressure sensors, acceleration sensors, ultrasonic sensors, Hall effect sensors, capacitive sensors, etc. for the presence/absence of objects, position, displacement, pressure, deformation, torque, and speed. Sensors that can detect electromagnetism, light, etc. may be applied, but are not limited thereto.

The first collaborative robot 200 and the second collaborative robot 300 may have a first dual gripper unit 210 and a second dual gripper unit 310 formed at the distal ends. The first dual gripper unit 210 is formed with a wire pickup gripper 211 and a taping gripper 212, and the second dual gripper unit 310 is formed with a wire strand gripper 311 and a sponge attachment gripper 312. You can. Accordingly, the work of laying wires, taping to tie wires, and attaching sponges for wire protection can be performed without replacing the distal ends of the first collaborative robot 200 and the second collaborative robot 300, and the first collaborative robot 200 and Different functions may be assigned to the second collaborative robot 300. For example, the first collaborative robot 200 may be provided with a wire pickup gripper 211 that picks up the end of a wire mounted on the wire magazine 400 and transfers it to a specific location on the assembly plate 110. The second collaborative robot 300 includes a wire strand gripper 311 that picks up the wire strand of the wire transferred to a specific position on the assembly plate 110 by the first collaborative robot 200 and places it on the assembly plate 110. ) can be formed. In this way, the first collaborative robot 200 and the second collaborative robot 300 can lay wires through cooperation between the two robots. In addition, the first dual gripper unit 210 is disposed at an angle so that the taping gripper 212, which binds the wire that has been installed, does not interfere with the wire pickup gripper 211, so that it can be used in the rotation of the first dual gripper unit 210. This allows the taping gripper 212 to be positioned on the portion of the wire to be taped and perform taping. The second dual gripper unit 310 is a sponge attachment gripper 312 that attaches a sponge that surrounds and protects the wire after installation is arranged at an angle that does not interfere with the wire strand gripper 311. By rotating 310, the sponge attachment gripper 312 is positioned at the portion of the wire where the sponge is to be attached, allowing the sponge to be attached.

The wire magazine 400 holds the wire used in manufacturing the wiring harness and is located within the working radius of the first collaborative robot 200 so that the first collaborative robot 200 can take the wire and bring it onto the assembly plate 110. It can be placed more than once. At this time, the wire magazine 400 can freely move its position and may include a sensor linked with the first collaborative robot 200 so that the first collaborative robot 200 can determine the location of the wire magazine 400.

The wire magazine 400 may have a plurality of wire mounting beams (BEAMs) for mounting ends of wires on the top of the wire magazine 400 radially formed with a predetermined length based on the central axis. One or more beams for mounting the wire are formed, but if too many beams are formed, the gap between beams narrows, which may cause interference in mounting the end of the wire. Therefore, it is preferable that 10 or less beams are formed. In addition, a lower beam may be formed at the lower end of the wire magazine 400 with a position and length corresponding to the plurality of wire mounting beams formed at the upper end, and the ends of the wire mounting beams and the ends of the lower beams are side beams. can be connected to each other to improve the structural stability of the wire magazine 400.

The wire magazine 400 can rotate about its central axis. Accordingly, the position of the wire that the first collaborative robot 200 wants to pick up can be positioned toward the first collaborative robot 200. For example, the wire magazine 400 may automatically rotate so that a specific wire mounted on the wire mounting beam faces the first collaborative robot 200.

Figure 2 shows a wire pickup gripper according to one embodiment.

Referring to FIG. 2, the wire pickup gripper 211 may include a gripper driver 2113 and a wire gripper 2111.

The wire gripper 2111 may be provided with a wire gripper contact surface 2112 on one side. The wire gripper contact surface 2112 may be provided with various friction members (not shown), and the friction members may have various surface shapes, various roughnesses, and elasticity. Accordingly, it is possible to prevent the surface of the work object from being damaged due to pressing force when gripping the end portion of the wire, and the gripping force is improved to prevent the work object from slipping and leaving the wire gripping portion 2111. there is.

A pair of wire grippers 2111 are arranged around the wire pickup gripper 211 with the gripper contact surfaces 2112 facing each other to grip the distal ends of the wires. At this time, the pair of wire grippers 2111 may be driven by the gripper driver 2113 formed on the wire pickup gripper 211. For example, each wire gripper 2111 can be moved individually or in conjunction with each other to adjust the distance between the contact surfaces 2112 of each gripper facing each other. Accordingly, the distal end of the wire located between the gripper contact surfaces 2112 can be pressed and gripped. At this time, the driving method of the gripping part driver 2113 that drives the wire gripping part 2111 may be various driving methods such as driving using an electric motor and driving using hydraulic pressure, but is not limited thereto.

A wire guide 2114 may be further formed in the wire pickup gripper 211. The distal end of the wire held by the wire gripper 2111 may try to move in the wire gripper 2111 according to the movement of the first collaborative robot (FIG. 1, 200) and the wire pick-up gripper 211. Accordingly, a problem may occur in which the distal end of the wire deviates or deviates from the original position of the wire gripper 2111. To prevent this, this problem can be solved by attaching a wire guide 2114 that guides the wire in a specific direction to prevent force from being applied in various directions to the distal end of the wire as the wire moves. For example, a roller-type bar-shaped wire guide 2114 may be formed at a predetermined distance from the wire gripper 2111 and positioned in a direction perpendicular to the gripper contact surface 2112, but is not limited thereto.

Figure 3 shows a wire strand gripper according to one embodiment.

Referring to FIG. 3, the wire strand gripper 311 may include a roller 3111 and a wire guide slit 3112.

The wire guide slit 3112 is a pair of rectangular plates extending in the lower direction of the wire strand gripper 311 and arranged side by side facing each other to form a predetermined gap so that the wire 10 can pass between them. You can. Additionally, a pair of wire guide slits 3112 may be disposed on both sides of the wire strand gripper 311 at positions corresponding to each other. At this time, the pair of wire guide slits 3112 may be arranged in parallel so that the gap formed by the wire guide slits 3112 lies in a straight line. Accordingly, the wire 10 can pass through the lower part of the wire strand gripper 311 in a straight line by the wire guide slits 3112 formed on both sides.

Additionally, the wire guide slit 3112 may have a shape in which the spacing between the wire guide slits 3112 gradually widens toward the bottom. Accordingly, when the wire strand gripper 311 descends from the top of the wire 10 and positions the wire 10 in the wire guide slit 3112, the wire 10 is easily positioned between the wire guide slits 3112. can do.

In addition, the wire guide slit 3112 is mounted on the wire strand gripper 311 and is driven up and down and left and right, so that the position of the wire 10 is appropriately controlled to facilitate positioning between the wire guide slits 3112. It can be.

The wire strand gripper 311 must stably grip the wire 10 in order to lay the wire 10 in a desired direction. In addition, the wire strand gripper 311 must be able to move along the wire 10 and lay the wire while maintaining an appropriate tension on the wire 10 at one end of which is fixed. To this end, two or more cylindrical rollers 3111 may be formed to stably grip the wire 10 passing through the guide slit 3112 and straight below the wire strand gripper 311. For example, a plurality of rollers 3111 may be disposed on both sides with the wire 10 interposed therebetween. Accordingly, the plurality of rollers 3111 can stably grip the wire 10 by coming into close contact with each other with the wire 10 interposed therebetween, and as the roller 3111 is driven, the wire strand gripper 311 moves. However, it is possible to maintain appropriate tension on the wire. In addition, the plurality of rollers 3111 can move independently from each other up, down, left and right at the bottom of the wire strand gripper 311 and can be adjusted to properly grip the wire 10.

Figure 4 shows a sponge-attached gripper according to one embodiment.

Referring to FIG. 4, the sponge-attached gripper 312 may include a first hand 3121 and a second hand 3122.

The first hand 3121 and the second hand 3122 are formed to face the lower part of the sponge attachment gripper 312, for example, in a symmetrical form. The first hand 3121 and the second hand 3122 ) can be controlled to allow variation in the interval. For example, the distance between the first hand 3121 and the second hand 3122 may be controlled to widen so that the first hand 3121 and the second hand 3122 may be spaced apart from each other, and the first hand 3121 And the gap between the second hands 3122 is controlled to decrease so that they can face each other. Accordingly, the two parts, like tongs, can wrap and grip the wire 10 on both sides.

Additionally, a hand space 3123 may be formed between the first hand 3121 and the second hand 3122 to allow a plurality of wires 10 to pass through. For example, when the first hand 3121 forms a curve in the shape of '(' and the second hand forms a curve in the shape of ')' and are in contact with each other, the hand space ( 3123), but is not limited to the above shape. Accordingly, when the first hand 3121 and the second hand 3122 wrap and grip the wire from both sides like tongs, a plurality of wires 10 can be held in the hand space 3123.

The first hand 3121 and the second hand 3122 may include a first hand sponge mounting portion and a second hand sponge mounting portion on the inside, respectively. Accordingly, the sponge (not shown) is stably mounted on the first hand 3121 and the second hand 3122, so that the sponge does not come off even when the first hand 3121 and the second hand 3122 move. It may be located in the first hand sponge mounting portion and the second hand sponge mounting portion. In addition, when gripping the wire 10, the sponge (not shown) mounted on the first hand sponge mounting portion and the second hand sponge mounting portion wraps and attaches the plurality of wires 10 to provide a stable grip without losing the wire 10. can do.

Figure 5 shows an assembled plate and a wire mounting member according to an embodiment.

Referring to FIG. 5, an assembly plate 110 may be attached to the top of the table 100, and a plurality of wire mounting members 120 may be mounted on the assembly plate 110.

The wire holding member 120 can be physically attached and detached to the assembled board 110, and serves to float the wire in the air so that the wire does not contact the surface of the assembled board 110. At this time, the wire holding member 120 is used when the first collaborative robot (FIG. 1, 200) and the second collaborative robot (FIG. 1, 300) handle the wire. The wire may be formed to float above the assembly plate 110 by more than 10 cm to prevent interference with the assembly plate 110 as the collaborative robot (FIG. 1, 300) moves. For example, when it is 10 cm or less, the taping gripper (Figure 1, 212) and the sponge attachment gripper (Figure 1, 312) interfere with the assembly plate 110 when gripping the wires to tape and attach the sponge to the wire. This can happen and interfere with automated work. Accordingly, by using the wire holding member 120, an automated process using the first collaborative robot (FIG. 1, 200) and the second collaborative robot (FIG. 1, 300) may be possible.

Various members for handling the wire may be further formed on the top of the wire holding member 120. For example, in order to prevent the wire from leaving the wire holding member 120 due to left/right movement, two or more pins may be formed on the top of the wire holding member 120 at a predetermined interval in the upward direction. Not limited.

Figure 6 shows assembled drawings according to each embodiment.

Referring to FIG. 6 (a), a protrusion 111 is formed on the upper part of the assembly plate 110a, and a wire mounting member (not shown) and an energization inspection jig (not shown) are formed in a manner similar to LEGO® block assembly. ) by forming a coupling part corresponding to the protrusion 111 at the bottom, so that it can be freely attached and detached from the upper part of the assembly plate 110a at an appropriate position.

In addition, when a sensor or sensor detection attachment that can specify location coordinates is attached to the protrusion 111, the first collaborative robot (FIG. 1, 200) and the second collaborative robot (FIG. 1, 300) are connected to the assembly plate 110a. It can help recognize location.

Referring to FIG. 6 (b), a key groove 112 is formed in the assembly plate 110b, and a wire holding member (FIGS. 5, 120) and an energization inspection jig (not shown) are formed in a key shape corresponding to the key groove 112. ) can be freely attached and detached from the keyway 112 at an appropriate location.

In addition, when a sensor or sensor detection attachment capable of specifying location coordinates is attached to the key groove 112, the first collaborative robot (FIG. 1, 200) and the second collaborative robot (FIG. 1, 300) are connected to each other on the assembly plate 110a. It can help recognize location.

Accordingly, an automated wiring harness assembly process may be possible, and an energization test can be performed immediately upon completion of the wiring harness assembly process, which can shorten work time and improve manpower management.

As described above, the specific description of the present invention has been made by way of examples with reference to the accompanying drawings. However, since the above-described embodiments are only explained by referring to preferred examples of the present invention, the present invention is limited to the above examples. It should not be understood, and the scope of rights of the present invention should be understood in terms of the claims and equivalent concepts described later.

For example, to aid understanding, drawings schematically show each component as the main component, and the thickness, length, number, etc. of each component shown may differ from the actual drawing during the drawing process. In addition, the materials, shapes, dimensions, etc. of each component shown in the above embodiments are only examples and are not particularly limited, and various changes are possible without substantially departing from the effect of the present invention.

1: Collaborative multi-robot based automated process system
10: wire
100: table
110, 110a, 110b: Assembly plate
111: protrusion
112: key groove
120: Wire mounting member
200: 1st collaborative robot
210: first dual gripper unit
211: wire pickup gripper
2111: Wire gripper
2112: Wire gripper contact surface
2113: Gripping part driving part
2114: Wire guide
212: Taping gripper
300: 2nd collaborative robot
310: Second dual gripper unit
311: wire strand gripper
3111: roller
3112: Wire guide slit
312: Gripper with sponge attachment
3121: 1st hand
3122: 2nd hand
3123: Hand space
3124: First hand sponge mounting portion
3125: Second hand sponge mounting part
400: wire magazine

Claims (6)

In a system for wiring harness assembly and inspection,
table;
An assembly plate coupled to the table;
A wire magazine that holds the wire;
a first collaborative robot including multi-joints capable of picking up the wire from the magazine, placing it on the assembly plate, and performing a taping operation on the wire; and
a second collaborative robot including multi-joints capable of picking up the wire strands of the wire, placing them on the assembly board, and attaching a sponge to the wire;
Including,
The first collaborative robot and the second collaborative robot are arranged to face each other with the table in between and have an arrangement structure that does not interfere with each other's movements. An automated process system based on collaborative multi-robots.
In claim 1,
The first collaborative robot includes a first dual gripper unit including a wire pickup gripper mounted on a rotatable end of the first collaborative robot and a taping gripper mounted at an angle that does not interfere with the wire pickup gripper,
The second collaborative robot includes a second dual gripper unit including a wire strand gripper mounted on a rotatable end of the second collaborative robot and a sponge attachment gripper mounted at an angle that does not interfere with the wire strand gripper. Multi-robot based automated process system.
In claim 1,
The assembly plate is attached to the upper part of the table in the form of a plate-shaped tile, and a protrusion is formed on the upper part of the assembly plate, so that the wire holding member and the energization inspection jig formed with a coupling portion corresponding to the protrusion can be easily attached and detached. Based automated process system.
In claim 1,
The table includes an automatic height adjustment function and is a collaborative multi-robot based automated process system.
In claim 2,
The wire pickup gripper is
a wire gripper capable of gripping the end of the wire; and
It includes; a gripper driving unit that drives the wire gripper.
The wire strand gripper is
wire guide slits located on both sides of the wire strand gripper to straightly arrange the wire below the wire strand gripper; and
A plurality of rollers located below the wire strand gripper, passing through the wire guide slit and gripping the wire disposed in a straight line below the wire strand gripper. An automated process system based on a collaborative multiple robot comprising a.
In claim 5,
The sponge attachment gripper includes a first hand and a second hand disposed to face a lower portion of the sponge attachment gripper in order to attach the sponge to the plurality of wires, and a plurality of hands are provided between the first hand and the second hand. An automated process system based on collaborative multi-robots, including a hand space through which the wires can pass.