WO2020237476A1 - 一种布线过程中导线端部的固定装置及固定方法 - Google Patents

一种布线过程中导线端部的固定装置及固定方法 Download PDF

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Publication number
WO2020237476A1
WO2020237476A1 PCT/CN2019/088620 CN2019088620W WO2020237476A1 WO 2020237476 A1 WO2020237476 A1 WO 2020237476A1 CN 2019088620 W CN2019088620 W CN 2019088620W WO 2020237476 A1 WO2020237476 A1 WO 2020237476A1
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WIPO (PCT)
Prior art keywords
wire
buckle
clamping
fixing device
thread
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Application number
PCT/CN2019/088620
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English (en)
French (fr)
Inventor
刘海涛
刘琦
唐健钧
赵正大
张世炯
章文
张俊
曹国华
姜涛
于正林
贾冰
孟宪宇
Original Assignee
成都飞机工业（集团）有限责任公司
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Application filed by 成都飞机工业（集团）有限责任公司 filed Critical 成都飞机工业（集团）有限责任公司
Priority to PCT/CN2019/088620 priority Critical patent/WO2020237476A1/zh
Publication of WO2020237476A1 publication Critical patent/WO2020237476A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables

Definitions

  • the invention belongs to the technical field of fixing wires, and specifically relates to a fixing device and a fixing method for the ends of the wires in the wiring process.
  • the aircraft cable is the aircraft's neural network system, which connects the aircraft's avionics communication system and the aircraft control system, delivers power sources for the aircraft's functional components, and transmits the aircraft's central control data to the aircraft's functional subsystems. Due to the large number of wires on the aircraft, it is usually necessary to comb the wires and combine them into aircraft cables. In the past, due to the large number and types of wires and the complicated wiring design, wire layout was done manually by workers. With the increasing number and types of wires, purely manual production lines can no longer meet new production requirements. In recent years, people have conducted research on the technology of using manipulators to wire wiring.
  • the Chinese patent with patent (application) number 201410123402.0 and authorized announcement number CN103943284B discloses an automatic wiring system for aircraft cable harnesses and their wiring.
  • the manipulator cannot fix the wire end easily, quickly, and reliably.
  • the invention aims at the problem that the manipulator cannot fix the wire end simply, quickly, stably and reliably after picking it up, and provides a fixing device for the wire end during the wiring process and a fixing method for the wire end during the wiring process, using a wire clamping assembly Pick up the end of the designated wire and tie it, and then use the transfer wire buckle assembly to push the knotted wire end to the wire post to complete the fixing of the wire end.
  • the fixing device has a simple structure, simple operation method, and wire end The bottom of the winding post is not easy to fall off.
  • a fixing device for the end of the wire during the wiring process the execution terminal installed on the wiring manipulator is used in conjunction with a U-shaped slotted wire column in the middle
  • the fixing device includes a mounting frame and a separate installation On the mounting frame, the connecting flange, clamping assembly, and transfer line buckle assembly, one end of the connecting flange is fixed on the top of the mounting frame and the other end of the connecting flange is fixed on the wiring manipulator;
  • the thread clamping assembly includes an air clamp fixedly installed on the mounting frame and two clamping fingers, the two clamping fingers are respectively connected with two splints of the air clamp; the air clamp drives the two clamping fingers to close together by the splint Or open
  • the transfer line buckle assembly includes a push line buckle driver, a flat push rod, and two line buckle push rods that are connected in sequence, the push line buckle driver is fixed on the mounting frame, and one end of the flat push rod is installed on the push line buckle driver At the same time, the other end of the flat push rod and the other end of the flat push rod are connected with two horizontally parallel push rods, the two thread push rods are located outside the two gripping fingers; the output end of the push thread driver passes through the flat The push rod drives the thread buckle push rod to move up and down along the length of the thread clamping finger.
  • the two clamping fingers are the left clamping fingers and the right clamping fingers that are arranged vertically opposite each other.
  • the two line buckle push rods are the left line buckle push rod and the right line buckle push rod that are disposed laterally opposite each other.
  • the two ends of the left line buckle push rod and the right line buckle push rod are respectively connected into one body by springs, and they are always in tension.
  • the extended spring provides restoring force to drive the left thread gripping fingers pushed by the left thread buckle push rod and the right thread grip fingers pushed by the left thread buckle push rod to close.
  • the thread buckle push rod is provided with a guide protrusion
  • the thread clamping finger is provided with a guide groove corresponding to the guide protrusion, and the guide groove guides and limits the guide protrusion.
  • the push wire buckle driver adopts a push wire buckle cylinder whose output end is a linear output; the telescopic rod of the push wire buckle cylinder passes through the connecting ear of the flat push rod and is fixedly connected by a nut to drive the flat push rod to drive the line The push rod moves up and down along the length of the gripping finger.
  • a method for fixing the end of the wire during the wiring process The wiring manipulator drives the end of the straightened wire through a fixing device to rotate 180°, so that the end of the wire forms a " ⁇ "-shaped knot and will have a " ⁇ "-shaped knot.
  • the wire end of the buckle is sleeved on a wire column with a U-shaped groove in the middle to complete the wire fixing.
  • Step S1 The wiring manipulator drives the fixing device to move to the designated end of the wire, and the clamping component clamps the end of the wire;
  • Step S2 After the wire clamping component clamps the end of the wire, the sixth axis of the wiring manipulator rotates 180° and the end of the straightened wire is rotated by 180° through the fixing device, so that the end of the wire forms a " ⁇ "-shaped junction buckle;
  • Step S3 The wiring manipulator drives the end of the wire through the fixing device to move to just above the wire post, and then the wiring manipulator drives the fixing device down and coats the wire clamping component on the wire post and makes the wires at both ends of the " ⁇ " knot The side opening of the guideline column;
  • Step S4 When the thread clamping component moves to the middle or bottom of the thread post, the transfer thread buckle component pushes the wire end with the " ⁇ " type knot into the thread post, and the " ⁇ " type knot is just wrapped around the thread post;
  • Step S5 Finally, the wiring manipulator drives the fixing device to move up and away from the wire column to complete the operation of fixing the wire end.
  • the clamping component clamping the end of the wire specifically refers to: first, the air clamp drives the two clamping fingers through the two clamping plates; then, the fixing device moves down to make the wire enter the two clamps Then, the air clamp actively drives the two clamping fingers to close or the air clamp stops working, and the two clamping fingers are closed under the action of the spring restoring force, and the closed clamping fingers tightly clamp the end of the wire .
  • the transfer wire buckle assembly pushing the wire end with the " ⁇ "-shaped knot into the wire column specifically refers to: the wire buckle driver drives the wire buckle push rod to push the wire " ⁇ ” through the flat push rod. Type the knot to make the " ⁇ " type knot detach from the thread clamping assembly and completely fall onto the string post.
  • the wire clamping component picks up the end of the wire and rotates it 180° to form a " ⁇ "-shaped knot. Because the airplane wire includes a metal wire or a metal mesh, it has a certain degree of hardness, so the wire After being looped into a " ⁇ "-shaped knot, it is then wound on a wire column with a cross-section of " ⁇ ". The knot is not easy to loosen, thereby realizing the fixation of the wire end.
  • the fixing device rotates and knots the wire clamped by the wire clamping assembly under the driving of the wiring manipulator, and the transfer wire buckle assembly pushes the knotted buckle to the bottom of the wire column.
  • the fixing of the wire end can be completed under the operation of "one push and one release", and at the same time, it can ensure that the end of the wire is wound on the wire post and is not easy to fall off.
  • the knotted wire end can not only be wound on the wire post, but also can be as close as possible to the bottom of the wire post.
  • the The interface will also be compressed to ensure that the end of each wire is firmly fixed on the wire post.
  • Fig. 1 is a schematic diagram of the use state of the fixing device installed on the execution terminal of the wiring manipulator.
  • Fig. 2 is a schematic diagram of the three-dimensional structure of the fixing device.
  • Fig. 3 is a schematic diagram of the front structure of the fixing device.
  • Fig. 4 is a schematic view of the bottom structure of the fixing device.
  • Fig. 5 is a schematic diagram of the state after the fixing device has rotated the wire 180°.
  • Fig. 6 is a partial state diagram of the wire in Fig. 5 when a " ⁇ "-shaped knot is formed on the clamping finger.
  • Fig. 7 is a diagram showing the state of use when the fixing device is sleeved on the wire post and the transfer wire buckle assembly is pushing down the transfer wire buckle.
  • Figure 8 is a schematic diagram of the " ⁇ " type knot formed at the end of the wire.
  • Fig. 9 is a diagram of the state where the end of the wire with the " ⁇ " type knot is wound on the wire post.
  • Figure 10 is a schematic diagram of the structure of the left gripping finger.
  • Figure 11 is a structural diagram of the right line buckle push rod.
  • the fixing device is installed as an end effector at the execution end of the multi-axis wiring manipulator 002.
  • the fixing device follows the action of the wiring manipulator 002 to move forward/backward/left/right in the work area and move up/down vertically. Move, rotate.
  • the fixing device picks up the wire 003, the wire 003 can be wound on the wire post 001 for wiring.
  • the fixing device picks up the wire 003 and rotates the knot and winds the knot on the wire post 001. fixed.
  • the thread post 001 has a U-shaped groove extending through the side wall along the axial direction, and the axial cross section of the thread post 001 is " ⁇ "-shaped.
  • a fixing device for the end of the wire during the wiring process includes a mounting frame 1 and a connecting flange 2, a wire clamping assembly, and a transfer line buckle assembly respectively mounted on the mounting frame 1.
  • the connection method One end of the flange 2 is fixed on the top of the mounting frame 1 and the other end of the connecting flange 2 is fixed on the wiring robot 002.
  • the wire clamping assembly includes an air clamp 4 fixedly installed on the mounting frame 1 and two clamping fingers 7, 8 which are respectively connected to two clamping plates of the air clamp 4; 4 Drive the two clamping fingers 7, 8 to close or open through the splint.
  • the transfer wire buckle assembly includes a wire buckle driver, a flat push rod 6, and two wire buckle push rods 10, 11 that are connected in sequence. The output end of the wire buckle driver drives the wire buckle push rod 10 through the flat push rod 6 , 11 moves up and down along the length of the gripping fingers 7, 8.
  • Step S1 The wiring manipulator 002 drives the fixing device to move to the specified end of the wire 003, and the clamping assembly clamps the end of the wire 003;
  • Step S2 After the wire clamping assembly clamps the end of the wire 003, the sixth axis of the wiring manipulator 002 is rotated by 180° and the end of the straightened wire 003 is rotated by 180° through the fixing device, so that the end of the wire 003 forms a " ⁇ " type knot;
  • Step S3 The wiring manipulator 002 drives the end of the wire 003 through the fixing device to move directly above the wire post 001, and then the wiring manipulator 002 drives the fixing device down and coats the wire clamping component on the wire post 001 and makes a " ⁇ " knot
  • the wires 003 at both ends of the buckle are aligned with the side openings of the wire posts 001;
  • Step S4 When the thread clamping component moves to the middle or bottom of the thread column 001, the transfer thread buckle component pushes the end of the wire 003 with the " ⁇ " knot into the thread column 001, and the " ⁇ ” knot is just wound on the line On post 001;
  • Step S5 Finally, the wiring manipulator 002 drives the fixing device to move up and away from the wire post 001 to complete the operation of fixing the end of the wire 003 this time.
  • the specific structure of the wire clamping assembly is as follows: the air clip 4 is fixed on the mounting frame 1, and the two clamping plates of the air clip 4 are connected with two clamping fingers 7, respectively. 8Connect. That is, one splint is connected to the left clamping finger 7 and one splint is connected to the right clamping finger 8.
  • the clamping assembly clamping the end of the wire 003 specifically refers to: first, the air clamp 4 drives the two clamping fingers 7, 8 through the two clamping plates; then, the fixing device moves down to make the wire 003 enters between the two clamping fingers 7, 8, and then, the air clamp 4 actively drives the two clamping fingers 7, 8 to close or the air clamp 4 stops working, and the two clamping fingers 7, 8 act on the spring 9 restoring force Close down, and the closed gripping fingers 7 and 8 tightly grip the end of the wire 003.
  • the specific structure of the transfer line buckle assembly is: the push line buckle driver is fixed on the mounting frame 1 and push the line The output end of the buckle driver is connected with the flat push rod 6; one end of the flat push rod 6 is installed at the output end of the push line buckle driver, and the other end of the flat push rod 6 is at the same time two line buckle push rods 10 arranged parallel to the lateral direction. , 11 are connected, and the two thread buckle push rods 10, 11 are located outside the two thread clamping fingers 7, 8.
  • the transfer wire buckle assembly pushes the wire 003 with a " ⁇ " type knot into the wire column 001 specifically refers to: the wire buckle driver drives the wire buckle push rods 10, 11 to push through the flat push rod 6
  • the " ⁇ " type knot of the wire 003 makes the " ⁇ ” type knot detach from the thread clamping assembly and completely fall onto the thread post 001.
  • This embodiment is optimized on the basis of embodiment 1.
  • the two The thread clamping fingers 7 and 8 can be assembled into a sleeve to put the thread column 001 between the two thread clamping fingers 7 and 8, and the gap between the two thread clamping fingers 7 and 8 and the thread column 001 U-shaped groove
  • the opening position corresponds to the opening position, which is convenient for the straight section of the wire 003 to be inserted into the U-shaped groove.
  • the two thread gripping fingers 7 and 8 are the left thread gripping finger 7 and the right thread gripping finger 8 arranged vertically opposite each other.
  • a semicircular recess is provided on the opposite surfaces of the left gripping finger 7 and the right gripping finger 8, and two gripping fingers When the fingers 7 and 8 are closed, the two semicircular recesses just form a cylindrical cavity that covers the wire column 001 from the outside.
  • the thread-clamping finger has a slender structure, and the length of the concave portion of the thread-clamping finger is greater than the height of the string post 001.
  • the thread post 001 can be completely covered in the cavity from top to bottom.
  • the end of the wire 003 can be pushed to any position of the wire post 001.
  • the transfer buckle assembly will push the end of the wire 003 down to the bottom of the wire post 001 as much as possible.
  • This embodiment is optimized on the basis of Embodiment 1 or 2, in order to clamp the wire 003 by the two clamping fingers 7 and 8.
  • a fixing device for the end of a wire during the wiring process including a mounting frame 1 and a connecting flange 2, a wire clamping component, and a transfer line buckle assembly respectively mounted on the mounting frame 1.
  • One end of the connecting flange 2 is fixed on the mounting frame 1
  • the other end of the connecting flange 2 is fixed on the wiring manipulator 002.
  • the wire clamping assembly includes an air clamp 4 fixedly installed on the mounting frame 1 and two clamping fingers 7, 8 which are respectively connected to two clamping plates of the air clamp 4; 4 Drive the two clamping fingers 7, 8 to close or open through the splint.
  • the transfer wire buckle assembly includes a wire buckle cylinder 5, a flat push rod 6, and two wire buckle push rods 10, 11 that are connected in sequence.
  • the wire buckle cylinder 5 drives the wire buckle push rod 10, 11 through the flat push rod 6. 11 Move up and down along the length of the thread clamping fingers 7, 8.
  • the air clamp 4 drives the two thread clamping fingers 7, 8 to move away from each other to open, or the air clamp 4 drives the two thread clamping fingers 7, 8 to approach each other and close.
  • a spring 9 connecting the two thread buckle push rods 10, 11 is added, and the restoring force of the spring 9 is used to apply a pre-tightening force to the two thread clamping fingers 7, 8 to make the two thread clamping fingers 7, 8 8 There is always a tendency to close.
  • This embodiment is optimized on the basis of any one of Embodiments 1-3.
  • Common driving power sources include pneumatic, electric, and hydraulic. Because the wiring manipulator 002 and the fixing device in this application require a clean working environment and a fixed The precision requirements of the device picking the wire 003 and transferring the wire buckle are not high. In this embodiment, a pneumatic drive assembly is selected.
  • the push button driver adopts an air cylinder.
  • the telescopic rod of the thread buckle cylinder 5 passes through the connecting ear of the flat push rod 6 and is fixedly connected by a nut.
  • the flat push rod 6 drives the thread buckle push rods 10 and 11 to move up and down along the length direction of the thread clamping fingers 7 and 8.
  • an electric drive assembly can also be used to drive the two clamping fingers 7 and 8:
  • a servo motor drives the two clamping plates of the air clamp 4 to move relative to each other through a rack and pinion assembly, and the two clamping plates drive the two clamping fingers 7 , 8 Close or open.
  • Electric drive components can also be used to drive the line buckle push rods 10 and 11: for example: a servo motor drives the flat push rod 6 up/down movement through a rack and pinion assembly or a sprocket and chain assembly, and the flat push rod 6 drives the line buckle to push The rods 10 and 11 move up/down along the length of the gripping fingers.
  • a fixing device for the end of the wire during the wiring process The execution terminal installed on the wiring manipulator 002 is used in conjunction with the U-shaped slot 001 in the middle.
  • the fixing device includes a mounting frame 1 and a mounting frame 1 respectively.
  • the connecting flange 2, the wire clamping assembly, and the transfer line buckle assembly, one end of the connecting flange 2 is fixed on the top of the mounting frame 1, and the other end of the connecting flange 2 is fixed on the wiring manipulator 002.
  • the wire clamping assembly includes an air clamp 4 fixedly mounted on the mounting frame 1 and two clamping fingers 7, 8 which are respectively connected to two clamping plates of the air clamp 4; the air clamp 4 Drive the two clamping fingers 7, 8 to close or open through the splint.
  • the model of the air clamp 4 is MHZ2-16D.
  • the recesses respectively provided on the opposite surface of the left clamping finger 7 and the opposite surface of the right clamping finger 8 jointly form a cavity capable of outer threading post 001 when the two clamping fingers 7 and 8 are closed.
  • the transfer line buckle assembly includes a push line buckle cylinder 5, a flat push rod 6, two line buckle push rods 10, 11, and a spring 9, which are connected in sequence.
  • Fixed on the mounting frame 1 and the output end of the push rod cylinder 5 is connected with the flat push rod 6; one end of the flat push rod 6 is installed at the output end of the push line push cylinder 5 and the other end of the flat push rod 6 is connected with Two thread buckle push rods 10 and 11 arranged in parallel in the transverse direction are connected, and the two thread buckle push rods 10 and 11 are located outside the two thread clamping fingers 7, 8; the telescopic rod of the thread push buckle cylinder 5 passes through the horizontal push rod
  • the connecting ears of the rod 6 are fixedly connected by a nut, so that the flat push rod 6 drives the thread buckle push rods 10 and 11 to move up and down along the length direction of the thread clamping fingers 7 and 8.
  • the model of the spring 9 is AUS3-15.
  • the two thread buckle push rods 10 and 11 are left thread buckle push rod 10 and right thread buckle push rod 11 that are disposed laterally opposite each other.
  • the two ends of the left thread buckle push rod 10 and the right thread buckle push rod 11 respectively pass springs. 9 is connected into one body, and the spring 9 that is always in a stretched state provides restoring force to drive the left thread gripping finger 7 pushed by the left thread buckle push rod 10 and the right thread grip finger 8 pushed by the left thread buckle push rod 10 to close.
  • the air clamp 4 and the push button cylinder 5 are respectively controlled by a solenoid valve 3 installed on the air circuit.
  • Working principle A method for fixing the ends of wires during the wiring process, which specifically includes the following steps:
  • Step S1 The wiring manipulator 002 drives the fixing device to move to the specified end of the wire 003, and the clamping assembly clamps the end of the wire 003;
  • Step S2 After the wire clamping assembly clamps the end of the wire 003, the sixth axis of the wiring manipulator 002 is rotated by 180° and the end of the straightened wire 003 is rotated by 180° through the fixing device, so that the end of the wire 003 forms a " ⁇ " type knot;
  • Step S3 The wiring manipulator 002 drives the end of the wire 003 through the fixing device to move directly above the wire post 001, and then the wiring manipulator 002 drives the fixing device down and coats the wire clamping component on the wire post 001 and makes a " ⁇ " knot
  • the wires 003 at both ends of the buckle are aligned with the side openings of the wire posts 001;
  • Step S4 When the thread clamping component moves to the middle or bottom of the thread column 001, the transfer thread buckle component pushes the end of the wire 003 with the " ⁇ " knot into the thread column 001, and the " ⁇ ” knot is just wound on the line On post 001;
  • Step S5 Finally, the wiring manipulator 002 drives the fixing device to move up and away from the wire post 001 to complete the operation of fixing the end of the wire 003 this time.
  • step S1 the clamping component clamping the end of the wire 003 specifically refers to: first, the air clamp 4 drives the two clamping fingers 7, 8 through the two clamping plates; then, the fixing device moves down to allow the wire 003 to enter Between the two clamping fingers 7, 8, then, the air clamp 4 actively drives the two clamping fingers 7, 8 to close or the air clamp 4 stops working, and the two clamping fingers 7, 8 close under the action of the spring 9 , The closed gripping fingers 7 and 8 tightly grip the end of the wire 003.
  • the transfer wire buckle assembly pushes the wire 003 with a " ⁇ "-shaped knot into the wire column 001 specifically refers to: the wire buckle driver drives the wire buckle push rods 10 and 11 to push the wire 003 through the flat push rod 6.
  • the " ⁇ "-shaped knot makes the " ⁇ "-shaped knot detach from the thread clamping assembly and completely fall onto the thread post 001.
  • the two clamping fingers 7, 8 are the left clamping finger 7 and the right clamping finger 8, which are arranged vertically opposite each other, and the left clamping finger 7, right
  • the gap between the clamping fingers 8 is the gap for clamping the wire 003
  • the left clamping finger 7 and the right clamping finger 8 are respectively provided with finger seams
  • the left clamping finger 7 and the right clamping finger 8 are connected to the left clamping finger.
  • the line between the thread finger 7 and the right thread gripping finger 8 is a cross.
  • the push rod bodies of the thread buckle push rods 10 and 11 are also provided with short rods extending into the finger seams.
  • the push rod body and the short rod can be in contact with the " ⁇ " type knot at the same time, which improves the stability of the transfer cord and reduces the wear of the wire 003.

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Abstract

一种布线过程中导线端部的固定装置，安装在布线机械手的执行终端与中部为U型槽的线柱配合使用，该固定装置包括安装架及分别安装在安装架上的连接法兰、夹线组件、转移线扣组件，连接法兰的一端固定在安装架的顶部且连接法兰的另一端固定在布线机械手上。一种布线过程中导线端部的固定方法，利用夹线组件拾取指定导线的端部并打结，再利用转移线扣组件将打结的导线端部推送至线柱上，完成导线端部的固定。

Description

一种布线过程中导线端部的固定装置及固定方法 技术领域
本发明属于固定导线的技术领域，具体涉及一种布线过程中导线端部的固定装置及固定方法。
背景技术
飞机电缆是飞机的神经网络系统，连通飞机的航电通信系统与飞机操纵系统，为飞机各功能部件输送动力源，将飞机的中央控制数据传输至飞机各功能子系统。由于飞机上导线数众多，通常都需要对导线进行梳理而将其组合成飞机电缆。以前，由于导线数量及种类众多、布线设计复杂等原因，导线布设都是靠工人手工完成，随着导线的数量与种类的不断增多，纯手工的生产线已不能适应新的生产要求。近几年，人们对利用机械手进行导线布线的技术进行了研究，如：专利(申请)号为201410123402.0、授权公告号为CN103943284B的中国专利，公开了一种飞机电缆导线束自动布线系统及其布线方法；又例如：专利(申请)号为201610439318.9、申请公布号为CN106025951A的中国专利，公开了一种布线机线束线头固定器；专利(申请)号为201610439310.2、申请公布号为CN106025950A的中国专利，公开了一种布线机线束线尾固定器。
但是，现有技术还无法做到机械手拾取导线端部后既简便快速又稳定可靠的将其固定。
发明内容
本发明针对机械手拾取导线端部后无法将其简便快速、稳定可靠固定的问题，提供一种布线过程中导线端部的固定装置和一种布线过程中导线端部的固定方法，利用夹线组件拾取指定导线的端部并打结，再利用转移线扣组件将打结的导线端部推送至线柱上，完成导线端部的固定，固定装置结构简单、操作方法简单易行、导线端部缠绕在线柱底部不易脱落。
本发明主要通过以下技术方案实现：一种布线过程中导线端部的固定装置，安装在布线机械手的执行终端与中部为U型槽的线柱配合使用，所述固定装置包括安装架及分别安装在安装架上的连接法兰、夹线组件、转移线扣组件，连接法兰的一端固定在安装架的顶部且连接法兰的另一端固定在布线机械手上；
所述夹线组件包括固定安装在安装架上的气夹和两个夹线手指，两个夹线手 指分别与气夹的两个夹板连接；所述气夹通过夹板驱使两个夹线手指合拢或打开；
所述转移线扣组件包括依次连接的推线扣驱动器、平推杆、两个线扣推杆，所述推线扣驱动器固定在安装架上所述平推杆的一端安装在推线扣驱动器的输出端且平推杆的另一端同时与横向平行设置的两个线扣推杆连接，两个线扣推杆位于两个夹线手指的外侧；所述推线扣驱动器的输出端通过平推杆驱使线扣推杆沿夹线手指的长度方向上下移动。
进一步地，两个夹线手指为竖向相对设置的左夹线手指、右夹线手指，分别设置在左夹线手指相对面、右夹线手指相对面的凹部在两个夹线手指合拢时共同形成一个能外套线柱的腔体。
进一步地，两个线扣推杆为横向相对设置的左线扣推杆、右线扣推杆，左线扣推杆、右线扣推杆的两端分别通过弹簧连接成一体，始终处于拉伸状态的弹簧提供恢复力驱使左线扣推杆推动的左夹线手指、左线扣推杆推动的右夹线手指合拢。
进一步地，所述线扣推杆上设置有导向凸块，夹线手指上设置有与导向凸块对应的导向槽，导向槽对导向凸块进行导向及限位。
进一步地，所述推线扣驱动器采用输出端为直线输出的推线扣气缸；所述推线扣气缸的伸缩杆穿过平推杆的连接耳并通过螺母固定连接，驱使平推杆带动线扣推杆沿夹线手指的长度方向上下移动。
一种布线过程中导线端部的固定方法，布线机械手通过固定装置带动抻直的导线端部旋转180°，使导线的端部形成一个“φ”型结扣，并将具有“φ”型结扣的导线端部套在中部具有U型槽的线柱上，完成导线固定。
进一步地，具体包括以下步骤：
步骤S1：布线机械手带动固定装置移动至指定的导线端部，夹紧组件夹持导线的端部；
步骤S2：夹线组件夹持导线的端部后，布线机械手的第六轴旋转180°同时通过固定装置带动抻直的导线端部旋转180°，使导线的端部形成一个“φ”型结扣；
步骤S3：布线机械手通过固定装置带动导线端部移动至线柱的正上方，再由布线机械手驱使固定装置下移并使夹线组件外套于线柱并使“φ”型结扣两端 的导线对准线柱的侧开口；
步骤S4：当夹线组件运动至线柱中部或底部时，转移线扣组件推动具有“φ”型结扣的导线端部落入线柱，此时“φ”型结扣恰好缠绕在线柱上；
步骤S5：最后，布线机械手带动固定装置上移离开线柱，完成此次导线端部固定的操作。
进一步地，所述步骤S1中夹紧组件夹持导线的端部具体是指：首先，气夹通过两个夹板驱使两个夹线手指张开；接着，固定装置下移使导线进入两个夹线手指之间，然后，气夹主动驱使两个夹线手指合拢或气夹停止工作而两个夹线手指在弹簧回复力作用下合拢，合拢后的夹线手指紧紧夹持导线的端部。
进一步地，所述步骤S4中转移线扣组件推动具有“φ”型结扣的导线端部落入线柱具体是指：推线扣驱动器通过平推杆带动线扣推杆推动导线的“φ”型结扣，使“φ”型结扣从夹线组件上脱离并完全落到线柱上。
本发明的有益效果：
(1)本发明中夹线组件拾取导线端部后旋转180°使导线形成一个“φ”型的结扣，因飞机用导线内部包括具有金属导线或金属网而具有一定的硬度，因此将导线圈成“φ”型结扣后再缠绕在横截面呈“θ”的线柱上，结扣不易松开，从而实现导线端部的固定。
(2)本发明中固定装置在布线机械手带动下将夹线组件夹紧的导线旋转打结，转移线扣组件将打结的结扣推到线柱的底部，在“一抓、一转、一推、一放”的操作下就完成导线端部的固定，同时还能保证导线端部缠绕在线柱上不易脱落。
(3)本发明中打结的导线端部不仅能缠绕在线柱上，而且能尽可能靠近线柱的底部，在一个线柱上需要同时固定多个导线端部时，多个导线端部的接口也会被压紧从而保证每个导线端部牢固的固定在线柱上。
附图说明
图1是固定装置安装在布线机械手执行终端的使用状态示意图。
图2是固定装置的立体结构示意图。
图3是固定装置的正向结构示意图。
图4是固定装置的仰面结构示意图。
图5是固定装置将导线旋转180°后的状态示意图。
图6是图5中导线在夹线手指上形成“φ”型结扣时的局部状态图。
图7是固定装置套在线柱上，转移线扣组件正在下推转移线扣时使用状态图。
图8是导线端部形成的“φ”型结扣的示意图。
图9为具有“φ”型结扣的导线端部缠绕在线柱上的状态图。
图10为左夹线手指的结构示意图。
图11为右线扣推杆的结构示意图。
其中，1、安装架；2、连接法兰；3、电磁阀；4、气夹；5、推线扣气缸；6、平推杆；7、左夹线手指；8、右夹线手指；9、弹簧；10、左线扣推杆；11、右线扣推杆；001、线柱；002、布线机械手；003、导线。
具体实施方式
本申请中固定装置作为末端执行器安装在多轴的布线机械手002的执行末端，固定装置随布线机械手002的动作在工作区域内进行前/后/左/右的横移、上/下的纵移、旋转。所述固定装置拾取导线003后可以将导线003缠绕在线柱001上进行布线，当需要对导线003的端部进行固定时固定装置拾取导线003后旋转打结并将结扣缠绕在线柱001上进行固定。如图1、图9所示，所述线柱001沿轴向开设贯穿侧壁的U型槽，线柱001的轴向横截面呈“θ”型。
所述固定装置的具体结构及使用所述固定装置进行导线003端部固定的固定方法用具体实施例进行详细说明。
实施例1：
如图1-图11所示，一种布线过程中导线端部的固定装置，包括安装架1及分别安装在安装架1上的连接法兰2、夹线组件、转移线扣组件，连接法兰2的一端固定在安装架1的顶部且连接法兰2的另一端固定在布线机械手002上。所述夹线组件包括固定安装在安装架1上的气夹4和两个夹线手指7、8，两个夹线手指7、8分别与气夹4的两个夹板连接；所述气夹4通过夹板驱使两个夹线手指7、8合拢或打开。所述转移线扣组件包括依次连接的推线扣驱动器、平推杆6、两个线扣推杆10、11，所述推线扣驱动器的输出端通过平推杆6驱使线扣推杆10、11沿夹线手指7、8的长度方向上下移动。
工作原理：固定装置的夹线组件夹持导线003后，布线机械手002通过固定装置带动抻直的导线003端部旋转180°，使导线003的端部形成一个“φ”型 结扣，再由转移线扣组件将具有“φ”型结扣的导线003端部推落到线柱001上，完成导线003固定。
如图2、凸5、图7、图9所示，具体包括以下步骤：
步骤S1：布线机械手002带动固定装置移动至指定的导线003端部，夹紧组件夹持导线003的端部；
步骤S2：夹线组件夹持导线003的端部后，布线机械手002的第六轴旋转180°同时通过固定装置带动抻直的导线003端部旋转180°，使导线003的端部形成一个“φ”型结扣；
步骤S3：布线机械手002通过固定装置带动导线003端部移动至线柱001的正上方，再由布线机械手002驱使固定装置下移并使夹线组件外套于线柱001并使“φ”型结扣两端的导线003对准线柱001的侧开口；
步骤S4：当夹线组件运动至线柱001中部或底部时，转移线扣组件推动具有“φ”型结扣的导线003端部落入线柱001，此时“φ”型结扣恰好缠绕在线柱001上；
步骤S5：最后，布线机械手002带动固定装置上移离开线柱001，完成此次导线003端部固定的操作。
如图2、图3、图10所示，所述夹线组件的具体结构为：所述气夹4固定在安装架1上且气夹4的两个夹板分别与两个夹线手指7、8连接。即，一个夹板连接左夹线手指7，一个夹板连接右夹线手指8。因此，所述步骤S1中夹紧组件夹持导线003的端部具体是指：首先，气夹4通过两个夹板驱使两个夹线手指7、8张开；接着，固定装置下移使导线003进入两个夹线手指7、8之间，然后，气夹4主动驱使两个夹线手指7、8合拢或气夹4停止工作而两个夹线手指7、8在弹簧9回复力作用下合拢，合拢后的夹线手指7、8紧紧夹持导线003的端部。
如图3、图4、图5、图6、图7、图9、图11所示，所述转移线扣组件的具体结构为：所述推线扣驱动器固定在安装架1上且推线扣驱动器的输出端与平推杆6连接；所述平推杆6的一端安装在推线扣驱动器的输出端且平推杆6的另一端同时与横向平行设置的两个线扣推杆10、11连接，两个线扣推杆10、11位于两个夹线手指7、8的外侧。因此，所述步骤S4中转移线扣组件推动具有“φ”型结扣的导线003端部落入线柱001具体是指：推线扣驱动器通过平推杆6带动 线扣推杆10、11推动导线003的“φ”型结扣，使“φ”型结扣从夹线组件上脱离并完全落到线柱001上。
实施例2：
本实施例是在实施例1的基础上进行优化，为了使线扣从夹线组件上脱落到线柱001的过程更流畅且线扣缠绕在线柱001上更稳定，如图7所示，两个夹线手指7、8可以拼成一个套筒将线柱001套入两个夹线手指7、8之间，再者两个夹线手指7、8之间的缝隙与线柱001U型槽的开口位置对应，方便导线003的直线段嵌入U型槽。
本实施例中两个夹线手指7、8为竖向相对设置的左夹线手指7、右夹线手指8。如图11所示，针对轴向横截面外轮廓为圆形的线柱001，左夹线手指7、右夹线手指8二者的相对面分别设置一个半圆形的凹部，两个夹线手指7、8合拢时，两个半圆形凹部恰好形成一个从外部包覆线柱001的柱形空腔。
进一步，夹线手指是细长型结构，夹线手指凹部的长度大于线柱001的高度。也就是说，两个夹线手指7、8合拢时，可以将线柱001从上至下完全包覆在腔体中。基于此结构，导线003端部可以被推送至线柱001的任意位置。当然，通常情况下转移线扣组件会尽可能将导线003端部向线柱001的底部下压。
本实施例的其他部分与实施例1相同，故不再赘述。
实施例3：
本实施例是在实施例1或2的基础上进行优化，为了使两个夹线手指7、8夹紧导线003。
一种布线过程中导线端部的固定装置，包括安装架1及分别安装在安装架1上的连接法兰2、夹线组件、转移线扣组件，连接法兰2的一端固定在安装架1的顶部且连接法兰2的另一端固定在布线机械手002上。所述夹线组件包括固定安装在安装架1上的气夹4和两个夹线手指7、8，两个夹线手指7、8分别与气夹4的两个夹板连接；所述气夹4通过夹板驱使两个夹线手指7、8合拢或打开。所述转移线扣组件包括依次连接的推线扣气缸5、平推杆6、两个线扣推杆10、11，所述推线扣气缸5通过平推杆6驱使线扣推杆10、11沿夹线手指7、8的长度方向上下移动。
一种情况，气夹4驱动两个夹线手指7、8相互远离而打开，或气夹4驱动 两个夹线手指7、8相互靠近而合拢。
另一种情况，增设连接两个线扣推杆10、11的弹簧9，利用弹簧9的回复力向两个夹线手指7、8施加合拢的预紧力，使两个夹线手指7、8始终有合拢的趋势。控制气夹4的输出，只有当气夹4输出的动力大于弹簧9的回复力时两个夹线手指7、8才会打开。
本实施例的其他部分与实施例1或2相同，故不再赘述。
实施例4：
本实施例是在实施例1-3任一项的基础上进行优化，常见的驱动动力源有气动、电动、液动，由于本申请中布线机械手002及固定装置要求清洁的工作环境、且固定装置拾取导线003、转移线扣等动作的精度要求不高，本实施例中选取气动的驱动组件。
本实施例中推线扣驱动器采用气缸。推线扣气缸5的伸缩杆穿过平推杆6的连接耳并通过螺母固定连接，驱使平推杆6带动线扣推杆10、11沿夹线手指7、8的长度方向上下移动。
当然，也可以采用电动的驱动组件驱动两个夹线手指7、8：例如：伺服电机通过齿轮齿条组件驱动气夹4的两个夹板相对运动，由两个夹板带动两个夹线手指7、8合拢或打开。还可以采用电动的驱动组件驱动线扣推杆10、11：例如：伺服电机通过齿轮齿条组件或链轮链条组件驱动平推杆6上/下升降运动，由平推杆6带动线扣推杆10、11沿夹线手指的长度方向上/下移动，线扣推杆10、11向下移动时可将原本缠绕在夹线手指上的导线003推下。由于电动的驱动组件驱使执行端直线移动为本领域常规技术手段，本申请的改进点也不在于此，故不再赘述。
本实施例的其他部分与上述实施例1-3任一项相同，故不再赘述。
实施例5：
一种布线过程中导线端部的固定装置，安装在布线机械手002的执行终端与中部为U型槽的线柱001配合使用，所述固定装置包括安装架1及分别安装在安装架1上的连接法兰2、夹线组件、转移线扣组件，连接法兰2的一端固定在安装架1的顶部且连接法兰2的另一端固定在布线机械手002上。所述夹线组件包括固定安装在安装架1上的气夹4和两个夹线手指7、8，两个夹线手指7、8 分别与气夹4的两个夹板连接；所述气夹4通过夹板驱使两个夹线手指7、8合拢或打开。所述气夹4的型号为MHZ2-16D。
进一步地，分别设置在左夹线手指7相对面、右夹线手指8相对面的凹部在两个夹线手指7、8合拢时共同形成一个能外套线柱001的腔体。
如图3、图4所示，所述转移线扣组件包括依次连接的推线扣气缸5、平推杆6、两个线扣推杆10、11、弹簧9，所述推线扣气缸5固定在安装架1上且推线扣气缸5的输出端与平推杆6连接；所述平推杆6的一端安装在推线扣气缸5的输出端且平推杆6的另一端同时与横向平行设置的两个线扣推杆10、11连接，两个线扣推杆10、11位于两个夹线手指7、8的外侧；所述推线扣气缸5的伸缩杆穿过平推杆6的连接耳并通过螺母固定连接，驱使平推杆6带动线扣推杆10、11沿夹线手指7、8的长度方向上下移动。所述弹簧9的型号为AUS3-15。
进一步地，两个线扣推杆10、11为横向相对设置的左线扣推杆10、右线扣推杆11，左线扣推杆10、右线扣推杆11的两端分别通过弹簧9连接成一体，始终处于拉伸状态的弹簧9提供恢复力驱使左线扣推杆10推动的左夹线手指7、左线扣推杆10推动的右夹线手指8合拢。
所述气夹4、推线扣气缸5分别通过一个安装在气路上的电磁阀3进行控制。
工作原理：一种布线过程中导线端部的固定方法，具体包括以下步骤：
步骤S1：布线机械手002带动固定装置移动至指定的导线003端部，夹紧组件夹持导线003的端部；
步骤S2：夹线组件夹持导线003的端部后，布线机械手002的第六轴旋转180°同时通过固定装置带动抻直的导线003端部旋转180°，使导线003的端部形成一个“φ”型结扣；
步骤S3：布线机械手002通过固定装置带动导线003端部移动至线柱001的正上方，再由布线机械手002驱使固定装置下移并使夹线组件外套于线柱001并使“φ”型结扣两端的导线003对准线柱001的侧开口；
步骤S4：当夹线组件运动至线柱001中部或底部时，转移线扣组件推动具有“φ”型结扣的导线003端部落入线柱001，此时“φ”型结扣恰好缠绕在线柱001上；
步骤S5：最后，布线机械手002带动固定装置上移离开线柱001，完成此次 导线003端部固定的操作。
所述步骤S1中夹紧组件夹持导线003的端部具体是指：首先，气夹4通过两个夹板驱使两个夹线手指7、8张开；接着，固定装置下移使导线003进入两个夹线手指7、8之间，然后，气夹4主动驱使两个夹线手指7、8合拢或气夹4停止工作而两个夹线手指7、8在弹簧9回复力作用下合拢，合拢后的夹线手指7、8紧紧夹持导线003的端部。
所述步骤S4中转移线扣组件推动具有“φ”型结扣的导线003端部落入线柱001具体是指：推线扣驱动器通过平推杆6带动线扣推杆10、11推动导线003的“φ”型结扣，使“φ”型结扣从夹线组件上脱离并完全落到线柱001上。
实施例6：
本实施例在实施例1-5任一项基础上进一步优化，两个夹线手指7、8为竖向相对设置的左夹线手指7、右夹线手指8，左夹线手指7、右夹线手指8之间为夹持导线003的间隙，左夹线手指7、右夹线手指8上分别设置指缝，左夹线手指7、右夹线手指8指缝的连线与左夹线手指7、右夹线手指8间隙的连线呈“十”字型。
所述线扣推杆10、11的推杆本体上还设置有伸入指缝的短杆。所述推杆本体和短杆能同时与“φ”型结扣接触，提高转移线扣的稳定性，减少导线003磨损。
本实施例的其他部分与上述实施例1-5任一项相同，故不再赘述。
以上所述，仅是本发明的较佳实施例，并非对本发明做任何形式上的限制，凡是依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化，均落入本发明的保护范围之内。

Claims (9)

  1. 一种布线过程中导线端部的固定装置，安装在布线机械手(002)的执行终端与中部为U型槽的线柱(001)配合使用，其特征在于，所述固定装置包括安装架(1)及分别安装在安装架(1)上的连接法兰(2)、夹线组件、转移线扣组件，连接法兰(2)的一端固定在安装架(1)的顶部且连接法兰(2)的另一端固定在布线机械手(002)上；
    所述夹线组件包括固定安装在安装架(1)上的气夹(4)和两个夹线手指(7、8)，两个夹线手指(7、8)分别与气夹(4)的两个夹板连接；所述气夹(4)通过夹板驱使两个夹线手指(7、8)合拢或打开；
    所述转移线扣组件包括依次连接的推线扣驱动器、平推杆(6)、两个线扣推杆(10、11)，所述推线扣驱动器固定在安装架(1)上；所述平推杆(6)的一端安装在推线扣驱动器的输出端且平推杆(6)的另一端同时与横向平行设置的两个线扣推杆(10、11)连接，两个线扣推杆(10、11)位于两个夹线手指(7、8)的外侧；所述推线扣驱动器的输出端通过平推杆(6)驱使线扣推杆(10、11)沿夹线手指(7、8)的长度方向上下移动。
  2. 根据权利要求1所述的一种布线过程中导线端部的固定装置，其特征在于，两个夹线手指(7、8)为竖向相对设置的左夹线手指(7)、右夹线手指(8)，分别设置在左夹线手指(7)相对面、右夹线手指(8)相对面的凹部在两个夹线手指(7、8)合拢时共同形成一个能外套线柱(001)的腔体。
  3. 根据权利要求2所述的一种布线过程中导线端部的固定装置，其特征在于，两个线扣推杆(10、11)为横向相对设置的左线扣推杆(10)、右线扣推杆(11)，左线扣推杆(10)、右线扣推杆(11)的两端分别通过弹簧(9)连接成一体，始终处于拉伸状态的弹簧(9)提供恢复力驱使左线扣推杆(10)推动的左夹线手指(7)、左线扣推杆(10)推动的右夹线手指(8)合拢。
  4. 根据权利要求1所述的一种布线过程中导线端部的固定装置，其特征在于，所述线扣推杆(10、11)上设置有导向凸块，夹线手指上设置有与导向凸块对应的导向槽，导向槽对导向凸块进行导向及限位。
  5. 根据权利要求1所述的一种布线过程中导线端部的固定装置，其特征在于，所述推线扣驱动器采用输出端为直线输出的推线扣气缸(5)；所述推线扣气缸(5)的伸缩杆穿过平推杆(6)的连接耳并通过螺母固定连接，驱使平推杆(6)带动线扣推杆(10、11)沿夹线手指(7、8)的长度方向上下移动。
  6. 一种根据权利要求1-5中任一项所述的固定装置进行布线过程中导线端部固定的固定方法，其特征在于，布线机械手(002)通过固定装置带动抻直的导线(003)端部旋转180°，使导线(003)的端部形成一个“φ”型结扣，并将具有“φ”型结扣的导线(003)端部套在中部具有U型槽的线柱(001)上，完成导线(003)固定。
  7. 根据权利要求6所述的一种布线过程中导线端部的固定方法，其特征在于，具体包括以下步骤：
    步骤S1：布线机械手(002)带动固定装置移动至指定的导线(003)端部，夹紧组件夹持导线(003)的端部；
    步骤S2：夹线组件夹持导线(003)的端部后，布线机械手(002)的第六轴旋转180°同时通过固定装置带动抻直的导线(003)端部旋转180°，使导线(003)的端部形成一个“φ”型结扣；
    步骤S3：布线机械手(002)通过固定装置带动导线(003)端部移动至线柱(001)的正上方，再由布线机械手(002)驱使固定装置下移并使夹线组件外套于线柱(001)并使“φ”型结扣两端的导线(003)对准线柱(001)的侧开口；
    步骤S4：当夹线组件运动至线柱(001)中部或底部时，转移线扣组件推动具有“φ”型结扣的导线(003)端部落入线柱(001)，此时“φ”型结扣恰好缠绕在线柱(001)上；
    步骤S5：最后，布线机械手(002)带动固定装置上移离开线柱(001)，完成此次导线(003)端部固定的操作。
  8. 根据权利要求7所述的一种布线过程中导线端部的固定方法，其特征在于，所述步骤S1中夹紧组件夹持导线(003)的端部具体是指：首先，气夹(4)通过两个夹板驱使两个夹线手指(7、8)张开；接着，固定装置下移使导线(003)进入两个夹线手指(7、8)之间，然后，气夹(4)主动驱使两个夹线手指(7、8)合拢或气夹(4)停止工作而两个夹线手指(7、8)在弹簧(9)回复力作用下合拢，合拢后的夹线手指(7、8)紧紧夹持导线(003)的端部。
  9. 根据权利要求7所述的一种布线过程中导线端部的固定方法，其特征在于，所述步骤S4中转移线扣组件推动具有“φ”型结扣的导线(003)端部落入线柱(001)具体是指：推线扣驱动器通过平推杆(6)带动线扣推杆(10、11)推动导线(003)的“φ”型结扣，使“φ”型结扣从夹线组件上脱离并完全落到线柱(001)上。
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US5496331A (en) * 1993-07-28 1996-03-05 Terumo Kabushiki Kaisha Knot-forming instrument and method of forming knots
CN103943284A (zh) * 2014-03-31 2014-07-23 南昌航空大学 一种飞机电缆导线束自动布线系统及其布线方法
CN206614553U (zh) * 2017-03-07 2017-11-07 长春理工大学 一种自动布线机布线机器人
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