Automatic routing of wire harness of electrical system by means of two force control robots
A robot and wire laying technology, applied in general control systems, control/regulation systems, manufacturing wiring harnesses, etc., can solve problems such as inability to introduce, broken wires, and single metal wires, so as to avoid loop formation, avoid breakage, The Effect of Complexity Reduction
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[0028] The invention is referenced below Figure 1 to 3 The description is based on exemplary embodiments, in which the same reference numerals indicate the same structural features and / or functional features.
[0029] figure 1 A schematic diagram of the wire laying system 1 for manufacturing the wire harness 2 in normal operation is shown, and the wire harness is composed of a plurality of cables and / or wires 3. The wire laying system 1 includes two robots 5.1, 5.2, which are assigned different control levels in the system. The robots 5.1, 5.2 are configured to have a grasping element 6 for grasping at least one electric wire 3 of the wire harness 2 for laying the electric wire 3 on the cable mold base plate 4.
[0030] The wire laying system 1 also has a common hierarchical control device 7, which controls the simultaneous movement and simultaneous grabbing of the grabbing elements 6 of the robots 5.1 and 5.2 based on the detected operating data during simultaneous wire processi...
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Abstract
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