A wiring welding robot

Abstract

The present invention provides a wiring welding robot, which can remove the wire from the wire rack through a first clamping structure arranged on a first manipulator, and can cut and strip the wire through a second manipulator, thereby realizing automation of the welding process and improving efficiency; by arranging a vertical ball screw structure on a moving plate of an electric control stand and a horizontal ball screw structure on a moving frame of a slide table, the first manipulator, the second manipulator and a sleeve device can be adjusted up and down and left and right, and combined with screw structures one to seven, the flexibility of the clamping device and the shearing clamping device on the manipulator is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of intelligent control, in particular to a wiring welding robot. Background Art

[0002] In the current railway industry, due to the large number of railway signal equipment and the large amount of data that needs to be processed, a signal room is usually set up to achieve centralized control of data. As the heart of the signal system, the signal room is also of great significance in other intelligent communication fields, especially in environments where a large amount of data needs to be transmitted and processed.

[0003] During the design and installation of railway signal rooms, there are design requirements for the room's temperature, humidity, ventilation conditions and even noise, because the safety of the signal room will directly affect the normal operation of the station and even multiple railway lines. The construction process of the construction personnel will also be strictly controlled.

[0004] There are a large number of communication lines in the signal room. Currently, the wiring of these communication lines is completed by manual welding by workers. In order to facilitate workers to distinguish different cables and to facilitate inspections, the corresponding inkjet tube will be connected to each communication line before welding. In the process of wiring in the room, due to the small space of the cabinet and the large number of wirings that need to be processed, even with the assistance of the inkjet tube, welding errors are very likely to occur; and in the small cabinet space, completing a large amount of wiring arrangement and classification work is also a huge workload for construction workers; therefore, the wiring work in the room places high demands on the experience, patience, physical strength and other conveniences of the construction workers.

[0005] On the other hand, due to the uncertainty of welding, there may be a situation of cold welding, which will directly affect the work of the machine room. Therefore, after the arrangement of the signal room is completed, it will go through a tedious verification process. Therefore, there is an urgent need for a device that can automatically complete welding and perform communication verification of wiring. Summary of the invention

[0006] The purpose of the present invention is to solve the deficiencies of the prior art and provide a wiring welding robot.

[0007] In order to solve the above problems, the present invention adopts the following technical solutions:

[0008] A wiring welding robot comprises a wire rack, an electric control stand, a slide, an image acquisition device, a first manipulator and a second manipulator; wherein the first manipulator and the second manipulator are respectively connected to the slide via a sliding structure, the slide is connected to the electric control stand via a sliding structure, and the sliding structure is a ball screw structure; the image acquisition device is arranged on the first manipulator or the second manipulator; the wire rack is fixedly arranged on a signal cabinet to be welded.

[0009] Furthermore, the electric control stand includes a box body, a moving board and a control module; wherein the control module is arranged inside the box body; the moving board is arranged on one of the side surfaces of the box body, and the moving board is arranged vertically; the control module adopts a programmable single chip microcomputer, and the control module is used to control the movements of the first manipulator, the second manipulator and the slide, and the control module is also connected to the image acquisition device to process and identify the image acquired by the image acquisition device.

[0010] Furthermore, the moving plate is used to connect to the slide; a vertical ball screw structure is arranged on the moving plate; the vertical ball screw structure includes a vertical motor, a vertical screw and a vertical ball nut; the vertical screw is arranged in the Y direction; the two ends of the vertical screw are respectively connected to the moving plate through bearings; a vertical motor is also arranged at one end of the vertical screw; the vertical ball nut is arranged on the vertical screw through balls; the vertical ball nut is also connected to the slide.

[0011] Furthermore, the slide includes a motion frame and a transverse ball screw structure; the transverse ball screw structure is arranged on the motion frame; the motion frame is connected to a slider on a slide rail arranged on a motion plate; the transverse ball screw structure is connected to the first manipulator or the second manipulator; the transverse ball screw structure includes a transverse motor, a transverse screw and a transverse ball nut; the transverse screw is located in the Z direction; the transverse screw is also connected to the motion frame through a bearing; the transverse motor is arranged on the motion frame.

[0012] Further, the first manipulator includes a first transverse shift seat, a first rotating block and a first clamping device; the first rotating block is hingedly arranged on the first transverse shift seat, and the first rotating block can rotate around the hinged portion; the hinged portion of the first rotating block and the first transverse shift seat is provided with a rotating motor;

[0013] The first clamping device includes a first support frame, a second support frame, a welding device, a wire pulling structure and a first clamping structure; the second support frame is slidably arranged on the first support frame through a lead screw structure; the welding device is slidably arranged on the upper side plate of the second support frame; the first clamping structure of the shear clamping structure is slidably arranged on the lower side plate of the second support frame; the wire pulling structure is arranged on the second support frame; the first support frame is arranged in a hollow portion of the mounting portion of the first rotating block;

[0014] The welding device includes a second lead screw structure and a welding wire pulling device; the second lead screw structure is arranged between the welding wire pulling device and the upper side plate of the second support frame, and the second lead screw structure is used to control the relative displacement between the welding wire pulling device and the second support frame;

[0015] The welding wire pulling device comprises a base plate, a welding head, a guide tube, a guide motor, a guide wheel and a welding wire wheel; the bottom of the base plate is connected to the ball nut of the lead screw structure 2; the guide tube, the guide motor, the guide wheel and the welding wire wheel are all arranged on the base plate; the welding head is arranged on the side of the base plate; the guide tube, the guide motor and the guide wheel are used to pull the welding wire; the welding wire wheel is used to store the welding wire; the welding head is used to weld the welding wire;

[0016] The wire pulling structure is arranged on the first support frame, wherein the wire pulling structure comprises a limit head and a connection base, the limit head and the connection base are made in one piece, and the connection base is arranged between the limit head and the first support frame; the limit head is used to limit the movement space of the wire;

[0017] The first clamping structure includes a first connecting plate, a screw structure three, a pneumatic finger one and a wire clamp one; the screw structure three is arranged on the lower side plate of the second support frame; the pneumatic finger one is arranged at one end of the first connecting plate, and the other end of the first connecting plate is connected to the ball nut of the screw structure three, and the ball nut of the screw structure three is also arranged on the slide rail of the lower side plate through a slider, and the screw structure three is used to control the relative movement between the first connecting plate and the second support frame; the wire clamp one is arranged on the clamping claw of the pneumatic finger one.

[0018] Furthermore, the second manipulator includes a second transverse shift seat, a second rotating block and a second clamping device; the second rotating block is arranged on the second transverse shift seat; the second clamping device is arranged on the second rotating block; the second transverse shift seat and the second rotating block are hinged, and a rotating motor is arranged at the hinged portion between the second rotating block and the second transverse shift seat;

[0019] The second clamping device includes a third support frame, a fourth support frame, a first shearing clamping structure, a second shearing clamping structure and a second clamping structure; the fourth support frame is slidably arranged on the third support frame, and the bottom plate of the fourth support frame is arranged on the ball nut of the screw structure four on the third support frame; the first shearing clamping structure is arranged on the upper side plate of the fourth support frame; the second shearing clamping structure is arranged at one end of the upper side plate and the lower side plate of the fourth support frame close to each other; the second clamping structure is arranged on the lower side plate of the fourth support frame;

[0020] The first shearing and clamping structure includes a second connecting plate, a screw structure five, a pneumatic finger two, a lifting cylinder one, a lifting cylinder two and a wire clamp two; the screw structure five is arranged on the upper side plate of the fourth support frame; the pneumatic finger two is arranged at one end of the second connecting plate, and the other end of the second connecting plate is connected to the ball nut of the screw structure five, and the ball nut of the screw structure five is also arranged on a slide rail through a slider, and the slide rail is fixedly connected to the motor of the screw structure five; the wire clamp two is arranged on the pneumatic finger two; the lifting cylinder one is arranged between the upper side plate of the fourth support frame and the motor of the screw structure five; the lifting cylinder two is arranged between the upper side plate of the fourth support frame and the second connecting plate;

[0021] The second shearing and clamping structure includes a pneumatic finger 3 and a wire clamp 3, wherein the pneumatic finger 3 is arranged on a fixed seat at one end where the upper side plate and the lower side plate of the fourth support frame are close to each other; the wire clamp 3 is arranged on the pneumatic finger 3;

[0022] The second clamping structure includes a third connecting plate, a screw structure six, a pneumatic finger four and a wire clamp four, wherein the screw structure six is ​​arranged on the lower side plate of the fourth support frame; the pneumatic finger four is arranged at one end of the third connecting plate, and the other end of the second connecting plate is connected to the ball nut of the screw structure six, and the ball nut of the screw structure six is ​​also arranged on the slide rail of the lower side plate of the fourth support frame through a slider; the wire clamp four is arranged on the clamping claw of the pneumatic finger four.

[0023] Furthermore, the first manipulator and the second manipulator are respectively arranged on the electric control stand via two slides, wherein the slide of the first manipulator is located above the second manipulator;

[0024] The wire rack is used to set the wires that need to be welded;

[0025] It also includes a sleeve device, which is arranged on the electric control stand through a slide; the sleeve device includes a third transverse shift seat, a third rotating block, a screw structure seven, a sleeve platform and a sleeve device; the third transverse shift seat and the third rotating block are hinged, and the hinged part of the third rotating block and the third transverse shift seat is provided with a rotating motor; the third transverse shift seat is connected to the slider of the slide; the screw structure seven is arranged on the third rotating block; the sleeve device is arranged on the sleeve platform; the sleeve platform is arranged on the ball nut of the screw structure seven.

[0026] A welding method for a wiring welding robot comprises the following steps:

[0027] Step 1: The control module controls and adjusts the lateral ball screw structure and the vertical ball screw structure corresponding to the first manipulator and the rotation angle between the first lateral displacement seat and the first rotating block; the first manipulator moves to a set position for clamping the wire;

[0028] Step 2: Start the motor of the lead screw structure 3 to move the first clamping structure to the set position of the lead frame;

[0029] Step 3: Start the pneumatic finger 1 to control the wire clamp 1 to clamp the wire;

[0030] Step 4: The image acquisition device acquires an image and transmits it to the control module of the electric control stand; the control module determines whether the wire has been clamped according to the trained image recognition model; if the wire has not been clamped, the control module returns to step 1; if the wire has been clamped, the control module proceeds to step 5;

[0031] Step 5: Control the motor through the control module to adjust the position of the second manipulator relative to the first manipulator so that the second clamping structure of the second manipulator is located directly below the first clamping structure of the first manipulator;

[0032] Step 6: Control the clamping air pressure of the pneumatic finger 4 and the opening angle of its clamping jaws so that the wire clamp 4 clamps the wire at the set pressure and opening angle;

[0033] Step 7: Control the slide corresponding to the second manipulator to move downward a set distance;

[0034] Step 8: Control the pneumatic finger 2 and the pneumatic finger 3 to open;

[0035] Step 9: Start the motor of the lead screw structure 4 and the motor of the lead screw structure 6; wherein the wire clamp 4 contracts toward the motor of the lead screw structure 6, and the second clamping device as a whole extends away from the motor of the lead screw structure 4; so that the wire clamp 3, the wire clamp 4 and the wire clamp 1 are on the same vertical line;

[0036] Step 10: Start the motor of the lead screw structure 5, so that the wire clamps 1 to 4 are all on the same vertical line; and the wire clamps 2 and 3 are separated by a set distance;

[0037] Step 11: Close the second pneumatic finger and cut the wire through the second wire clamp;

[0038] Step 12: Open pneumatic finger 2, start lifting cylinder 1, and wire clamp 2 sinks to a set distance X, so that wire clamp 2 is close to wire clamp 3;

[0039] Step 13: Close the second pneumatic finger and cut the insulation skin of the outer layer of the wire through the waist-shaped hole structure on the second wire clamp;

[0040] Step 14: Start the lifting cylinder 2 to lift the wire clamp upward by a set distance X' to form a bare wire part, completing the wire stripping work;

[0041] Step 15: Control the first manipulator to enable the welding device to perform tinning treatment on the exposed wire portion;

[0042] Step 16: Open the second pneumatic finger to control the second lifting cylinder to sink; then close the second pneumatic finger, cut the wire through the second wire clamp, and keep the exposed tinned part of the wire;

[0043] Step 17: Open pneumatic finger 1 to release the cut wire by wire clamp 1;

[0044] Step 18: Start the line number machine to generate the coding tube;

[0045] Step 19: Move the first manipulator so that the wire clamp on the pneumatic finger 1 clamps the coding tube; the wire number machine cuts off the coding tube;

[0046] Step 20: Move the first manipulator so that the wire clamp 1 is located directly above the wire clamp 2; control the first manipulator to move downward, and insert the coding tube clamped by the wire clamp 1 into the wire; open the pneumatic finger 1, so that the wire clamp 1 releases the coding tube;

[0047] Step 21: Open the pneumatic finger 2 and the pneumatic finger 3; start the motor of the screw structure 4 to extend the wire clamp 4 away from the motor of the screw structure 6, and start the motor of the screw structure 2 to shrink the second clamping device as a whole toward the motor of the screw structure 4; make the wire clamp 4 and the wire clamp 1 on the same vertical line, and shrink the wire clamp 2 and the wire clamp 3 inward;

[0048] Step 22: Move the second manipulator upward to feed the wire into between the wire clamp 1 and the wire pulling structure; close the pneumatic finger 1 to make the wire clamp 1 clamp the wire;

[0049] Step 23: Control the motor of the lead screw structure three to shrink the wire clamp one by a set distance toward the motor of the lead screw structure three, so as to form a misaligned state between the wire clamp one and the limit head of the wire pulling structure, wherein the limit head extends relative to the wire clamp one;

[0050] Step 24: Control the first manipulator to move so that the wire pulling structure is located at the corresponding welding hole;

[0051] Step 25: Control the motor of the screw structure three to extend the wire clamp 1 in a direction away from the motor of the screw structure three by a set distance; and allow the wire to pass through the welding hole;

[0052] Step 26: Control the welding device to complete welding, and end the step.

[0053] Furthermore, when the second clamping structure of the second manipulator in step 5 is located directly below the first clamping structure of the first manipulator, the first shearing clamping structure and the second shearing clamping structure of the second manipulator remain in an open state, or the wire clamp four is extended through the screw structure six.

[0054] Furthermore, the set distance X′ for lifting in step 14 is smaller than the set distance X for sinking in step 12 .

[0055] The beneficial effects of the present invention are:

[0056] The first manipulator is provided to remove the wire from the wire rack, and the second manipulator is used to cut and strip the wire, thereby automating the welding process and improving efficiency.

[0057] By setting up a welding device, the transmission of welding wire and automatic welding can be realized; the V-shaped notch on the welding device facilitates the tinning operation of the wire and prevents the wire from spreading;

[0058] By arranging a vertical ball screw structure on the moving plate of the electric control stand and a horizontal ball screw structure on the moving frame of the slide, the first manipulator, the second manipulator and the sleeve device can be adjusted up and down and left and right. Combined with the screw structures one to seven, the flexibility of the clamping device and the shear clamping device on the manipulator is greatly improved.

[0059] By setting up an image recognition device, it is possible to determine whether the wire grabbing and wire welding processes are going smoothly, thereby improving the intelligence of the device and effectively ensuring the smooth progress of the robot welding work.

[0060] During the wire stripping process, the stripped insulating rubber is retained on the wire until the tinning process is completed by the welding device, and then the stripped insulating rubber is removed, thereby effectively preventing the copper wire or other conductive and communication materials inside the wire from being scattered. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0062] Figure 2 It is a schematic diagram of a manipulator and a sleeve device on an electric control stand according to the first embodiment of the present invention;

[0063] Figure 3 This is a schematic diagram of a first manipulator according to a first embodiment of the present invention;

[0064] Figure 4 This is a schematic diagram of a first clamping device according to a first embodiment of the present invention;

[0065] Figure 5 A partial enlarged view of the first clamping device of the first embodiment of the present invention;

[0066] Figure 6 This is a schematic diagram of a second manipulator according to the first embodiment of the present invention;

[0067] Figure 7This is a schematic diagram of a second clamping device according to Embodiment 1 of the present invention;

[0068] Figure 8 A partial enlarged view of the second clamping device of the first embodiment of the present invention;

[0069] Fig. 9 This is a schematic diagram of a casing device according to Embodiment 1 of the present invention;

[0070] Fig.10 This is a schematic diagram of a casing device according to Embodiment 1 of the present invention;

[0071] Fig.11 It is a schematic diagram of a lead frame according to the first embodiment of the present invention;

[0072] Fig.12 It is a partial enlarged view of the lead frame of the first embodiment of the present invention;

[0073] Fig.13 A schematic diagram of a communication verification device according to a second embodiment of the present invention;

[0074] Fig.14 This is a schematic diagram of a bottom plate combined with a blade holder according to a second embodiment of the present invention;

[0075] Fig.15 This is a schematic diagram of the blade rod motion structure of the second embodiment of the present invention;

[0076] Fig.16 This is a schematic diagram of a blade head assembly according to a second embodiment of the present invention;

[0077] Fig.17 This is a schematic diagram of a second communication verification device according to a third embodiment of the present invention;

[0078] Fig.18 This is a schematic diagram of the communication verification device 2 of the third embodiment of the present invention without the slide plate.

[0079] Description of the accompanying drawings: wire rack 1, wire hook 11, electric control stand 2, box 21, moving plate 22, vertical ball screw structure 23, slide 3, upper rail 31, lower rail 32, side connecting block 33, transverse ball screw structure 34, first manipulator 4, first transverse shift seat 41, rotating motor 411, first rotating block 42, hinge part 1 421, mounting part 1 422, first clamping device 43, first support frame 431, screw structure 1 432, second support frame 433, bottom plate 4331, upper side plate 4332, lower side plate 4333, welding device 4 4. Screw structure II 441, base plate 442, welding head 443, V-shaped notch 4431, guide tube 444, guide motor 445, guide wheel 446, welding wire wheel 447, support frame 4471, U-shaped notch 4472, hinge column 4473, wire pulling structure 45, limit head 451, U-shaped cavity 452, wire pulling port 453, connecting base 454, first clamping structure 46, first connecting plate 461, screw structure III 462, pneumatic finger I 463, wire clamp I 464, wire groove 465, second manipulator 5, second traverse seat 5 1. Second rotating block 52, hinge part 2 521, mounting part 2 522, second clamping device 53, third support frame 531, lead screw structure 4 532, fourth support frame 533, first shear clamping structure 54, second connecting plate 541, lead screw structure 542, pneumatic finger 2 543, lifting cylinder 1 544, lifting cylinder 2 545, wire clamp 2 546, limit block 547, second shear clamping structure 55, pneumatic finger 3 551, wire clamp 3 552, second clamping structure 56, third connecting plate 561, lead screw structure 6 562, pneumatic hand Finger four 563, wire clamp four 564, sleeve device 6, third transverse seat 61, third rotating block 62, screw structure seven 63, sleeve platform 64, supporting column 65, sleeve equipment 66, communication verification device one 7, base plate one 71, connecting seat 711, lifting rod 72, blade head one 73, blade rod 74, blade holder 75, lower frame 751, upper frame 752, fixing column 76, spring piece 77, communication verification device two 8, base plate two 81, wire hole two 82, slide plate 83, wire hole one 84, fixing hole 85, blade head two 86, limit device 87. DETAILED DESCRIPTION

[0080] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0081] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0082] Embodiment 1:

[0083] like Figure 1 As shown, a wiring welding robot includes a wire rack 1, an electric control stand 2, a slide 3, an image acquisition device, a first manipulator 4 and a second manipulator 5. The first manipulator 4 and the second manipulator 5 are respectively connected to the slide 3 through a sliding structure, and the slide 3 is connected to the electric control stand 2 through a sliding structure, and the sliding structure is a ball screw structure; the image acquisition device is arranged on the first manipulator 4 or the second manipulator 5, and in this example, the image acquisition device is arranged on the first manipulator 4; in this example, the wire rack 1 is fixedly arranged on the signal cabinet required for welding.

[0084] like Figure 2As shown, the electric control stand 2 includes a box 21, a moving board 22 and a control module; wherein the control module is arranged inside the box 21; the moving board 22 is arranged on one of the sides of the box 21, and the moving board 22 is arranged vertically. The control module adopts a programmable single chip microcomputer, and the control module is used to control the actions of the first manipulator 4, the second manipulator 5 and the slide 3. The control module is also connected to the image acquisition device to process and recognize the image acquired by the image acquisition device, wherein the image recognition adopts the existing recognition method, and in this example, the image recognition method of model training is adopted. The moving board 22 is used to connect the slide 3; a vertical ball screw structure 23 is arranged on the moving board 22. The vertical ball screw structure 23 includes a vertical motor, a vertical lead screw and a vertical ball nut; the vertical lead screw is arranged in the Y direction, and in this example, the Y direction is the vertical direction; the two ends of the vertical lead screw are respectively connected to the moving plate 22 through bearings; one end of the vertical lead screw is also provided with a vertical motor, and in this example, the vertical motor is arranged on the upper side of the vertical lead screw; the vertical motor is connected to the lead screw by transmission, and a gear transmission connection can be adopted; the vertical motor is also connected to the control module, and the vertical motor movement is controlled by the control module; the vertical ball nut is arranged on the vertical lead screw through a ball; the vertical ball nut is also connected to the slide 3. The left and right sides of the moving plate 22 are also provided with slide rails, and the slide rails are parallel to the vertical lead screw. A slider is correspondingly arranged on the slide rail, and the slider can slide along the slide rail. The slider is connected to the slide 3. By arranging slide rails on the left and right edges of the moving plate 22, and arranging sliders on the slide rails to connect with the slide 3, it is ensured that the slide 3 is stably raised and lowered. A base plate 4331 is also provided at the bottom of the electric control stand 2, and the base plate 4331 is set on the ground; it should be noted that in some other embodiments, moving wheels can also be provided on the lower surface of the base plate 4331, and the moving wheels include universal wheels; the device of this embodiment can be conveniently moved through the moving wheels.

[0085] The slide 3 includes a motion frame and a transverse ball screw structure 34, wherein the transverse ball screw structure 34 is arranged on the motion frame; the motion frame is connected to the slider on the slide rail arranged on the motion board 22; the transverse ball screw structure 34 is connected to the first manipulator 4 or the second manipulator 5; it should be noted that in this example, the first manipulator 4 and the second manipulator 5 are respectively arranged on two slides 3, and both slides 3 are arranged on the motion board 22 of the electric control stand 2 through the vertical ball screw structure 23; the vertical screws corresponding to the two slides 3 are parallel to each other, and the lengths and the heights of the two vertical screws are consistent. The transverse ball screw structure 34 includes a transverse motor, a transverse screw and a transverse ball nut; the transverse ball nut is arranged on the transverse screw through balls, and the transverse ball nut is also connected to the first manipulator 4 or the second manipulator 5; the transverse screw is connected to the transverse motor in a transmission connection, and the transmission connection is a gear connection in this example, and the transverse screw is located in the Z direction; the transverse screw is also connected to the motion frame through a bearing; the transverse motor is arranged on the motion frame. The motion frame includes an upper rail 31, a lower rail 32 and a side connection block 33; the side connection block 33 is located at one end of the upper rail 31 and the lower rail 32, and the upper rail 31 and the lower rail 32 are arranged in parallel on the side connection block 33; in this example, the upper rail 31 and the lower rail 32 are located in the Z direction. The sliding connection between the first manipulator 4 and the second manipulator 5 and the slide 3 is realized through the structure of the upper rail 31 and the lower rail 32 of the slide 3, and the rotation of the transverse motor drives the transverse ball nut to move, and then drives the first manipulator 4 and the second manipulator 5 to move. It should be noted that in some other embodiments, side connection blocks 33 can be set at both ends of the upper rail 31 and the lower rail 32, wherein the transverse motor is set on the side connection block 33 at one end; through the side connection blocks 33 at both ends of the upper rail 31 and the lower rail 32, the structural strength of the motion frame is enhanced, the deformation of the motion frame is reduced, and the accuracy is ensured.

[0086] like Figure 3-8 As shown, the first manipulator 4 and the second manipulator 5 are respectively arranged on the electric control stand 2 through two slides 3, wherein the slide 3 of the first manipulator 4 is located above the second manipulator 5.

[0087] The first manipulator 4 includes a first transverse shift seat 41, a first rotating block 42 and a first clamping device 43; the first rotating block 42 is hingedly arranged on the first transverse shift seat 41, and the first rotating block 42 can rotate around the hinged part. In this example, the rotation direction of the first rotating block 42 is located in the horizontal direction; the hinged part of the first rotating block 42 and the first transverse shift seat 41 is provided with a rotating motor 411, and the rotating motor 411 is connected to the control module of the electric control stand 2, and the rotating motor 411 can control the rotation angle and rotation direction of the first rotating block 42; the first transverse shift seat 41 is arranged on the upper rail 31 and the lower rail 32 of the moving frame of the slide 3 through a slider, and the first transverse shift seat 41 is also connected to the transverse ball nut, and the transverse ball nut is driven to move through the rotation of the transverse motor, thereby realizing the movement of the first transverse shift seat 41; the first clamping device 43 is arranged on the first rotating block 42. The first rotating block 42 includes a hinge part 421 and a mounting part 422; the hinge part 421 is in the shape of a straight plate, one end of the hinge part 421 is in the shape of a semicircular arc, and the other end is fixedly connected to the mounting part 422, wherein the semicircular arc end is used for hinge connection; the mounting part 422 is in the shape of a straight quadrangular prism as a whole, and the interior of the mounting part 422 is hollowed out, and the hollowed-out part is also in the shape of a straight quadrangular prism. The opening side of the hollowed-out part of the mounting part 422 is located on the side of the mounting part 422 away from the hinge part 421.

[0088] The first clamping device 43 includes a first support frame 431, a second support frame 433, a welding device 44, a wire pulling structure 45 and a first clamping structure 46; wherein the second support frame 433 is slidably set on the first support frame 431; the welding device 44 is slidably set on the upper part of the second support frame 433; the shear clamping structure first clamping structure 46 is slidably set on the lower part of the second support frame 433; the wire pulling structure 45 is set on the second support frame 433; the first support frame 431 is set in the hollow part of the mounting part 422 of the first rotating block 42. The first support frame 431 is in the shape of a square frame, and a lead screw structure 432 is arranged inside the first support frame 431; the second support frame 433 includes a bottom plate 4331, an upper side plate 4332 and a lower side plate 4333, and the upper side plate 4332 and the lower side plate 4333 are arranged at both ends of the bottom plate 4331 to form a triangular frame structure; the bottom plate 4331 of the second support frame 433 is slidably connected to the first support frame 431 through the lead screw structure 432. The motor of the lead screw structure 432 is also arranged in the hollow part of the mounting part 422, and the motor is connected to the mounting part 422 through a threaded structure. The bottom plate 4331 of the second support frame 433 is also slidably connected to the side of the first support frame 431 through a slider; the slider is arranged on both sides of the bottom plate 4331 of the second support frame 433, and the slider is also connected to the side of the second support frame 433. The bottom plate 4331 of the second support frame 433 passes through the first support frame 431; a through hole is also provided on the bottom plate 4331 of the second support frame 433 for passing the lead screw of the lead screw structure 1 432; the intersection of the two sides of the second support frame 433 is set outside the first support frame 431; the first support frame 431 and the second support frame 433 form a buckle structure. A wire pulling structure 45 is provided at one end of the two sides of the second support frame 433 that are close to each other.

[0089] The welding device 44 is arranged on the second support frame 433, wherein the welding device 44 is located at the upper part of the upper side plate 4332 of the second support frame 433. The welding device 44 includes a second screw structure 441 and a welding wire traction device; the second screw structure 441 is arranged between the welding wire traction device and the upper side plate 4332 of the second support frame 433. The motor of the second screw structure 441 is fixedly arranged on the upper side plate 4332; the screw of the second screw structure 441 is arranged at the output end of the motor; the ball nut of the second screw structure 441 is arranged on the slide rail of the upper side plate 4332 through a slider, and the ball nut is also connected to the welding wire traction device. Through the action of the motor of the second screw structure 441, its ball nut can be pulled to slide on the upper side plate 4332, thereby driving the welding wire traction device to act. The welding wire pulling device includes a base plate 442, a welding head 443, a guide tube 444, a guide motor 445, a guide wheel 446 and a welding wire wheel 447; the bottom of the base plate 442 is connected to the ball nut of the second screw structure 441; the guide tube 444, the guide motor 445, the guide wheel 446 and the welding wire wheel 447 are all arranged on the base plate 442; the welding head 443 is arranged on the side of the base plate 442. The base plate 442 is in the shape of a folding plate as a whole, including a folding plate 1 and a folding plate 2, the folding plate 1 and the folding plate 2 are made in one piece, and a set angle is maintained between the folding plate 1 and the folding plate 2, and the range of the set angle is 90°-180°, so that the end of the folding plate 2 is close to the wire pulling structure 45. The folding plate 1 is arranged on the ball nut of the second screw structure 441; the folding plate 1 is arranged in parallel with the upper side plate 4332 of the second support frame 433, and can also be approximately parallel due to process errors. A guide tube 444, a guide motor 445, a guide wheel 446 and a welding wire wheel 447 are provided on the folding plate 1; a welding head 443 is provided at the end of the folding plate 2 away from the folding plate 1. The welding head 443 includes a welding head 1 and a welding head 2, and the welding head 443 can generate heat by powering on to complete the welding work; a set angle is maintained between the welding head 1 and the welding head 2; the welding head 1 is connected to the side of the folding plate 2; the welding head 2 is close to the wire pulling structure 45. A channel is provided inside the welding head 2 for passing the welding wire; by directly providing a channel inside the welding head 443, the welding wire can directly pass through the welding head 443, which is convenient for heating the welding wire. A V-shaped notch 4431 is provided on the side of the welding head 2 away from the welding head 1, and a circular arc groove is provided at the bottom of the V-shaped notch 4431, the purpose of which is to fit the wire. The V-shaped notch 4431 connects the channel inside the welding head 2. There are two guide wheels 446 , one of which is disposed at the output end of the guide motor 445 ; the other guide wheel 446 is disposed in a recess on the base plate 442 , and the guide wheel 446 disposed on the base plate 442 can rotate in the recess on the base plate 442 .The outer circumference of the guide wheel 446 is provided with an arc groove, which is arranged around the outer circumference of the guide wheel 446. When the two guide wheels 446 are fitted together, the arc grooves on the outer circumference of the two guide wheels 446 are combined to form a through hole for passing and pushing the welding wire; the guide wheel 446 is made of an elastic material with a high friction coefficient, and in this example, a rubber material is used. The guide tube 444 is fitted on the base plate 442, one end of the guide tube 444 is arranged close to the guide wheel 446, and the other end of the guide tube 444 is inserted into the welding head 2. The guide tube 444 is connected to the channel inside the welding head 2, so that the welding wire in the guide tube 444 can pass through the welding head 2 and reach the V-shaped notch 4431 of the welding head 2. The welding wire wheel 447 is arranged at one end of the folding plate 1 away from the folding plate 2, and the welding wire wheel 447 is connected to the folding plate 1 through a support frame 4471; the support frame 4471 is hinged to both ends of the welding wire wheel 447, and the support frame 4471 is also fixedly connected to the folding plate 1. In this example, a U-shaped notch 4472 is arranged on the support frame 4471, and correspondingly, hinge columns 4473 are arranged at both ends of the welding wire wheel 447; the hinge columns 4473 are placed in the U-shaped notch 4472 to realize the hinge connection between the support frame 4471 and the welding wire wheel 447, and the welding wire wheel 447 can also be easily removed from the support frame 4471. The guide motor 445 is arranged on the folding plate 1, and is located between the guide tube 444 and the welding wire wheel 447; the output end of the guide motor 445 is connected to a guide wheel 446. During the implementation process, the guide motor 445 drives the guide wheel 446 to rotate, thereby pulling the welding wire and driving the welding wire wheel 447 to rotate; the welding wire is fed into the guide tube 444 by the guide wheel 446, and passes through the guide tube 444 to reach the welding head 443; the welding head 443 is electrically heated, and the welding operation is realized at the V-notch 4431 of the second welding head.

[0090] The wire pulling structure 45 is arranged on the first support frame 431, wherein the wire pulling structure 45 includes a limit head 451 and a connection base 454, the limit head 451 and the connection base 454 are made in one piece, and the connection base 454 is arranged between the limit head 451 and the first support frame 431. The limit head 451 is in the shape of a straight rod, and one end of the limit head 451 away from the connection base 454 is arranged as a bevel; a U-shaped cavity 452 is arranged at the bevel portion, and the U-shaped cavity 452 does not penetrate the limit head 451; a wire pulling port 453 is arranged at the bottom of the U-shaped cavity 452, and the wire pulling port 453 is a U-shaped hole, and the wire pulling port 453 penetrates the bottom of the U-shaped cavity 452. During the implementation process, the wire can be limited to the wire pulling port 453, and welding and other operations can be performed by the welding head 443.

[0091] The first clamping structure 46 includes a first connecting plate 461, a screw structure 3 462, a pneumatic finger 1 463 and a wire clamp 1 464; the screw structure 3 462 is arranged on the lower side plate 4333 of the second support frame 433; the pneumatic finger 1 463 is arranged on one end of the first connecting plate 461, and the other end of the first connecting plate 461 is connected to the ball nut of the screw structure 3 462, and the ball nut of the screw structure 3 462 is also arranged on the slide rail of the lower side plate 4333 through a slider; the wire clamp 1 464 is arranged on the clamping claw of the pneumatic finger 1 463; the pneumatic finger 1 463 adopts the existing pneumatic finger, and realizes the opening and closing action of the clamping claw of the pneumatic finger through the cylinder, and the other pneumatic fingers in the following text are also the existing pneumatic finger structures. The wire clamp 1 464 includes two parts, a left wire clamp 1 464 and a right wire clamp 1 464, and the left wire clamp 1 464 and the right wire clamp 1 464 have the same structure and are mirror images of each other. The left wire clamp 1 464 includes a left connecting plate 1 and a left clamp block 1; the left clamp block 1 is made integrally with the left connecting plate 1. The left clamp block 1 is protruded at one end of the left connecting plate 1, and the other end of the left connecting plate 1 is fixedly connected to the pneumatic finger; a wire groove 465 is provided on the surface of the left clamp block 1. Similarly, the right wire clamp 1 464 includes a right connecting plate 1 and a right clamp block 1; the right clamp block 1 is protruded at one end of the right connecting plate 1, and the other end of the right connecting plate 1 is fixedly connected to the pneumatic finger; a wire groove 465 is provided on the surface of the right clamp block 1. The left clamp block 1 and the right clamp block 1 are mirror images; when the left clamp block 1 and the right clamp block 1 are attached, the wire grooves 465 thereon are combined to form a through-hole structure for clamping the wire. The left connecting plate 1 and the right connecting plate 1 are both arranged in a Z-shape. In this example, the angles of the left connecting plate 1 and the right connecting plate 1 are both 90°. The Z-shape structure is to enable the left clamping block 1 and the right clamping block 1 to be lifted upwards, close to the lower side of the wire pulling structure 45, so as to facilitate the placement of the clamped wire into the wire pulling port 453 of the wire pulling structure 45. In this example, the first connecting plate 461 is also in a Z-shape structure, wherein the angle of the Z-shape structure is 90°, in order to lift the pneumatic finger 1 463 arranged on the first connecting plate 461 upwards, thereby further lifting the wire clamp 1 464 connected to the pneumatic finger 1 463 upwards, so that the wire clamp 1 464 is close to the wire pulling structure 45.

[0092] The second robot 5 includes a second transverse shift seat 51 , a second rotating block 52 and a second clamping device 53 ; the second rotating block 52 is disposed on the second transverse shift seat 51 ; and the second clamping device 53 is disposed on the second rotating block 52 . The second transverse shift seat 51 and the second rotating block 52 are similar to the first transverse shift seat 41 and the first rotating block 42 respectively; the second transverse shift seat 51 and the second rotating block 52 are hinged, and the hinged portion of the second rotating block 52 and the second transverse shift seat 51 is provided with a rotating motor 411, and the rotating motor 411 is connected to the control module of the electric control stand 2, and the rotating motor 411 can control the rotation angle and rotation direction of the second rotating block 52; one end of the hinged portion 521 of the second rotating block 52 is hinged to the second transverse shift seat 51, and the other end of the hinged portion 521 is provided with the mounting portion 522 of the second rotating block 52, and the hinged portion 521 and the mounting portion 522 are made integrally; the mounting portion 522 is connected to the second clamping device 53; it should be noted that the hinged portion 521 is Z-shaped, and in this example, the folding angle of the hinged portion 521 is 90°. Because in this example, the first manipulator 4 and the second manipulator 5 are respectively arranged on the two slides 3, and there is position interference between the two slides 3, so that the two slides 3 form an up and down position relationship, wherein the second manipulator 5 is arranged on the lower slide 3. Therefore, the second manipulator 5 is lifted upward through the angle structure of the second rotating block 52, so that the first manipulator 4 and the second manipulator 5 can be at the same height when the two slides 3 are close to each other up and down, thereby realizing the interactive action between the first manipulator 4 and the second manipulator 5.

[0093] The second clamping device 53 includes a third support frame 531, a fourth support frame 533, a first shear clamping structure 54, a second shear clamping structure 55 and a second clamping structure 56, wherein the third support frame 531 and the fourth support frame 533 are similar to the first support frame 431 and the second support frame 433 respectively; the fourth support frame 533 is slidably arranged on the third support frame 531, and the bottom plate 4331 of the fourth support frame 533 is arranged on the ball nut of the screw structure four 532 on the third support frame 531; the first shear clamping structure 54 is arranged on the upper side plate 4332 of the fourth support frame 533; the second shear clamping structure 55 is arranged at the end points where the upper side plate 4332 and the lower side plate 4333 of the fourth support frame 533 are close to each other; the second clamping structure 56 is arranged on the lower side plate 4333 of the fourth support frame 533. Through the action of the lead screw structure 532, the fourth support frame 533 is driven to move relative to the third support frame 531, thereby realizing the movement of the first shearing clamping structure 54, the second shearing clamping structure 55 and the second clamping structure 56.

[0094] The first shearing and clamping structure 54 includes a second connecting plate 541, a screw structure 542, a pneumatic finger 2 543, a lifting cylinder 1 544, a lifting cylinder 2 545 and a wire clamp 2 546; the screw structure 5 542 is arranged on the upper side plate 4332 of the fourth support frame 533; the pneumatic finger 2 543 is arranged at one end of the second connecting plate 541, and the other end of the second connecting plate 541 is connected to the ball nut of the screw structure 5 542, and the ball nut of the screw structure 5 542 is also arranged on a slide rail through a slider, and the slide rail is fixedly connected to the motor of the screw structure 5 542; the wire clamp 2 546 is arranged on the pneumatic finger 2 543; the lifting cylinder 1 544 is arranged between the upper side plate 4332 of the fourth support frame 533 and the motor of the screw structure 5 542; the lifting cylinder 2 545 is arranged between the upper side plate 4332 of the fourth support frame 533 and the second connecting plate 541. One end of the lifting cylinder 1 544 is hinged to the upper side plate 4332 of the fourth support frame 533; the other end of the lifting cylinder 1 544 is fixedly connected to the motor of the lead screw structure 5 542, and the action of the lifting cylinder 1 544 can drive the motor of the lead screw structure 5 542 to move upward or downward. The second connecting plate 541 is similar in structure to the first connecting plate 461. The second connecting plate 541 is a Z-shaped folding plate with a 90° folding angle, which is intended to allow the pneumatic finger 2 543 to sink and bring the wire clamp 2 546 close to the second shear clamping structure 55. One end of the lifting cylinder 2 545 is arranged on the upper side plate 4332 of the fourth support frame 533, and the other end is arranged on the lower surface of the second connecting plate 541. Through the action of the lifting cylinder 2 545, the second connecting plate 541 can be controlled to approach or move away from the upper side plate 4332 of the fourth support frame 533, thereby controlling the wire clamp 2 546 to approach or move away from the second shearing clamping structure 55; in this example, the lifting cylinder 2 545 is a double-axis cylinder. A limit block 547 is arranged between the lifting cylinder 2 545 and the slider of the lead screw structure 5 542, and the movement space of the slider is limited by the limit block 547. The wire clamp 2 546 includes a left wire clamp 2 546 and a right wire clamp 2 546, wherein the left wire clamp 2 546 and the right wire clamp 2 546 are arranged in a mirror image. The overall structure of the left wire clamp 2 546 and the right wire clamp 2 546 is Z-shaped, and its purpose is to ensure that the part of the wire clamp 2 546 used to clamp the wire can approach the second shearing clamping structure 55. When the left wire clamp 546 and the right wire clamp 546 are attached to each other, a waist-shaped hole is formed at the attached position, through which the wire stripping work is convenient, and the wire cutting work can be achieved through the attached position other than the waist-shaped hole.

[0095] The second shearing and clamping structure 55 includes a pneumatic finger 3 551 and a wire clamp 3 552, wherein the pneumatic finger 3 551 is arranged on a fixing seat at one end where the upper side plate 4332 and the lower side plate 4333 of the fourth support frame 533 are close to each other; the wire clamp 3 552 is arranged on the pneumatic finger 3 551. The wire clamp 3 552 includes a left wire clamp 3 552 and a right wire clamp 3 552, wherein when the left wire clamp 3 552 and the right wire clamp 3 552 are attached, a circular hole is formed at the attached part, and the circular hole is used to clamp the wire; the wire can be cut through the attached part other than the circular hole.

[0096] The second clamping structure 56 includes a third connecting plate 561, a lead screw structure 6 562, a pneumatic finger 4 563 and a wire clamp 4 564, wherein the lead screw structure 6 562 is arranged on the lower side plate 4333 of the fourth support frame 533; the pneumatic finger 4 563 is arranged at one end of the third connecting plate 561, and the other end of the second connecting plate 541 is connected to the ball nut of the lead screw structure 6 562, and the ball nut of the lead screw structure 6 562 is also arranged on the slide rail of the lower side plate 4333 of the fourth support frame 533 through a slider; the wire clamp 4 564 is arranged on the clamping claw of the pneumatic finger 4 563. The structure of the third connecting plate 561 is similar to that of the first connecting plate 461, and the third connecting plate 561 is in a Z shape as a whole, and its purpose is to enable the wire clamp 4 564 to be close to the second shear clamping structure 55. The wire clamp 4564 includes a left wire clamp 4564 and a right wire clamp 4564, wherein the left wire clamp 4564 and the right wire clamp 4564 are arranged in mirror image. When the left wire clamp 4564 and the right wire clamp 4564 are attached, holes are provided at the attached parts for clamping the wires, and at the same time, the side where the left wire clamp and the right wire clamp are attached to each other is arranged in a wavy shape to ensure that the wires are firmly clamped.

[0097] The image acquisition device is arranged on the first manipulator 4, and can be located on the upper side plate 4332 of the second support frame 433 or the base plate 442 of the welding traction device. The image acquisition device is used to acquire the captured image of the wire and the welding image of the wire.

[0098] like Fig. 9 , 10As shown, the robot for wiring welding also includes a sleeve device 6, wherein the sleeve device 6 is also arranged on the electric control stand 2 through the slide 3. In this example, the slide 3 corresponding to the sleeve device 6 is located below the slides 3 corresponding to the first manipulator 4 and the second manipulator 5. The sleeve device 6 includes a third transverse shift seat 61, a third rotating block 62, a screw structure 63, a sleeve platform 64 and a sleeve device 66; the third transverse shift seat 61 and the third rotating block 62 are hinged, and the hinged portion of the third rotating block 62 and the third transverse shift seat 61 is provided with a rotating motor 411, the rotating motor 411 is connected to the control module of the electric control stand 2, and the rotating motor 411 can control the rotation angle and rotation direction of the third rotating block 62; the third transverse shift seat 61 is connected to the slider of the slide 3; the screw structure 63 is arranged on the third rotating block 62; the sleeve device 66 is arranged on the sleeve platform 64; the sleeve platform 64 is arranged on the ball nut of the screw structure 63, in this example, a support column 65 is arranged between the sleeve platform 64 and the ball nut of the screw structure 63, and the sleeve platform 64 is lifted upward by the support column 65, so that the sleeve device 66 on the sleeve platform 64 can be in the same plane with the first manipulator 4 and the second manipulator 5. The casing device 66 includes a wire numbering machine; the wire numbering machine adopts an existing wire numbering machine device, wherein the wire numbering machine is used to generate a coded tube with a number and complete the cutting of the coded tube. In some other embodiments, the casing work of the wire can also be completed by manual casing, and the completed casing wire is placed on the wire rack.

[0099] like Fig.11 , 12 As shown, the wire rack 1 is arranged on the signal cabinet, wherein the wire rack 1 is provided with evenly arranged wire hooks 11, and the wires to be welded can be arranged one by one on the wire hooks 11, so that the first manipulator 4 can grab the wires easily.

[0100] During the implementation process, the first clamping structure 46 arranged on the first manipulator 4 can remove the wire from the wire rack 1, and the second manipulator 5 can perform tasks such as wire cutting and wire stripping, thereby automating the welding process and improving efficiency; by arranging a vertical ball screw structure 23 on the moving plate 22 of the electric control stand 2 and a transverse ball screw structure 34 on the moving frame of the slide 3, the first manipulator 4, the second manipulator 5 and the sleeve device 6 can be adjusted up and down and left and right, and combined with the screw structures 1 432 to 7, the flexibility of the clamping device and the shearing clamping device on the manipulator is greatly improved.

[0101] It should be noted that the above-mentioned welding robot can be controlled by existing control technology.

[0102] A welding method for a wiring welding robot comprises the following steps:

[0103] Step 1: The control module controls and adjusts the horizontal ball screw structure 34 and the vertical ball screw structure 23 corresponding to the first manipulator 4 and the rotation angle between the first lateral displacement seat 41 and the first rotating block 42; the first manipulator 4 moves to a set position for clamping the wire;

[0104] Step 2: Start the motor of the lead screw structure 3 462 to move the first clamping structure 46 to the set position of the lead frame 1;

[0105] Step 3: Start the pneumatic finger 463 to control the wire clamp 464 to clamp the wire;

[0106] Step 4: The image acquisition device acquires an image and transmits it to the control module of the electric control stand 2; the control module determines whether the wire has been clamped according to the trained image recognition model; if the wire has not been clamped, the control module returns to step 1; if the wire has been clamped, the control module proceeds to step 5;

[0107] Step 5: Control the motor through the control module to adjust the position of the second manipulator 5 relative to the first manipulator 4 so that the second clamping structure 56 of the second manipulator 5 is located directly below the first clamping structure 46 of the first manipulator 4;

[0108] Step 6: Control the clamping air pressure of the pneumatic finger 4563 and the opening angle of its clamping jaws, so that the wire clamp 4564 clamps the wire at the set pressure and opening angle;

[0109] Step 7: Control the slide 3 corresponding to the second manipulator 5 to move downward a set distance;

[0110] Step 8: Control the pneumatic finger 2 543 and the pneumatic finger 3 551 to open;

[0111] Step 9: Start the motor of the lead screw structure 4 532 and the motor of the lead screw structure 6 562; wherein the wire clamp 4 564 contracts toward the motor of the lead screw structure 6 562, and the second clamping device 53 as a whole extends away from the motor of the lead screw structure 4 532; so that the wire clamp 3 552, the wire clamp 4 564 and the wire clamp 1 464 are on the same vertical line;

[0112] Step 10: Start the motor of the lead screw structure 542, so that the wire clamps 1 464 to 4 are all on the same vertical line; and the wire clamps 2 546 and 3 552 are separated by a set distance;

[0113] Step 11: Close the second pneumatic finger 543 and cut the wire through the second wire clamp 546;

[0114] Step 12: Open the pneumatic finger 2 543, start the lifting cylinder 1 544, and the wire clamp 2 546 sinks the set distance X, so that the wire clamp 2 546 is close to the wire clamp 3 552;

[0115] Step 13: Close the second pneumatic finger 543, and cut the insulation skin of the outer layer of the wire through the waist-shaped hole structure on the second wire clamp 546;

[0116] Step 14: Start the lifting cylinder 2 545 to lift the wire clamp upward by a set distance X' to form a bare wire part, completing the wire stripping work;

[0117] Step 15: Control the first manipulator 4 to enable the welding device 44 to perform tinning treatment on the exposed wire portion;

[0118] Step 16: Open the pneumatic finger 2 543 to control the lifting cylinder 2 545 to sink; then close the pneumatic finger 2 543, cut the wire through the wire clamp 2 546, and keep the exposed tinned part of the wire;

[0119] Step 17: Open the pneumatic finger 463 to allow the wire clamp 464 to release the cut wire;

[0120] Step 18: Start the line number machine to generate the coding tube;

[0121] Step 19: Move the first manipulator 4 so that the wire clamp 464 on the pneumatic finger 463 clamps the coding tube; the wire number machine cuts off the coding tube;

[0122] Step 20: Move the first manipulator 4 so that the wire clamp 1 464 is located directly above the wire clamp 2 546; control the first manipulator 4 to move downward, and insert the coding tube clamped by the wire clamp 1 464 into the wire; open the pneumatic finger 1 463 to release the coding tube from the wire clamp 1 464;

[0123] Step 21: Open the pneumatic finger 2 543 and the pneumatic finger 3 551; start the motor of the screw structure 4 532 to extend the wire clamp 4 564 away from the motor direction of the screw structure 6 562, and start the motor of the screw structure 2 441 to shrink the second clamping device 53 as a whole toward the motor direction of the screw structure 4 532; make the wire clamp 4 564 and the wire clamp 1 464 on the same vertical line, and shrink the wire clamp 2 546 and the wire clamp 3 552 inward;

[0124] Step 22: Move the second manipulator 5 upward to feed the wire into between the wire clamp 1 464 and the wire pulling structure 45; close the pneumatic finger 1 463 to make the wire clamp 1 464 clamp the wire;

[0125] Step 23: Control the motor of the lead screw structure 3 462 to shrink the wire clamp 1 464 by a set distance toward the motor of the lead screw structure 3 462, so as to form a misaligned state between the wire clamp 1 464 and the limit head 451 of the wire pulling structure 45, wherein the limit head 451 extends relative to the wire clamp 1 464;

[0126] Step 24: Control the first manipulator 4 to move, and the wire pulling structure 45 is located at the corresponding welding hole;

[0127] Step 25: Control the motor of the lead screw structure 3 462 to extend the wire clamp 1 464 away from the motor of the lead screw structure 3 462 by a set distance; and allow the wire to pass through the welding hole;

[0128] Step 26: Control the welding device 44 to complete welding, and end the step.

[0129] The model training in step 4 adopts a conventional image recognition model training method. If the wire is not clamped, the process returns to step 1, and the position of the first manipulator 4 is adjusted according to the recognized image to complete the clamping of the wire.

[0130] When the second clamping structure 56 of the second manipulator 5 in step 5 is located directly below the first clamping structure 46 of the first manipulator 4, the first shear clamping structure 54 and the second shear clamping structure 55 of the second manipulator 5 are in an open state, or the wire clamp four 564 is extended in a direction away from the motor of the screw structure six 562 through the screw structure six 562. In this example, the wire clamp four 564 is extended in order to avoid interference with the second clamping structure 56.

[0131] The purpose of step 7 is to straighten the wire to avoid tangling and entanglement.

[0132] The set lifting distance X' in step 14 is smaller than the set sinking distance X in step 12, and its purpose is to ensure that the stripped insulating rubber is still on the wire and not separated from the wire, and at the same time form a section of exposed copper wire or other conductive or communication material on the wire, so as to ensure that the exposed copper wire or other conductive or communication material will not open and can be twisted into a strand.

[0133] It should be noted that in some other embodiments, after the welding is completed in step 26, the image of the welding hole is also collected by the image acquisition device, and based on the pre-trained model, it is judged whether the welding of the welding hole meets the set requirements. If it does not meet the set requirements, a warning is issued and the operator is requested to perform manual welding operations.

[0134] During the implementation process, the first manipulator 4 and the second manipulator 5 cooperate to complete the wire cutting, wire stripping and welding operations, improve efficiency and reduce labor costs; by setting an image recognition device, it is determined whether the wire grabbing and wire welding processes are carried out smoothly, thereby improving the intelligence of the device and effectively ensuring the smooth progress of the robot welding work; during the wire stripping process, the stripped insulating rubber is retained on the wire until the tinning process is completed by the welding device 44, and then the stripped insulating rubber is removed, effectively preventing the copper wire or other conductive and communication materials inside the wire from spreading.

[0135] Embodiment 2:

[0136] like Figure 13-16 As shown, this embodiment is improved based on the embodiment 1, wherein a communication verification device 7 is arranged on the wire rack 1. The communication verification device 7 comprises a bottom plate 71, a lifting rod 72, a blade head 73, a blade rod 74 and a blade rack 75; wherein the lifting rod 72 is arranged on the bottom plate 71, and the lifting rod 72 can move in the waist-shaped hole space arranged on the bottom plate 71; the blade rack 75 is arranged on the bottom plate 71; the blade rod 74 is arranged on the blade rack 75, and two blade rods 74 are arranged in each blade rack 75, one of which is fixedly arranged on the blade rack 75; the other blade rod 74 is slidably arranged in the blade rack 75, one end of the blade rod 74 is connected to the lifting rod 72, and the blade rod 74 is driven to move by the action of the lifting rod 72; the blade heads 73 are evenly arranged on the blade rod 74; the blade heads 73 on the two blade rods 74 in the same blade rack 75 correspond to each other.

[0137] The bottom plate 1 71 is provided with a connecting seat 711, and there are two connecting seats 711 in total, and the two connecting seats 711 are correspondingly provided on the bottom plate 1 71. A waist-shaped hole is provided on the connecting seat 711, and the lifting rod 72 is provided on the two connecting seats 711 and is located in the waist-shaped hole. The connecting seat 711 is also provided with a fixing hole, and the fixing hole is located on the side of the waist-shaped hole; a fixing column 76 is fixedly provided in the fixing hole, and a spring sheet 77 is provided between the fixing column 76 and the lifting rod 72, and pressure is applied to the lifting rod 72 by the spring sheet 77, so that the lifting rod 72 can be located at one end in the waist-shaped hole when no external force is applied. The bottom plate 1 71 is also provided with at least one protruding blade holder 75, and in this example, three blade holders 75 are provided, and the three blade holders 75 are arranged parallel to each other. The blade rack 75 includes a lower rack 751 and an upper rack 752, wherein the lower rack 751 is arranged on the bottom plate 71, one end of the lower rack 751 is connected to the upper rack 752, and a set distance is maintained between the lower rack 751 and the upper rack 752. A groove is arranged on the side where the lower rack 751 and the upper rack 752 are close to each other, wherein the groove on the lower rack 751 is used to fix the blade rod 74; the groove on the upper rack 752 is used to slide the blade rod 74, so that the blade rod 74 arranged on the upper rack 752 can slide along the groove on the upper rack 752. One end of the upper rack 752 is connected to the lower rack 751, and the other end is an opening, which is directly opposite to the lifting rod 72, so that the blade rod 74 on the upper rack 752 can be fixedly connected to the lifting rod 72.

[0138] The blade head 73 is provided with a V-shaped groove, wherein the blade head 73 of the blade rod 74 fixedly arranged on the lower frame 751 is provided with two adjacent V-shaped grooves, and the blade head 73 of the blade rod 74 slidably arranged on the upper frame 752 is correspondingly provided with a V-shaped groove; or the blade head 73 of the blade rod 74 fixedly arranged on the lower frame 751 is provided with a V-shaped groove, and the blade head 73 of the blade rod 74 slidably arranged on the upper frame 752 is correspondingly provided with two adjacent V-shaped grooves.

[0139] During the implementation process, the lifting rod 72 is pulled up to drive the blade rod 74 fixed to the lifting rod 72 to move. In addition, a fixed blade rod 74 is also provided in the blade holder 75, so that the corresponding blade heads 73 on the two blade rods 74 in the blade holder 75 are close to each other. Combined with the structure of the V-shaped groove, when the blades on the two blade rods 74 are close to each other, the part provided with the V-shaped groove can pierce the insulating rubber on the outer layer of the wire without cutting the wire. On the other hand, the blade head contacts the copper or other conductive and communication materials inside the wire to check whether the wire is conductive, thereby improving efficiency. After verifying that the wire is conductive, the robot performs welding.

[0140] Embodiment three:

[0141] like Fig.17 ,18 As shown, this embodiment is improved based on the embodiment 1, wherein a communication verification device 2 8 is provided on the wire rack 1. The communication verification device 2 8 comprises a bottom plate 2 81, a slide plate 83, a blade head 2 86 and a limiting device 87, wherein the slide plate 83 is slidably provided on the slide rail of the bottom plate 2 81; the limiting device 87 is provided between the bottom plate 2 81 and the slide plate 83 to limit the sliding range between the bottom plate 2 81 and the slide plate 83; the blade head 2 86 is evenly provided on the bottom plate 2 81 and the slide plate 83. The limiting device 87 adopts a micrometer, one end of the limiting device 87 is provided on the bottom plate 2 81, and the other end is located on the sliding track of the slide plate 83, so by adjusting the length of the limiting device 87, the movement space of the slide plate 83 relative to the bottom plate 2 81 can be limited.

[0142] The slide plate 83 and the bottom plate 81 are evenly provided with blade grooves for setting blades; the slide plate 83 is also provided with a wire hole 84 and a fixing hole 85, which are both provided corresponding to the blade head 86 on the slide plate 83, wherein the fixing hole 85 is provided in the blade groove on the slide plate 83; the wire hole 84 penetrates the slide plate 83 and reaches the cutting position of the blade head 86; the fixing hole 85 penetrates the slide plate 83 and is connected to the blade head 86 provided on the slide plate 83, and is used to fix the blade head 86. The bottom plate 81 is provided with a wire hole 82, which corresponds to the wire hole 84 on the reset slide plate 83, so that when the slide plate 83 is reset, the wire inserted through the wire hole 84 can penetrate into the wire hole 82, thereby facilitating the blade head 86 provided on the slide plate 83 and the bottom plate 81 to cut the insulating outer layer of the wire. The second bottom plate 81 is also provided with a fixing hole 85, which is provided in the blade groove on the second bottom plate 81 and is used to fix the blade provided on the second bottom plate 85. In this example, the inner wall of the fixing hole 85 is provided with a conductive material, and the purpose is to achieve the connection between the second blade head 86 provided on the slide plate 83 and the circuit board built in the slide plate 83, and the connection between the second blade head 86 provided on the second bottom plate 81 and the circuit board built in the second bottom plate 81 through the conductive material in the fixing hole 85. The circuit board is provided with a lamp bead.

[0143] An elastic member is provided between the slide plate 83 and the second bottom plate 81. The slide plate 83 is slid relative to the second bottom plate 81 by an external force, so that the slide plate 83 contacts the limiting device 87 to achieve limiting; after the external force is released, the slide plate 83 is reset due to the action of the elastic member.

[0144] During the implementation process, the wire is inserted into the wire hole 84 through the wire hole 84 set on the slide plate 83, and penetrates into the wire hole 82 on the bottom plate 81, and the slide plate 83 is slid upward, so that the blade head 86 set on the bottom plate 81 cooperates with the blade head 86 set on the slide plate 83 to cut the rubber on the outer layer of the wire. After cutting through the insulating outer layer, the blade head 86 contacts the copper wire or other conductive and communication materials in the wire, and the conduction check of the wire is realized by inserting the verification terminal into the fixing hole 85; by setting the limit device 87, the sliding range of the slide plate 83 can be limited, and then the cutting depth of the blade head 86 can be limited to ensure that the wire will not be cut, and it can also adapt to wires of different specifications.

[0145] A communication verification method comprises the following steps:

[0146] Step S1: adjusting the limit device 87;

[0147] Step S2: Slide the slide plate 83 to cut the outer insulation layer of the wire through the second blade head 86 on the slide plate 83 and the second blade head 86 on the second bottom plate 81;

[0148] Step S3: Observe whether the lamp bead 1 set on the circuit board is lit; if the lamp bead 1 is lit, it means that the blade head 2 86 has cut through the insulating outer layer of the wire, and enter step S4; if the lamp bead 1 is not lit, it means that the blade head 2 86 has not cut through the insulating outer layer of the wire, and return to step S1;

[0149] Step S4: Keep the slide plate 83 in contact with the limit device 87; check the connection of the wires through the second lamp bead set on the circuit board, and end the step.

[0150] In step S3, the circuit boards are respectively located on the slide plate 83 and the bottom plate 81, wherein the circuit boards are also connected to the blade head 86. If the lamp bead 1 on the circuit board lights up, it means that the blade head 86 on the slide plate 83 and the blade head 86 on the bottom plate 81 are connected through the wire, so that the lamp bead 1 forms a closed circuit, and thus the lamp bead 1 emits light.

[0151] In step S4, the verification of the connection of the wire wiring indicates the conduction between the two devices connected at both ends of the wire. First, the wire needs to be transmitted to the signal cabinet connected by the wire, and the wire transmission signal is transmitted to the external signal detection device through the circuit board and the blade head 2 86. The signal detection device can be a computer; if the signal detection device detects the signal, it will control the lamp bead 2 set on the circuit board to light up, proving that the wire is conductive and can transmit signals. The lamp bead 2 is set to facilitate direct observation of the conduction of the wire. After verifying that the wire is conductive, the robot performs welding.

[0152] The above description is only a specific example of the present invention and does not constitute any limitation to the present invention. It is obvious that for professionals in this field, after understanding the content and principle of the present invention, various modifications and changes in form and details may be made without departing from the principle and structure of the present invention, but these modifications and changes based on the idea of ​​the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. A wiring welding robot, characterized in that: It includes a wire rack, an electric control stand, a slide, an image acquisition device, a first manipulator and a second manipulator; wherein the first manipulator and the second manipulator are respectively connected to the slide through a sliding structure, and the slide is connected to the electric control stand through a sliding structure, and the sliding structure is a ball screw structure; the image acquisition device is arranged on the first manipulator or the second manipulator; the wire rack is fixedly arranged on the signal cabinet to be welded, the electric control stand includes a box body, a motion board and a control module, the control module is used to control the actions of the first manipulator, the second manipulator and the slide, the control module is also connected to the image acquisition device, processes and identifies the image acquired by the image acquisition device, and the motion board is used to connect the slide; a vertical ball screw structure is arranged on the motion board, and the slide includes a motion frame and a transverse ball screw structure; the transverse ball screw structure is arranged on the motion frame; the motion frame is connected to a slider on a slide rail arranged on the motion board; the transverse ball screw structure is connected to the first manipulator or the second manipulator, and the first manipulator includes a first transverse shift seat, a first rotating block and a and a first clamping device; the first rotating block is hingedly arranged on the first transverse shift seat, and the first rotating block can rotate around the hinged position; the hinged position of the first rotating block and the first transverse shift seat is provided with a rotating motor, and the second manipulator includes a second transverse shift seat, a second rotating block and a second clamping device; the second rotating block is arranged on the second transverse shift seat; the second clamping device is arranged on the second rotating block; the second transverse shift seat and the second rotating block are hinged, and the hinged position of the second rotating block and the second transverse shift seat is provided with a rotating motor, and the control module is arranged inside the box; the moving plate is arranged on one side of the box, and the moving plate is arranged upright; the control module adopts a programmable single-chip microcomputer, and the moving frame includes an upper rail, a lower rail and a side connecting block; the side connecting block is located at one end of the upper rail and the lower rail, and the upper rail and the lower rail are arranged parallel to the side connecting block; the upper rail and the lower rail are located in the Z direction, and the sliding connection between the first manipulator and the second manipulator and the slide is realized through the upper rail and the lower rail structure of the slide, and the structural strength of the moving frame is enhanced through the side connecting blocks at both ends of the upper rail and the lower rail.

2. A wiring welding robot according to claim 1, characterized in that: The vertical ball screw structure includes a vertical motor, a vertical screw and a vertical ball nut; the vertical screw is arranged in the Y direction; the two ends of the vertical screw are respectively connected to the moving plate through bearings; a vertical motor is also arranged at one end of the vertical screw; the vertical ball nut is arranged on the vertical screw through balls; and the vertical ball nut is also connected to the slide.

3. A wiring welding robot according to claim 2, characterized in that: The transverse ball screw structure includes a transverse motor, a transverse screw and a transverse ball nut; the transverse screw is located in the Z direction; the transverse screw is also connected to the motion frame through a bearing; and the transverse motor is arranged on the motion frame.

4. A wiring welding robot according to claim 3, characterized in that: The first clamping device includes a first support frame, a second support frame, a welding device, a wire pulling structure and a first clamping structure; the second support frame is slidably arranged on the first support frame through a lead screw structure; The welding device is slidably arranged on the upper side plate of the second support frame; the first clamping structure of the shear clamping structure is slidably arranged on the lower side plate of the second support frame; the wire pulling structure is arranged on the second support frame; the first support frame is arranged in the hollow part of the mounting part 1 of the first rotating block; The welding device includes a second lead screw structure and a welding wire pulling device; the second lead screw structure is arranged between the welding wire pulling device and the upper side plate of the second support frame, and the second lead screw structure is used to control the relative displacement between the welding wire pulling device and the second support frame; The welding wire pulling device comprises a base plate, a welding head, a guide tube, a guide motor, a guide wheel and a welding wire wheel; the bottom of the base plate is connected to the ball nut of the lead screw structure 2; the guide tube, the guide motor, the guide wheel and the welding wire wheel are all arranged on the base plate; the welding head is arranged on the side of the base plate; the guide tube, the guide motor and the guide wheel are used to pull the welding wire; the welding wire wheel is used to store the welding wire; the welding head is used to weld the welding wire; The wire pulling structure is arranged on the first supporting frame, wherein the wire pulling structure comprises a limiting head and a connecting base, the limiting head and the connecting base are made in one piece, and the connecting base is arranged between the limiting head and the first supporting frame; The limit head is used to limit the movement space of the wire; The first clamping structure includes a first connecting plate, a screw structure three, a pneumatic finger one and a wire clamp one; the screw structure three is arranged on the lower side plate of the second support frame; the pneumatic finger one is arranged at one end of the first connecting plate, and the other end of the first connecting plate is connected to the ball nut of the screw structure three, and the ball nut of the screw structure three is also arranged on the slide rail of the lower side plate through a slider, and the screw structure three is used to control the relative movement between the first connecting plate and the second support frame; the wire clamp one is arranged on the clamping claw of the pneumatic finger one.

5. A wiring welding robot according to claim 4, characterized in that: The second clamping device includes a third support frame, a fourth support frame, a first shearing clamping structure, a second shearing clamping structure and a second clamping structure; the fourth support frame is slidably arranged on the third support frame, and the bottom plate of the fourth support frame is arranged on the ball nut of the screw structure four on the third support frame; the first shearing clamping structure is arranged on the upper side plate of the fourth support frame; the second shearing clamping structure is arranged at one end of the upper side plate and the lower side plate of the fourth support frame close to each other; the second clamping structure is arranged on the lower side plate of the fourth support frame; The first shearing and clamping structure includes a second connecting plate, a screw structure five, a pneumatic finger two, a lifting cylinder one, a lifting cylinder two and a wire clamp two; the screw structure five is arranged on the upper side plate of the fourth support frame; the pneumatic finger two is arranged at one end of the second connecting plate, and the other end of the second connecting plate is connected to the ball nut of the screw structure five, and the ball nut of the screw structure five is also arranged on a slide rail through a slider, and the slide rail is fixedly connected to the motor of the screw structure five; the wire clamp two is arranged on the pneumatic finger two; the lifting cylinder one is arranged between the upper side plate of the fourth support frame and the motor of the screw structure five; the lifting cylinder two is arranged between the upper side plate of the fourth support frame and the second connecting plate; The second shearing and clamping structure includes a pneumatic finger three and a wire clamp three, wherein the pneumatic finger three is arranged on a fixed seat at one end where the upper side plate and the lower side plate of the fourth support frame are close to each other; the wire clamp three is arranged on the pneumatic finger three; The second clamping structure includes a third connecting plate, a screw structure six, a pneumatic finger four and a wire clamp four, wherein the screw structure six is ​​arranged on the lower side plate of the fourth support frame; the pneumatic finger four is arranged at one end of the third connecting plate, and the other end of the second connecting plate is connected to the ball nut of the screw structure six, and the ball nut of the screw structure six is ​​also arranged on the slide rail of the lower side plate of the fourth support frame through a slider; the wire clamp four is arranged on the clamping claw of the pneumatic finger four.

6. A wiring welding robot according to claim 5, characterized in that: The first manipulator and the second manipulator are respectively arranged on the electric control stand through two slides, wherein the slide of the first manipulator is located above the second manipulator; The wire rack is used to set the wires to be welded; the wire rack is provided with a wire hook or a communication verification device; The communication verification device is used to verify the continuity of the wire; It also includes a sleeve device, which is arranged on the electric control stand through a slide; the sleeve device includes a third transverse shift seat, a third rotating block, a screw structure seven, a sleeve platform and a sleeve device; the third transverse shift seat and the third rotating block are hinged, and the hinged part of the third rotating block and the third transverse shift seat is provided with a rotating motor; the third transverse shift seat is connected to the slider of the slide; the screw structure seven is arranged on the third rotating block; the sleeve device is arranged on the sleeve platform; the sleeve platform is arranged on the ball nut of the screw structure seven.

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