Manipulator, manipulator assembly, robot, and method for assembling plug with wiring harness

Abstract

The present application relates to a manipulator, a manipulator assembly, a robot, and a method for assembling a plug with a wiring harness. The manipulator includes a base (21); a wire-straightening assembly (22) arranged on the base (21), and at least a portion of the wire-straightening assembly (22) is located on one side of the base (21) in a first direction; a clamping member (23) is arranged on a side of the base (21) close to the wire-straightening assembly (22), and is located on one side of the wire-straightening assembly (22) in a second direction; wherein the first direction and the second direction are perpendicular. In this way, when assembling a plug with a wiring harness, the wire-straightening operation is first performed by the wire-straightening assembly, so that the plug can accurately reach the position where the clamping member is located, thereby enabling the clamping member to accurately clamp the plug, thereby improving the accuracy of the clamping member in clamping the plug, and thereby improving the assembly accuracy and efficiency of the plug.

Description

Technical Field

[0001] The present application relates to the technical field of wire harness assembly, and in particular to a manipulator, a manipulator assembly, a robot, and a method for assembling a plug with a wire harness. Background Art

[0002] With the development of the electronic and information age, the wiring harness industry has been hailed as the "nerves" and "blood vessels" of the city, shouldering the function of supporting the pillar industries of the national economy in various industries. Wiring harnesses have been used in the fields of automobiles, home appliances, computers, communication equipment, military, aviation instruments, etc.

[0003] The wire harness processing industry utilizes a wide variety of connector components, with thin wire harnesses requiring high assembly precision. Inserting a plug with a wire harness into a connector jack is a common operation on assembly lines. Currently, automated assembly is typically performed using assembly robots. Specifically, the robot's camera first captures the plug with the wire harness and identifies its spatial position. Based on the identified position, the robot then grasps the plug with the wire harness and inserts it.

[0004] However, the spatial position of the plug with the wiring harness is difficult to identify very accurately, and the position of the plug will be slightly changed when the robot touches the wiring harness or plug, which affects the accuracy of the assembly and easily leads to unsuccessful assembly. Summary of the Invention

[0005] Based on this, it is necessary to provide a manipulator, a manipulator assembly, a robot and a method for assembling a plug with a wiring harness to address the problem of low assembly accuracy of robots in traditional technologies when assembling a plug with a wiring harness.

[0006] In a first aspect, the present application provides a manipulator for assembling a plug with a wiring harness, the manipulator comprising:

[0007] base;

[0008] A wire-straightening assembly is provided on the base, and at least a portion of the wire-straightening assembly is located on one side of the base in the first direction; the wire-straightening assembly is used to contact the wire harness along the first direction;

[0009] A clamping member is arranged on a side of the base close to the wire-straightening assembly and located on a side of the wire-straightening assembly in the second direction; the clamping member is used to clamp the plug along the first direction; wherein the second direction is perpendicular to the first direction.

[0010] The above-mentioned robot arm is equipped with a wire-straightening assembly and a clamping member. In this way, when assembling a plug with a wiring harness, the wire-straightening operation is first performed through the wire-straightening assembly, so that the plug can accurately reach the position of the clamping member, so that the clamping member can accurately clamp the plug, thereby improving the accuracy of the clamping member in clamping the plug, and thus improving the assembly accuracy and efficiency of the plug.

[0011] In one embodiment, the wire-winding assembly is movably connected to the base in the first direction.

[0012] In one embodiment, the wire drawing assembly includes a wire drawing portion, and the wire drawing portion is used to clamp the wire harness;

[0013] An elastic member is provided between the wire-straightening assembly and the base, so that the wire-straightening portion moves relative to the base along the first direction.

[0014] In one embodiment, a side of the stroking portion away from the base is provided with a stroking surface;

[0015] In the third direction, a positioning protrusion is provided on one side of the threading surface, and a positioning groove is provided on the other side of the threading surface, and at least a portion of the outer contour of the positioning protrusion is adapted to the inner contour of the positioning groove;

[0016] The third direction is perpendicular to the first direction and the second direction.

[0017] In one embodiment, the base is provided with an assembly cavity penetrating the base along the first direction;

[0018] The wire drawing assembly further includes a connecting piece and an assembly piece, wherein the connecting piece extends along the first direction.

[0019] Part of the connecting parts passes through the assembly cavity, and both ends of the connecting parts extend out of the assembly cavity; the wire drawing part is arranged at one end of the connecting part close to the clamping part; and the assembly part is connected to one end of the connecting part away from the clamping part.

[0020] In one embodiment, one end of the elastic member is connected to the assembly member, and the other end is connected to the assembly cavity.

[0021] In one embodiment, a first fixing column is provided on the inner wall surface of the assembly cavity, a second fixing column is provided on the assembly part, one end of the elastic part is connected to the first fixing column, and the other end of the elastic part is connected to the second fixing column.

[0022] In a second aspect, the present application provides a robot assembly comprising two robots according to the first aspect.

[0023] When the above-mentioned manipulator assembly assembles a plug with a wiring harness, the wire-straightening assemblies of the two manipulators cooperate with each other to perform the wire-straightening operation, so that the plug can accurately reach between the two clamping parts, so that the clamping parts can accurately clamp the plug, thereby improving the accuracy of the clamping parts in clamping the plug, and thus improving the assembly accuracy and efficiency of the plug.

[0024] In a third aspect, the present application provides a robot comprising the manipulator assembly of the second aspect.

[0025] When the above-mentioned robot assembles a plug with a wiring harness, the wire-straightening components of the two manipulators cooperate with each other to perform the wire-straightening operation, so that the plug can accurately reach between the two clamping parts, so that the clamping parts can accurately clamp the plug, thereby improving the accuracy of the clamping parts clamping the plug, and thus improving the assembly accuracy and efficiency of the plug.

[0026] In a fourth aspect, the present application provides a method for assembling a plug with a wiring harness by a robot, wherein the robot according to the third aspect is used to assemble the plug with the wiring harness, wherein the robot is provided with a force sensing sensor, and the force sensing sensor is used to obtain force information of the manipulator assembly;

[0027] The method comprises:

[0028] identifying a location of the plug with the wiring harness;

[0029] moving the manipulator assembly to a position surrounding the plug with the wiring harness;

[0030] Controlling the manipulator assembly to close until the force information in the first direction reaches a first preset threshold;

[0031] controlling the manipulator assembly to move toward the plug until the force information reaches a second preset threshold in a second direction toward the plug;

[0032] The manipulator assembly is controlled to further close until the force information in the first direction reaches a third preset threshold.

[0033] In the above-mentioned assembly method, when assembling a plug with a wiring harness, the wire-straightening components of the two manipulators cooperate with each other to perform wire-straightening and closing operations, and the force information on the manipulator components is obtained in real time during the wire-straightening and closing process, so that the plug can accurately reach between the two clamping parts on the one hand, and accurately contact the clamping parts on the other hand, so that the clamping parts can accurately clamp the plug, thereby improving the accuracy of the clamping parts in clamping the plug, and thereby improving the assembly accuracy and efficiency of the plug. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A schematic diagram of a wiring harness for assembling a robot assembly according to an embodiment of the present application;

[0036] Figure 2 A schematic diagram of another robot assembly wiring harness provided in one embodiment of the present application;

[0037] Figure 3 for Figure 1 Schematic diagram of the structure of the manipulator in the first perspective;

[0038] Figure 4 for Figure 1 Schematic diagram of the structure of the manipulator in the second perspective;

[0039] Figure 5 for Figure 4 The main view of the manipulator in ;

[0040] Figure 6 for Figure 5 A-direction view of the manipulator in ;

[0041] Figure 7 for Figure 6 Cross-sectional view of the manipulator along line CC;

[0042] Figure 8 for Figure 5 B-direction view of the manipulator in;

[0043] Figure 9 for Figure 8 The cross-sectional view of the manipulator along line DD;

[0044] Figure 10 for Figure 2 Schematic diagram of the structure of the manipulator in FIG;

[0045] Figure 11 A schematic flow chart of a method for assembling a plug with a wiring harness by a robot according to an embodiment of the present application.

[0046] Description of reference numerals:

[0047] 1-manipulator assembly; 2-manipulator; 21-base; 211-assembly cavity; 212-first fixed column; 213-assembly portion; 22-straightening assembly; 221-straightening portion; 2211-straightening surface; 2212-positioning protrusion; 2213-positioning groove; 222-connector; 2221-assembly hole; 223-assembly part; 224-second fixed column; 23-clamping part; 231-clamping surface; 24-elastic part; 25-fastener; 3-wiring harness. DETAILED DESCRIPTION

[0048] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0051] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0052] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0054] As used herein, the singular forms "a," "an," and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include," "comprising," "having," and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0055] It's important to note that traditional robots rely solely on cameras for visual positioning and are sensitive to factors such as ambient lighting, plug color, plug shape, and background color. Even when these environmental factors are controlled, it's still difficult to accurately identify the plug's spatial position and posture. This can lead to significant errors in the relative position and posture of the plug and the robot's end effector after grasping, affecting the success rate of subsequent plug insertion operations.

[0056] In view of this, an embodiment of the present application provides a robot, a manipulator assembly, and a manipulator that can improve the assembly accuracy and efficiency of plugs. The robot includes a manipulator arm and a manipulator assembly, wherein the number of manipulator arms is two, and the manipulator assembly includes two manipulators, and the two manipulators are respectively assembled on the two manipulator arms. The robot also includes a camera and a force sensor. The camera can be set on the manipulator arm to take pictures and identify the spatial position of the wiring harness. The force sensor is set on the manipulator. The force sensor can be a multi-dimensional force sensor, which is used to sense the magnitude and direction of the force applied by the manipulator to the wiring harness and plug to prevent the manipulator from damaging the wiring harness.

[0057] Specifically, refer to Figure 1 、 Figure 2 As shown, each manipulator assembly 1 includes two manipulators 2. When assembling a plug with a wiring harness 3, the two manipulators 2 cooperate with each other to perform wiring and clamping operations. The wiring operation refers to: the wiring assembly 22 grasps the wiring harness 3 and moves toward the plug.

[0058] Please refer to Figure 3 As shown, the manipulator 2 includes: a base 21, a wire-straightening assembly 22 and a clamping member 23. The wire-straightening assembly 22 is arranged on the base 21, and at least part of the wire-straightening assembly 22 is located on one side of the base 21 in the first direction a. Before the wire-straightening assembly 22 performs the wire-straightening operation, it first contacts the wire harness along the first direction a, wraps (or surrounds) the wire harness, and then moves toward the direction close to the plug. The clamping member 23 is arranged on the side of the base 21 facing the plug to be clamped, and is located on the side of the wire-straightening assembly 22 in the second direction b; the clamping member 23 is used to clamp the plug in the first direction a. The second direction b is perpendicular to the first direction a. In addition, an assembly portion 213 is also provided on the base 21, and the assembly portion 213 is used to connect to a robotic arm, which is used to move the manipulator 2 to the target position as a whole. For example, the robotic arm can be a 6-axis or 7-axis robotic arm.

[0059] It should be noted that, in one embodiment, when the wire-pushing assembly 22 performs a wire-pushing operation on the wire harness along the second direction b, when the wire-pushing assembly 22 pulls to the end of the wire harness (the end close to the plug), the clamping member 23 can directly form surface contact with the end face of the plug, and then the clamping member 23 clamps the plug. In another embodiment, when the wire-pushing assembly 22 performs a wire-pushing operation on the wire harness along the second direction b, when the wire-pushing assembly 22 pulls to the end of the wire harness, the clamping member 23 can move along the first direction a so that the clamping member 23 forms surface contact with the end face of the plug, and then the clamping member 23 clamps the plug. In an embodiment of the present application, when the wire-pushing assembly 22 pulls to the end of the wire harness (the end close to the plug), the wire-pushing assembly 22 moves so that the clamping member 23 forms surface contact with the end face of the plug.

[0060] Specifically, refer to Figure 1 As shown, when assembling the wiring harness 3, the two manipulators 2 first move to the appropriate position, so that the wiring harness 3 can be partially wrapped or surrounded by the wire-straightening assembly 22. Secondly, the wire-straightening assemblies 22 of the two manipulators 2 are moved relative to and toward each other, so that the two wire-straightening assemblies 22 are closed (closed), thereby clamping (holding) the wiring harness 3 between the two wire-straightening assemblies 22. Then, the wire-straightening operation is performed by the two wire-straightening assemblies 22, that is: the two manipulators 2 move together along the wiring harness 3 in the direction close to the plug, so that the plug can accurately reach the position where the clamping member 23 is located. After the manipulator 2 forms a stable surface contact with the end face of the plug, the two manipulators 2 continue to move toward each other along the first direction a, so that the two clamping members 23 can accurately clamp the plug. The accuracy of the clamping member 23 in clamping the plug is improved, thereby improving the assembly accuracy and efficiency of the plug.

[0061] It should be noted that the entire process of grabbing and straightening the wire can be assisted by a force sensing sensor to correct the position and posture of the plug, further ensuring that the position and posture of the plug are controllable, eliminating uncertainties in the environment, and improving the accuracy of the clamping member 23 in clamping the plug, thereby improving the assembly efficiency, accuracy and success rate of the plug.

[0062] In one embodiment, the cable-snapping assembly 22 is movably mounted on the base 21. This facilitates adjustment of the cable-snapping assembly 22's posture and position. When the robot 2 "picks up" a wire harness, the cable-snapping assembly 22 can be adjusted based on its location. Furthermore, when the clamp 23 grips a plug, the position of the cable-snapping assembly 22 can be adjusted to facilitate gripping.

[0063] Furthermore, the wire-snapping assembly 22 is movably connected to the base 21 in the first direction a, that is, the wire-snapping assembly 22 can move relative to the base 21 in the first direction a. Thus, after the manipulators 2 form stable surface contact with the end faces of the plug, the bases 21 and clamping members 23 of the two manipulators 2 move toward each other in the first direction a, and the two wire-snapping assemblies 22 move in directions away from each other, thereby enabling the two clamping members 23 to accurately clamp the plug.

[0064] Reference Figure 3-Figure 9 As shown, in one embodiment, in the first direction a, the wire drawing assembly 22 includes a wire drawing portion 221 for clamping the wire harness. The wire drawing portion 221 has a wire drawing surface 2211 on a side away from the base 21. The clamping member 23 has a clamping surface 231 on a side away from the base 21.

[0065] In this way, the wire-straightening assembly 22 contacts the wire harness mainly through the wire-straightening portion 221 during the wire-straightening operation. Furthermore, the wire-straightening portion 221 can contact the wire harness through the wire-straightening surface 2211. At the same time, when the clamping member 23 clamps the plug, the clamping surface 231 contacts the plug. It can be understood that a force sensing sensor can be provided on the wire-straightening surface 2211. Therefore, in the process of grasping and straightening the wire, the position and posture of the plug can be corrected with the assistance of the force sensing sensor, further ensuring that the position and posture of the plug are controllable, eliminating uncertainties in the environment, and improving the accuracy of the clamping member 23 in clamping the plug, thereby improving the assembly accuracy and efficiency of the plug.

[0066] In one embodiment, in the third direction c, a positioning protrusion 2212 is provided on one side of the smoothing surface 2211, and a positioning groove 2213 is provided on the other side of the smoothing surface 2211. At least a portion of the outer contour of the positioning protrusion 2212 is adapted to the inner contour of the positioning groove 2213. The third direction c is perpendicular to the first direction a and the second direction b.

[0067] In this way, during the closing process of the two wire-winding assemblies 22, the mutual engagement of the positioning protrusion 2212 and the positioning groove 2213 can ensure that the two wire-winding assemblies 22 are accurately closed.

[0068] In one embodiment, an elastic member 24 is provided between the wire-winding assembly 22 and the base 21 to enable the wire-winding portion 221 to move in a first direction relative to the base 21. The elastic force of the elastic member 24 can be directed in the first direction a, and the elastic member 24 can drive the wire-winding portion 221 to move in the first direction when it contracts or expands.

[0069] In one embodiment, the wire-straightening assembly 22 can be located on the side of the base 21 close to the wire harness, and the elastic member 24 can be located between the base 21 and the wire-straightening assembly 22, with one end of the elastic member 24 connected to the wire-straightening assembly 22 and the other end connected to the base 21.

[0070] In the examples of this application, refer to Figure 5 、 Figure 8 and Figure 9As shown, the base 21 is provided with an assembly cavity 211 that passes through the base 21 along a first direction a. The wire-straightening assembly 22 passes through the assembly cavity 211, and both ends of the wire-straightening assembly 22 extend out of the assembly cavity 211. An elastic member 24 is provided between the end of the wire-straightening assembly 22 away from the wire-straightening portion 221 and the base 21, so that the wire-straightening assembly 22 can move relative to the base 21 in the first direction a. Specifically, the elastic member 24 extends along the first direction a. At the same time, the elastic member 24 can be stretched or contracted in the first direction a. In this way, after the wire-straightening assembly 22 contacts the wiring harness in the first direction a, the two manipulators 2 can be controlled to continue to move toward each other. In this way, as the base 21 and the clamping member 23 continue to move toward the plug, the elastic member 24 is stretched, and the wire-straightening assembly 22 maintains contact with the wiring harness of the plug.

[0071] In one embodiment, the wire-straightening assembly 22 further includes a connector 222 and an assembly member 223. The connector 222 extends along a first direction a. A portion of the connector 222 extends through the assembly cavity 211, with both ends of the connector 222 extending out of the assembly cavity 211. The wire-straightening portion 221 is disposed at the end of the connector 222 proximal to the clamping member 23. The assembly member 223 is connected to the end of the connector 222 distal to the clamping member 23. Furthermore, one end of the elastic member 24 is connected to the assembly member 223, while the other end is connected to the assembly cavity 211.

[0072] This arrangement divides the cable assembly 22 into two parts, which reduces the difficulty of manufacturing the cable assembly 22 and facilitates the assembly of the cable assembly 22. Specifically, during assembly, the connecting member 222 can be assembled first, and then the assembly member 223 and the elastic member 24 can be installed at the same time.

[0073] It is understood that the connecting member 222 may be provided with an assembly hole 2221, and the fastener 25 penetrates the assembly hole 2221 to connect the assembly member 223 and the connecting member 222. Specifically, the connecting member 222 may be provided with multiple assembly holes 2221, and the multiple assembly holes 2221 are spaced apart along the first direction a. In this way, when the assembly member 223 is connected to different assembly holes 2221, the relative position of the wire-strapping portion 221 and the clamping member 23 (or base 21) will be different. This allows the position of the wire-strapping assembly 22 to be adjusted according to the specifications of different plugs, thereby improving the versatility of the manipulator 2.

[0074] In one embodiment, a first fixing column 212 is provided on the inner wall surface of the assembly cavity 211, a second fixing column 224 is provided on the assembly part 223, one end of the elastic member 24 is connected to the first fixing column 212, and the other end of the elastic member 24 is connected to the second fixing column 224. In the embodiment of the present application, the first fixing column 212 and the second fixing column 224 are both bolts. Among them, a first fastening hole (not shown) is provided on the base 21, and the first fixing column 212 is inserted into the first fastening hole from the outside of the base 21. A second fastening hole (not shown) is provided on the assembly part 223, and the second fixing column 224 is inserted into the second fastening hole from the top of the assembly part 223.

[0075] In the embodiment of the present application, two different wire drawing assemblies 22 are provided.

[0076] Reference Figure 3-Figure 9 As shown, the positioning protrusion 2212 of the first type of cable-winding assembly 22 is cylindrical, the end of the positioning protrusion 2212 is spherical, and the positioning groove 2213 is a spherical groove. Thus, after the positioning protrusion 2212 and the positioning groove 2213 are engaged, the two cable-winding assemblies 22 can be in the predetermined closed position in the first direction a, the second direction b, and the third direction c, ensuring that the two cable-winding assemblies 22 are fully closed.

[0077] Reference Figure 2 and Figure 10 As shown, the positioning protrusion 2212 of the second type of wire drawing assembly 22 is a triangular structure, and the positioning groove 2213 is formed by two triangular structures. The outer surface of the triangular structure in the third direction c is a flat surface, and the inner surface is an inclined surface. Therefore, when "picking up" the wire harness, the outer surface can be aligned with the table surface on which the wire harness is placed, and the wire harness can be "scooped" and slid along the inner surface toward the wire drawing surface 2211.

[0078] An embodiment of the present application also provides a method for assembling a plug with a wiring harness by a robot. The method uses the above-mentioned robot to assemble the plug with a wiring harness. A force sensing sensor is provided on the robot, and the force sensing sensor is used to obtain force information of the manipulator component.

[0079] Reference Figure 11 As shown, the method includes:

[0080] S100: Identifying the position of the plug with the wiring harness. Specifically, the robot may perform an initial positioning of the plug with the wiring harness using a camera.

[0081] S200: Move the robot assembly to a position surrounding the plug with the wiring harness. Figure 1 As shown, the manipulator 2 moves to the location where the wire harness is located, and the mobile manipulator 2 "picks up" the wire harness to surround the wire harness.

[0082] S300: Control the manipulator assemblies to close until the force information in a first direction reaches a first preset threshold. When the two manipulators 2 "close," the two wire-straightening assemblies 22 are closed, and the wiring harness is positioned between the two wire-straightening assemblies 22. The first preset threshold can be the force applied to the wiring harness. When the force information reaches the first preset threshold, it indicates that the wiring harness assembly 22 is in contact with the wiring harness.

[0083] S400: Control the manipulator assembly to move toward the plug until the force information reaches a second preset threshold in the second direction toward the plug. When the force information reaches the second preset threshold, it indicates that the end face of the plug forms a surface contact with the clamping member 23 of the manipulator. Wherein, when the other end of the wiring harness is fixed, after the wire drawing portion 221 forms a stable surface contact with the end face of the plug, the posture of the two rotational degrees of freedom directions of the plug has been corrected due to the stable surface contact, and force transmission is formed. In addition, the force sensing sensor on the robot can detect the magnitude of the force in the opposite direction of the wire drawing as a judgment on whether a stable surface contact is formed.

[0084] S500: Control the manipulator assembly to further close until the force information reaches the third preset threshold in the first direction. Specifically, the wire-straightening assemblies 22 of the two manipulators 2 further move toward each other, and when "closed" to a certain extent, the force information reaches the third preset threshold, indicating that the two clamps 23 firmly clamp the plug. This closing can correct the posture of another rotational degree of freedom of the plug. At this point, the posture of the plug (three rotational degrees of freedom) will be completely corrected from the initial state with great uncertainty. This lays a good foundation for the subsequent insertion operation, that is: the relative posture of the plug and the clamp is completely determined. Finally, the manipulator 2 can be moved to the target position and the plug can be inserted into the socket to be connected.

[0085] It should be noted that the sizes of the first preset threshold, the second preset threshold and the third preset threshold can be determined according to actual conditions, and the embodiment of the present application does not limit the sizes of the first preset threshold, the second preset threshold and the third preset threshold.

[0086] The robot provided in the embodiment of the present application can be combined with a force sensor to sense and control the force applied by the manipulator 2. Furthermore, on the one hand, it can grasp the plug even when its spatial position and posture are highly uncertain; on the other hand, after grasping, the force sensor (perception) is used to straighten the wire and correct the position and posture of the plug. After the operation is completed, the relative position and posture of the plug and the manipulator 2 can be controlled, thereby eliminating uncertainties in the environment to the greatest extent possible and laying a good foundation for plug insertion.

[0087] It is understood that the solution provided by the embodiments of the present application can effectively eliminate environmental uncertainties. When the spatial position and posture of the plug are within a certain error range, visual positioning can be eliminated. Even when relying on a camera for rough positioning of the object is necessary, the solution provided by the embodiments of the present application can further eliminate the uncertainty of the relative position and posture of the remaining plugs and the robot 2 after camera positioning, thereby further improving the success rate of the insertion operation.

[0088] Throughout this specification, references to terms such as "some embodiments," "other embodiments," and "desired embodiments" indicate that a particular feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present application. The schematic descriptions of these terms throughout this specification do not necessarily refer to the same embodiment or example.

[0089] The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features of the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A manipulator for assembling a plug with a wiring harness, characterized in that: include: base (21); A wire drawing assembly (22) is arranged on the base (21), and at least a portion of the wire drawing assembly (22) is located on one side of the base (21) in a first direction; the wire drawing assembly (22) is used to contact the wire harness along the first direction; A clamping member (23) is provided on a side of the base (21) close to the wire-straightening assembly (22) and located on a side of the wire-straightening assembly (22) in a second direction, the clamping member (23) being used to clamp the plug along the first direction; wherein the second direction is perpendicular to the first direction; The wire drawing assembly (22) is movably connected to the base (21) in the first direction; The wire drawing assembly (22) includes a wire drawing portion (221) for clamping the wire harness; an elastic member (24) is provided between the wire drawing assembly (22) and the base (21) to enable the wire drawing portion (221) to move relative to the base (21) along the first direction; The base (21) is provided with an assembly cavity (211) that passes through the base (21) along the first direction; the wire drawing assembly (22) further includes a connecting piece (222) and an assembly piece (223), and the connecting piece (222) extends along the first direction; Part of the connecting piece (222) passes through the assembly cavity (211), and both ends of the connecting piece (222) extend out of the assembly cavity (211); the wire drawing portion (221) is arranged at one end of the connecting piece (222) close to the clamping piece (23); and the assembly piece (223) is connected to one end of the connecting piece (222) away from the clamping piece (23).

2. The manipulator according to claim 1, characterized in that: A side of the thread-straightening portion (221) away from the base (21) is provided with a thread-straightening surface (2211); In the third direction, a positioning protrusion (2212) is provided on one side of the threading surface (2211), and a positioning groove (2213) is provided on the other side of the threading surface (2211), and at least a portion of the outer contour of the positioning protrusion (2212) is adapted to the inner contour of the positioning groove (2213); The third direction is perpendicular to the first direction and the second direction.

3. The manipulator according to claim 1, characterized in that: One end of the elastic member (24) is connected to the assembly member (223), and the other end is connected to the assembly cavity (211).

4. The manipulator according to claim 1, characterized in that: A first fixing column (212) is provided on the inner wall surface of the assembly cavity (211), a second fixing column (224) is provided on the assembly part (223), one end of the elastic part (24) is connected to the first fixing column (212), and the other end of the elastic part (24) is connected to the second fixing column (224).

5. A robot assembly, characterized in that: The invention comprises two manipulators according to any one of claims 1 to 4.

6. A robot, characterized in that: It comprises a robotic arm and a robotic hand assembly as claimed in claim 5, wherein the robotic hand assembly is arranged on the robotic arm.

7. A method for assembling a plug with a wiring harness by a robot, characterized in that: The robot assembly plug with a wiring harness according to claim 6 is used, wherein the robot is provided with a force sensing sensor, and the force sensing sensor is used to obtain force information of the manipulator assembly; The method comprises: identifying a location of the plug with the wiring harness; moving the manipulator assembly to a position surrounding the plug with the wiring harness; Controlling the manipulator assembly to close until the force information in the first direction reaches a first preset threshold; controlling the manipulator assembly to move toward the plug until the force information reaches a second preset threshold in a second direction toward the plug; The manipulator assembly is controlled to further close until the force information in the first direction reaches a third preset threshold.

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