Laying device and method for multi-specification wire lashing preparation sleeve

Abstract

The application discloses a laying device and method suitable for multi-specification wire-laying preparation sleeves. The laying method comprises the following steps: arranging a wire-laying cable in a straight line; winding a preparation sleeve around one end of the wire-laying cable; fixing the wire-laying cable and the one end of the preparation sleeve coaxially through a fixing tool; controlling a mechanical gripper at the position of the fixing tool to close to clamp the other end of the preparation sleeve; controlling the mechanical gripper to move along a predetermined path; receiving a signal sent by an optical-electric sensor when the mechanical gripper passes through the optical-electric sensor on the predetermined path; and controlling the mechanical gripper to stop. The application is simple and effective, greatly saves economic cost and time cost, and can effectively improve the laying efficiency of the preparation sleeve and provides a simple and effective solution for laying production of the preparation sleeve.

Description

Technical Field

[0001] This invention belongs to the field of automated cabling technology and relates to a laying device and method suitable for multi-specification wire bundles. Background Technology

[0002] Wire ties refer to bundles of wires and cables that run in the same direction and are bundled together. They are generally used in electrical cabinets or assemblies to connect various components and are an important part of electrical products. Braided sleeves are placed on the wire ties to protect them and prevent debris from entering. Currently, the types and quantities of wire ties used in national defense, military, aerospace, and aviation industries are numerous, and the sizes, specifications, shapes, wire types, and manufacturing requirements of wire ties vary greatly, making the processing of braided sleeves increasingly demanding.

[0003] Currently, the laying of knitted covers is mainly done manually, requiring a typical worker one day, which is slow and, if rework is involved, the schedule cannot meet requirements. There is currently no research on the automated laying of knitted covers. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a laying device and method for multi-specification braided sheaths that can improve the laying efficiency of braided sheaths.

[0005] To achieve the above objectives, this application provides a laying device suitable for multi-specification wire ties and braids, the laying device comprising a fixing fixture, a mechanical gripper, a photoelectric sensor, and a control module, wherein:

[0006] The braided sleeve to be laid is pre-curled and fitted onto one end of the wire-tied cable, and the wire-tied cable and one end of the braided sleeve are coaxially fixed by the fixing fixture;

[0007] The mechanical gripper and the photoelectric sensor are electrically connected to the control module, respectively.

[0008] The photoelectric sensor is located at the other end of the wire-tied cable. The control module controls the mechanical gripper to close and clamp the other end of the braided sleeve according to the control command, and drives the braided sleeve to move along a predetermined path.

[0009] When the mechanical gripper passes the photoelectric sensor on the predetermined path, the control module controls the mechanical gripper to stop.

[0010] Optionally, the fixing fixture includes an upper clamping plate and a lower clamping plate, the upper clamping plate and the lower clamping plate being arc-shaped. The upper clamping plate and the lower clamping plate are joined together to clamp one end of the wire-tied cable and the braided sleeve. Ear plates are provided on both sides of the upper clamping plate and the lower clamping plate, and through holes are provided on the ear plates. Fasteners are inserted through the ear plates of the upper clamping plate and the lower clamping plate to fix one end of the wire-tied cable and the braided sleeve clamped between the upper clamping plate and the lower clamping plate.

[0011] Optionally, a flexible protective layer is provided on the clamping surfaces of the upper clamping plate and the lower clamping plate.

[0012] Optionally, the control commands include a reset command, a start command, a pause command, and a stop command. When the control module receives the reset command, it controls the mechanical gripper to return from its current position to the fixed fixture. When the control module receives the start command, it controls the mechanical gripper to close and clamp the other end of the woven sleeve from its current position, and moves the woven sleeve along a predetermined path. When the control module receives the pause command, it controls the mechanical gripper to remain closed and temporarily stop at its current position. When the control module receives the stop command, it controls the mechanical gripper to release the woven sleeve and return to the fixed fixture.

[0013] Optionally, the laying device further includes a human-machine interface, which provides trigger inputs for reset commands, start commands, pause commands, and stop commands.

[0014] Optionally, the control module can control the mechanical gripper to release the woven sleeve and return to the fixed fixture based on a stop command sent by the human-machine interface or the photoelectric sensor.

[0015] Optionally, the laying device further includes a robotic arm, which is electrically connected to the control module, and the robotic gripper is mounted on the robotic arm.

[0016] Optionally, the robotic arm is moved by a stepper motor. The control module controls the stepper motor to rotate forward a predetermined number of times to move the robotic gripper and the woven sleeve to a predetermined position. When the control module receives the stop command, it controls the robotic gripper to release the woven sleeve and controls the stepper motor to rotate in the opposite direction by the same number of times to return the robotic gripper to the fixed fixture.

[0017] Optionally, the laying device further includes an alarm, which is electrically connected to the control module. When the mechanical gripper is unable to move, the alarm sounds and sends a pause command to the control module.

[0018] Secondly, this application also provides a method for laying multi-specification wire braided sleeves, the method employing the laying device as provided in the first aspect, the method comprising:

[0019] Organize the cable bundles and keep them laid in a straight line;

[0020] The braided sleeve is coiled and fitted onto one end of the wire-tied cable, and the wire-tied cable and one end of the braided sleeve are coaxially fixed by a fixing tool.

[0021] The mechanical gripper at the fixed tooling position is closed to clamp the other end of the woven sleeve;

[0022] Control the mechanical gripper to move along a predetermined path;

[0023] When the mechanical gripper passes the photoelectric sensor on the predetermined path, it receives the signal sent by the photoelectric sensor and controls the mechanical gripper to stop.

[0024] Through the above technical solution, this application can achieve at least the following beneficial effects:

[0025] This invention uses a fixing fixture to coaxially fix one end of the wire-tied cable and the braided sleeve. The control module controls the gripping and movement of the robot along a predetermined path. Based on the sensing signal of the photoelectric sensor, the robot stops and finally lays the braided sleeve. This method is simple and effective, and greatly saves economic and time costs. It can effectively improve the efficiency of braided sleeve laying and provides a simple and effective solution for braided sleeve laying production.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0028] Figure 1 This is a schematic diagram of the structure of a laying device for multi-size knitted sleeves provided in one embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the structure of the fixing fixture of the laying device in one embodiment of this application;

[0030] Figure 3 This is a flowchart of a method for laying multi-size braided sleeves according to an embodiment of this application. Detailed Implementation

[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0032] The types of wire-bundled cables used in national defense, military industry, aerospace, and aviation are numerous, and the sizes, specifications, shapes, wire types, and manufacturing requirements of different wire bundles vary greatly. Therefore, the types of braided sleeves suitable for protecting different wire bundles also differ. The task of laying braided sleeves on wire-bundled cables connecting various components is becoming increasingly demanding. Currently, laying braided sleeves on wire-bundled cables is mainly done manually, requiring an average worker one day, which cannot meet the quantity and schedule requirements.

[0033] Based on previous research findings, this analysis addresses the problems and limitations of the above findings. For example... Figure 1 As shown, the laying device for multi-specification wire bundles of the present invention includes a fixing fixture 1, a mechanical gripper 2, a photoelectric sensor 3, and a control module 4, wherein:

[0034] The braided sleeve to be laid is pre-curled and placed on one end of the wire-tied cable, and the wire-tied cable and one end of the braided sleeve are coaxially fixed by the fixing fixture 1.

[0035] The mechanical gripper 2 and the photoelectric sensor 3 are electrically connected to the control module 4, respectively.

[0036] The photoelectric sensor 3 is located at the other end of the cable tie. The control module 4 controls the mechanical gripper 2 to close and clamp the other end of the braided sleeve according to the control command, and drives the braided sleeve to move along a predetermined path. The predetermined path can be set according to the actual length of the braided sleeve laid on the cable tie. The mechanical gripper 2 drives the braided sleeve to move along the cable tie, which can lay the braided sleeve on the cable tie.

[0037] When the mechanical gripper 2 passes the photoelectric sensor 3 on the predetermined path, the control module 4 controls the mechanical gripper 2 to stop. The position of the photoelectric sensor 3 can be set according to the required braided sleeve laying length of the wire cable. For example, the photoelectric sensor 3 can be set near the end position of the required braided sleeve laying length of the wire cable. When the mechanical gripper 2 moves to this position, the photoelectric sensor 3 sends a control command to the control module 4, controlling the mechanical gripper 2 to stop, and the braided sleeve laying on the wire cable is completed.

[0038] like Figure 2As shown, in one embodiment of the present invention, the fixing fixture 1 includes an upper clamping plate 11 and a lower clamping plate 12. The upper clamping plate 11 and the lower clamping plate 12 are arc-shaped. The upper clamping plate 11 and the lower clamping plate 12 are joined together to clamp one end of the wire-tied cable and the braided sleeve. Ear plates 13 are provided on both sides of the upper clamping plate 11 and the lower clamping plate 12. The ear plates 13 are provided with through holes. Fasteners 14 are passed through the ear plates 13 of the upper clamping plate 11 and the lower clamping plate 12 to fix one end of the wire-tied cable and the braided sleeve clamped between the upper clamping plate 11 and the lower clamping plate 12. The arc-shaped clamping surfaces of the upper clamping plate 11 and the lower clamping plate 12 match the shape of the wire-tied cable. Under the clamping action of the upper clamping plate 11, the lower clamping plate 12, and the fastener 14, one end of the braided sleeve and one end of the wire-tied cable can be clamped and fixed, preventing the braided sleeve from shifting along the axial direction of the wire-tied cable when the mechanical gripper 2 moves, thus avoiding interference with the laying of the braided sleeve. In this embodiment, the fastener 14 is a bolt. The gap between the upper clamping plate 11 and the lower clamping plate 12 can be adjusted by adjusting the tightness of the bolt, accommodating the laying of braided sleeves on wire-tied cables of different specifications and sizes.

[0039] In one embodiment of the present invention, a flexible protective layer is provided on the clamping surfaces of the upper clamping plate 11 and the lower clamping plate 12, so that the upper clamping plate and the lower clamping plate are in flexible contact with the braided sleeve when clamped, thereby protecting the braided sleeve and the wire-tied cable clamped between the upper clamping plate 11 and the lower clamping plate 12 and avoiding damage to the braided sleeve and the wire-tied cable caused by excessive clamping force.

[0040] In one embodiment of the present invention, the control commands of the control module 4 include a reset command, a start command, a pause command, and a stop command. When the control module 4 receives the reset command, it controls the mechanical gripper 2 to return from its current position to the fixed fixture 1. When the control module 4 receives the start command, it controls the mechanical gripper 2 to close and clamp the other end of the knitted sleeve from its current position, and drives the knitted sleeve to move along a predetermined path. When the control module 4 receives the pause command, it controls the mechanical gripper 2 to remain closed and temporarily stop at its current position. When the control module 4 receives the stop command, it controls the mechanical gripper 2 to release the knitted sleeve and return to the fixed fixture 1.

[0041] In one embodiment of the present invention, the laying device further includes a human-machine interface 5, which provides trigger inputs for reset commands, start commands, pause commands, and stop commands. It should be noted that the control command inputs of the control module 4 are not limited to this; they can be automatically triggered based on control commands sent by other devices. For example, when the mechanical gripper 4 moves to the photoelectric sensor 3, the photoelectric sensor 3 automatically sends a stop command to the control module 4, controlling the mechanical gripper 2 to release the woven sleeve and return to the fixed fixture 1. In practical applications, the human-machine interface is implemented on a Siemens host computer (HMI). The HMI includes four functional areas: "Start," "Pause," "Reset," and "Emergency Stop." The "Start" function allows the robotic arm to start running from the woven sleeve fixed fixture, or to continue running in the "Pause" state; the "Pause" function stops running and waits for the next command; the "Reset" function restores the system to its initial state, i.e., the robotic arm returns to the woven sleeve fixed fixture and waits for commands; and the "Emergency Stop" function cuts off the system power supply in case of an emergency.

[0042] In one embodiment of the present invention, the laying device further includes a robotic arm 6, which is electrically connected to the control module 4, and a mechanical gripper 2 is mounted on the robotic arm 6. The robotic arm 6 is moved by a stepper motor. The control module 4 controls the stepper motor to rotate forward a predetermined number of times to move the mechanical gripper 2 and the clamped braided sleeve to a predetermined position. When the control module 4 receives a stop command, it controls the mechanical gripper 2 to release the braided sleeve and controls the stepper motor to rotate in the opposite direction by the same number of times to return the mechanical gripper 2 to the fixed fixture 1. The actual position of the braided sleeve laid along the cable tie is determined by the rotation direction and number of rotations of the stepper motor.

[0043] In one embodiment of the present invention, the laying device further includes an alarm 7, which is electrically connected to the control module 4. When the mechanical gripper 2 is unable to move, the alarm 7 sounds an alarm and sends a pause command to the control module 4. When there are bends in the cable tie or foreign objects on its surface, the braided sleeve may be unable to move further when the mechanical gripper 2 moves it to that position. If the mechanical gripper 2 forcibly continues to move the braided sleeve, it may cause tearing of the braided sleeve or even damage to the mechanical gripper's drive mechanism. To avoid these problems, when the mechanical gripper 2 is unable to move, the alarm 7 sounds an audible or visual alarm and sends a pause command to the control module 4, causing the mechanical gripper 2 to stop moving at that position. Once the operator eliminates the obstacle preventing the mechanical gripper 2 from moving—for example, by straightening the bend in the cable tie or removing foreign objects from its surface—the mechanical gripper 2 can resume moving to complete the subsequent laying of the braided sleeve.

[0044] like Figure 3 As shown, the present invention is applicable to a method for laying multi-specification wire braided sleeves. This laying method employs the aforementioned laying device and includes:

[0045] Step S310: Straighten the cable bundles and keep them placed in a straight line;

[0046] Step S320: Place the braided sleeve onto one end of the wire cable and fix the wire cable and one end of the braided sleeve coaxially using a fixing fixture;

[0047] Step S330: Control the mechanical gripper at the fixed tooling position to close and clamp the other end of the woven sleeve;

[0048] Step S340: Control the mechanical gripper to move along a predetermined path. In actual implementation, the forward rotation signal sent by the control module to the stepper motor includes the number of forward rotations. This forward rotation signal instructs the stepper motor to rotate in the forward direction, and the number of rotations in the forward rotation signal instructs the stepper motor to rotate a predetermined number of times. Correspondingly, after receiving the forward rotation signal, the stepper motor rotates forward a predetermined number of times according to the number of rotations in the forward rotation signal. This predetermined number of rotations is sufficient to move the woven sleeve to the position of the photoelectric sensor.

[0049] Clearly, when the stepper motor lacks the ability to recognize the revolution count signal in the forward rotation signal, the control module can continuously send a predetermined number of forward rotation signals to the stepper motor. Each time the stepper motor receives a forward rotation signal, it rotates one revolution in the forward direction. Here, the value of the predetermined number of times is the same as the value of the predetermined number of revolutions; that is, the predetermined number of times corresponds to the predetermined number of revolutions. When the predetermined number of revolutions is n revolutions, the predetermined number of times is n.

[0050] Step S350: When the mechanical gripper passes the photoelectric sensor on the predetermined path, receive the signal sent by the photoelectric sensor and control the mechanical gripper to stop.

[0051] When the robotic gripper passes the photoelectric sensor, the photoelectric sensor sends a stop command to the control module to indicate that the robotic gripper has reached the location of the photoelectric sensor. Correspondingly, after receiving the stop command from the photoelectric sensor, the control module controls the robotic gripper to release the woven sleeve and controls the stepper motor to rotate in the opposite direction a predetermined number of times to return the robotic gripper to the fixed fixture.

[0052] In summary, this invention uses a fixing fixture to coaxially fix one end of the wire-tied cable and the braided sleeve. The control module controls the gripping and movement of the robot along a predetermined path. Based on the sensing signal from the photoelectric sensor, the robot stops and finally lays the braided sleeve. This method is simple and effective, and greatly saves economic and time costs. It can effectively improve the efficiency of braided sleeve laying and provides a simple and effective solution for braided sleeve laying production.

[0053] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention described herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not invented herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0054] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A laying device suitable for multi-specification wire binding and braiding sleeves, characterized in that, The laying device includes a fixed fixture, a mechanical gripper, a photoelectric sensor, a control module, a robotic arm, and a stepper motor, wherein: The braided sleeve to be laid is pre-curled and fitted onto one end of the wire-tied cable, and the wire-tied cable and one end of the braided sleeve are coaxially fixed by the fixing fixture; The fixing fixture includes an upper clamping plate and a lower clamping plate, which are arc-shaped. The upper clamping plate and the lower clamping plate are joined together to clamp one end of the wire-tied cable and the braided sleeve. Ear plates are provided on both sides of the upper clamping plate and the lower clamping plate, and through holes are provided on the ear plates. Fasteners are inserted through the ear plates of the upper clamping plate and the lower clamping plate to fix one end of the wire-tied cable and the braided sleeve clamped between the upper clamping plate and the lower clamping plate. A flexible protective layer is provided on the clamping surface of the upper clamping plate and the lower clamping plate. The mechanical gripper, the photoelectric sensor, the robotic arm, and the stepper motor are electrically connected to the control module. The mechanical gripper is mounted on the robotic arm, and the robotic arm moves under the control of the stepper motor. The photoelectric sensor is located at the other end of the wire-tied cable. The control module controls the mechanical gripper to close and clamp the other end of the braided sleeve according to the control command, and controls the stepper motor to rotate forward a predetermined number of times, so that the robotic arm drives the mechanical gripper and the braided sleeve held to move to a predetermined position along a predetermined path. When the mechanical gripper passes the photoelectric sensor on the predetermined path and receives a stop signal from the photoelectric sensor, the control module controls the mechanical gripper to release the woven sleeve and controls the stepper motor to rotate in the opposite direction for the same number of predetermined rotations, so as to return the mechanical gripper to the fixed fixture.

2. The laying device as described in claim 1, characterized in that, The laying device also includes a human-machine interface, which provides trigger inputs for reset commands, start commands, pause commands, and stop commands.

3. The laying device as described in claim 1, characterized in that, The control module can control the mechanical gripper to release the woven sleeve and return to the fixed tooling according to the stop command sent by the human-machine interface or the photoelectric sensor.

4. The laying device as described in claim 1, characterized in that, The laying device also includes an alarm, which is electrically connected to the control module. When the mechanical gripper is unable to move, the alarm sounds and sends a pause command to the control module.

5. A method for laying multi-specification braided cable sheaths, characterized in that, The laying method employs the laying device as described in any one of claims 1-4, and the laying method includes: Organize the cable bundles and keep them laid in a straight line; The braided sleeve is coiled and fitted onto one end of the wire-tied cable, and the wire-tied cable and one end of the braided sleeve are coaxially fixed by a fixing tool. The mechanical gripper at the fixed tooling position is closed to clamp the other end of the woven sleeve; The mechanical gripper is controlled to move along a predetermined path; when the mechanical gripper passes the photoelectric sensor on the predetermined path, the signal sent by the photoelectric sensor is received, and the mechanical gripper is controlled to stop.

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