An automatic wire arranging robot controller

Abstract

The application relates to the technical field of wire harness arranging robots, in particular to an automatic wire harness arranging robot controller, which comprises a winding and arranging mechanism, a mechanical hand connecting seat, a lifting mechanism, two wire clamping mechanisms and two side pushing mechanisms, the two side pushing mechanisms and the lifting mechanism are fixedly installed on the mechanical hand connecting seat, and the mechanical hand connecting seat is fixedly installed on the mechanical hand of a robot. The automatic wire harness arranging robot controller clamps the wire harness through the two wire clamping mechanisms, avoids the slack of the wire harness, moves to the two sides after clamping, makes the wire harness between the two wire clamping mechanisms tight and closely fit, inserts the gap of the winding and arranging mechanism, rotates the wire through the winding and arranging mechanism, makes the wire between the two wire clamping mechanisms be tightly bound, moves through the robot, and then binds the whole wire harness with the wire harness adhesive tape.

Description

Technical Field

[0001] This invention relates to the field of cable bundling robot technology, and more specifically to an automatic cable bundling robot controller. Background Technology

[0002] When assembling wire harnesses in aircraft, CNC machine tools, or automobiles, multiple wire harnesses are typically installed by workers onto brackets in a wire harness mounting frame and then bundled using wire harness tape. However, this manual bundling process is time-consuming and labor-intensive. While robotic bundling would be much easier, the loosely connected wire harnesses are difficult to tighten. Therefore, it is necessary to design an automated wire harnessing robot controller capable of automatically assembling and bundling wire harnesses, ensuring they are securely bundled. Summary of the Invention

[0003] To address the aforementioned technical shortcomings, the purpose of this invention is to provide an automatic wire harnessing robot controller capable of automatically arranging and bundling wire harnesses, thereby ensuring that the wire harnesses are tightly bound.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides an automatic wire harnessing robot controller, including a wire winding mechanism, a robotic arm connecting seat, a lifting mechanism, two wire clamping mechanisms, and two side pushing mechanisms. The two side pushing mechanisms and the lifting mechanism are all fixedly installed on the robotic arm connecting seat, which is fixedly installed on the robotic arm of the robot. The lifting mechanism is used to push the wire winding mechanism downward to engage the outer edges of multiple wire harnesses. The wire winding mechanism is located between the two wire clamping mechanisms, and the two wire clamping mechanisms are respectively connected to the working ends of the two side pushing mechanisms. The side pushing mechanisms are used to push the wire clamping mechanisms to move horizontally.

[0005] Preferably, each clamping cable assembly mechanism includes an arc-shaped receiving seat, a synchronous pushing clamping mechanism, and two clamping rods. The inner edge of the arc-shaped receiving seat fits against the outer edge of the cable harness. The middle parts of the two clamping rods are rotatably mounted at both ends of the arc-shaped receiving seat. The synchronous pushing clamping mechanism is used to drive the two clamping rods to rotate simultaneously.

[0006] Preferably, the synchronous push-clamp mechanism includes an electric push rod, a horizontal push plate, and two drive arms. The electric push rod is fixedly installed on the robot arm connecting seat and is used to horizontally push the horizontal push plate. The two drive arms are respectively installed on two side push mechanisms. Each drive arm includes a slider, two vertical slide rods, and two hinge rods. The two vertical slide rods are vertically slidably connected to the side push mechanisms. Each clamping rod has a sliding post at its end. The vertical slide rods have a sliding groove for sliding shafts. The slider is slidably installed on the horizontal push plate. The horizontal push plate has a sliding groove for sliding the horizontal push plate. One end of each hinge rod is hinged to the vertical slide rod, and the other end of the hinge rod is hinged to the slider.

[0007] Preferably, a second slider is fixedly mounted on the vertical slide rod, and a slide rail for the second slider to slide vertically is fixedly mounted on the side pushing mechanism.

[0008] Preferably, each side-pushing mechanism includes a displacement seat, an electric push rod II, and two guide posts I. The displacement seat is slidably connected to the guide posts I, and the arc-shaped receiving seat is fixedly connected to the displacement seat. The electric push rod II is used to push the displacement seat to slide along the guide posts I.

[0009] Preferably, the winding and harnessing mechanism includes an arc-shaped rotating plate, an arc-shaped plate mounting base, a rotary drive mechanism, and a harnessing tape. The arc-shaped plate mounting base is fixedly installed at the bottom of the lifting mechanism. The arc-shaped rotating plate is rotatably installed inside the arc-shaped plate mounting base. A retainer is provided on the arc-shaped rotating plate. The harnessing tape is rotatably installed in the retainer. The rotary drive mechanism is fixedly installed in the arc-shaped plate mounting base and is used to drive the arc-shaped rotating plate to rotate along the arc-shaped plate mounting base.

[0010] Preferably, the rotary drive mechanism includes a co-rotating drive and at least two rubber wheels, the distance between the two rubber wheels being greater than the distance between the two ends of the arc-shaped rotating plate, and the co-rotating drive driving the arc-shaped rotating plate to rotate through the two rubber wheels.

[0011] Preferably, the lifting mechanism includes an electric push rod three and a guide column two. The guide column two is slidably connected to the robot arm connecting seat, the electric push rod three is fixedly connected to the robot arm connecting seat, and the bottom of the output end of the electric push rod three is provided with a mounting plate connected to the arc plate mounting seat.

[0012] The beneficial effects of this invention are as follows: The automatic wire harnessing robot controller clamps the wire harness through two clamping mechanisms to prevent the wire harness from becoming loose. After clamping, it moves to both sides, so that the wire harness between the two clamping mechanisms is taut and tightly fitted, making it easy to insert into the notch of the winding mechanism. Then, the winding mechanism rotates the wire harness, so that the wire harness between the two clamping mechanisms can be tightly bound. With the help of the robot, the entire wire harness is bound with wire harnessing tape. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention in its installed state.

[0015] Figure 2 This is a three-dimensional structural diagram of the present invention in the state of cable clamping.

[0016] Figure 3 This is a three-dimensional structural diagram of the present invention, showing the cable in a loosened state.

[0017] Figure 4 This is a three-dimensional structural diagram of the present invention in the state of cable clamping.

[0018] Figure 5 This is a partial three-dimensional structural diagram of the present invention.

[0019] Figure 6 This is a three-dimensional structural diagram of a vertical sliding rod.

[0020] Figure 7 This is a three-dimensional structural diagram of the side-pushing mechanism.

[0021] Figure 8 This is a three-dimensional structural diagram of the winding bundle mechanism.

[0022] Explanation of reference numerals in the attached drawings: 1-Winding wire harness mechanism; 1a-Arc-shaped rotating plate; 1a1-Card holder; 1b-Arc plate mounting seat; 1c-Rotary drive mechanism; 1c1-Rubber wheel; 1c2-Co-directional rotary actuator; 1d-Wire harness tape; 2-Arc-shaped receiving seat; 3-Clamping rod; 4-Synchronous push clamping mechanism; 4a-Vertical slide rod; 4b-Electric push rod one; 4c-Hinged rod; 4d-Horizontal push plate; 4e-Slider one; 4f-Slider two; 4h-Slide rail; 5-Side pushing mechanism; 5a-Displacement seat; 5b-Electric push rod two; 5c-Guide post one; 6-Mechanical arm connecting seat; 7-Wire harness; 8-Wire harness mounting bracket; 9-Lifting mechanism; 9a-Electric push rod three; 9b-Guide post two. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example: This invention provides an automatic wire harnessing robot controller. When harnessing wires 7, multiple wire harnesses 7 are installed onto the bracket of the wire harness mounting frame 8 by workers, and finally bundled using wire harnessing tape 1d. However, manual wire harnessing is time-consuming and labor-intensive. If a robot is used for wire harnessing, the loose wire harnesses 7 are difficult to tighten during the process. Therefore, as... Figure 1-4 As shown, the system includes a wire winding mechanism 1, a robotic arm connecting seat 6, a lifting mechanism 9, two clamping and arranging wire mechanisms, and two side pushing mechanisms 5. The two side pushing mechanisms 5 and the lifting mechanism 9 are all fixedly installed on the robotic arm connecting seat 6, which is fixedly installed on the robotic arm of the robot. The lifting mechanism 9 is used to push the wire winding mechanism 1 downward to engage the outer edge of multiple wire bundles 7. The wire winding mechanism 1 is located between the two clamping and arranging wire mechanisms, and the two clamping and arranging wire mechanisms are respectively connected to the working ends of the two side pushing mechanisms 5. The side pushing mechanisms 5 are used to push the clamping and arranging wire mechanisms to move horizontally.

[0025] When multiple wire harnesses 7 need to be bundled, the two clamping and bundling mechanisms come into contact, and the winding and bundling mechanism 1 is located directly above the clamping and bundling mechanisms. The clamping and bundling mechanisms are pushed horizontally, and the multiple wire harnesses 7 are inserted into the two clamping and bundling mechanisms. The clamping and bundling mechanisms clamp the multiple wire harnesses 7, so that the multiple wire harnesses 7 are tightened together.

[0026] It is conceivable that a thin-film pressure sensor is installed on the clamping rod 3 to sense the pressure of the wire harness 7, in order to determine whether multiple wire harnesses 7 are clamped. The pressure sensed by the thin-film pressure sensor needs to have at least three sensing points. Of course, a pressure sensor can also be installed on the synchronous pushing clamping mechanism 4. When the pressure applied by the synchronous pushing clamping mechanism 4 reaches a preset value, the pressure sensor senses it to determine whether the clamping rod 3 clamps the wire harness 7. Of course, there are other clamping sensing methods, all of which are existing technologies and will not be described further.

[0027] After the multiple wire harnesses 7 are tightened, the clamping and wiring mechanism releases them at a preset distance. This preset distance is based on the distance at which the pressure sensor cannot detect pressure, reducing the clamping force of the clamping rod 3 on the wire harnesses 7. This reduces the friction between the clamping rod 3 and the wire harnesses 7 when the clamping and wiring mechanism is pushed. Then, the side pushing mechanism 5 horizontally pushes the clamping and wiring mechanism to achieve the wiring of the multiple wire harnesses 7. Finally, the lifting mechanism 9 pushes the winding and wiring mechanism 1 downwards, causing the winding and wiring mechanism 1 to engage with the multiple wire harnesses 7. When the winding and wiring mechanism 1 engages, the multiple wire harnesses 7 are in a compressed state, meaning they are taut and have small gaps. The winding and wiring mechanism 1 then rotates, and the robot moves horizontally, thus achieving the bundling of the multiple wire harnesses 7.

[0028] During the robot's horizontal movement, the two clamping and wiring mechanisms wrap around multiple wire bundles 7, ensuring a tight fit between the multiple wire bundles 7 during the wiring process.

[0029] To achieve clamping between multiple wire harnesses 7, such as Figure 2 , Figure 3 and Figure 4 As shown, each clamping cable mechanism includes an arc-shaped receiving seat 2, a synchronous pushing clamping mechanism 4, and two clamping rods 3. The inner edge of the arc-shaped receiving seat 2 is in contact with the outer edge of the cable harness 7. The middle parts of the two clamping rods 3 are rotatably mounted at both ends of the arc-shaped receiving seat 2. The synchronous pushing clamping mechanism 4 is used to drive the two clamping rods 3 to rotate simultaneously.

[0030] Before clamping, such as Figure 3 As shown, the two clamping rods 3 are in a flared state. After being driven by the synchronous pushing mechanism 4, they transform into... Figure 4 The state is defined as follows: the two clamping rods 3 clamp the wire harness 7. If a thin-film pressure sensor is provided on the clamping rod 3, it must be located inside the two clamping rods 3, and there must be at least three contact points on the two thin-film pressure sensors in order to determine the clamping state.

[0031] In order to simultaneously drive the two clamping cable-laying mechanisms to move at the same time, and to ensure that the two clamping cable-laying mechanisms can continue to operate simultaneously after the side pushing mechanism 5 drives the clamping cable-laying mechanisms to adjust their positions, therefore, as follows: Figure 5As shown, the synchronous push-clamp mechanism 4 includes an electric push rod 4b, a horizontal push plate 4d, and two drive arms. The electric push rod 4b is fixedly installed on the robot arm connecting seat 6 and is used to horizontally push the horizontal push plate 4d. The two drive arms are respectively installed on two side push mechanisms 5. The electric push rod 4b can push the horizontal push plate 4d, so that the two drive arms drive the clamping rod 3 to work. Each drive arm includes a slider 4e, two vertical slide rods 4a, and two hinge rods 4c. The two vertical slide rods 4a are vertically slidably connected to the side push mechanism 5. Each clamping rod 3 has a sliding column at its end. The vertical slide rods 4a are provided with a sliding groove for sliding shafts. The slider 4e is slidably installed on the horizontal push plate 4d. The horizontal push plate 4d is provided with a sliding groove for sliding. One end of each hinge rod 4c is hinged to the vertical slide rod 4a, and the other end of the hinge rod 4c is hinged to the slider 4e. When the horizontal push plate 4d pushes the slider 4e, it causes the two vertical slide rods 4a to slide outwards, causing the two clamping rods 3 to clamp inwards, thus clamping multiple wire harnesses 7. Conversely, the horizontal push plate 4d can move in the opposite direction to cause the two clamping rods 3 to release their grip on the multiple wire harnesses 7.

[0032] When the side push mechanism 5 is driven, it can drive the vertical slide bar 4a, the hinge bar 4c, and the slider 4e to move together, so that the slider 4e slides in the groove 2 of the horizontal push plate 4d. That is, the electric push rod 4b can always drive the two drive arms at the same time.

[0033] like Figure 6 As shown, a second slider 4f is fixedly mounted on the vertical slide rod 4a, and a slide rail 4h is fixedly mounted on the side pushing mechanism 5 for the second slider 4f to slide vertically. When the vertical slide rod 4a slides vertically, it will drive the second slider 4f to slide vertically within the slide rail 4h.

[0034] like Figure 7 As shown, each side-pushing mechanism 5 includes a displacement seat 5a, an electric push rod 5b, and two guide posts 5c. The displacement seat 5a is slidably connected to the guide posts 5c, and the arc-shaped receiving seat 2 is fixedly connected to the displacement seat 5a. The electric push rod 5b is used to push the displacement seat 5a to slide along the guide posts 5c. Both the electric push rod 5b and the guide posts 5c are fixedly mounted on the robot arm connecting seat 6. The electric push rods 5b on the two side-pushing mechanisms 5 are staggered.

[0035] like Figure 8As shown, the winding and harnessing mechanism 1 includes an arc-shaped rotating plate 1a, an arc-shaped plate mounting base 1b, a rotary drive mechanism 1c, and a harnessing tape 1d. The arc-shaped plate mounting base 1b is fixedly installed at the bottom of the lifting mechanism 9. The arc-shaped rotating plate 1a is rotatably installed inside the arc-shaped plate mounting base 1b. A retainer 1a1 is provided on the arc-shaped rotating plate 1a, and the harnessing tape 1d is rotatably installed on the retainer 1a1. The rotary drive mechanism 1c is fixedly installed on the arc-shaped plate mounting base 1b and is used to drive the arc-shaped rotating plate 1a to rotate along the arc-shaped plate mounting base 1b. Multiple limiting posts distributed along the circumference are provided on the side of the arc-shaped rotating plate 1a, and an arc-shaped groove for the limiting posts to slide is provided in the arc-shaped plate mounting base 1b.

[0036] In use, the worker attaches the end of the wire harness tape 1d to the wire harness 7, and then rotates the wire harness using the arc-shaped rotating plate 1a.

[0037] like Figure 8 As shown, the rotary drive mechanism 1c includes a co-rotating drive 1c2 and at least two rubber wheels 1c1. The distance between the two rubber wheels 1c1 is greater than the distance between the two ends of the arc-shaped rotating plate 1a. The co-rotating drive 1c2 drives the arc-shaped rotating plate 1a to rotate through the two rubber wheels 1c1. When the two rubber wheels 1c1 rotate, they drive the arc-shaped rotating plate 1a to rotate through friction. The arc-shaped rotating plate 1a can be replaced with an arc-shaped toothed ring, and the rubber wheels 1c1 can be replaced with gears. The co-rotating drive 1c2 rotates, simultaneously driving the two rubber wheels 1c1 to rotate.

[0038] like Figure 8 As shown, the lifting mechanism 9 includes an electric push rod 9a and a guide column 9b. The guide column 9b is slidably connected to the robotic arm connecting seat 6, and the electric push rod 9a is fixedly connected to the robotic arm connecting seat 6. A mounting plate connected to the arc plate mounting seat 1b is provided at the bottom of the output end of the electric push rod 9a. By driving the electric push rod 9a, it pushes the arc plate mounting seat 1b downwards, and the guide column 9b guides the movement of the arc plate mounting seat 1b.

[0039] When in use, if multiple wire harnesses 7 need to be arranged, push the clamping and arranging mechanism horizontally. The multiple wire harnesses 7 will be inserted into the two clamping and arranging mechanisms. The clamping and arranging mechanisms clamp the multiple wire harnesses 7, so that the multiple wire harnesses 7 are tightened together.

[0040] After the multiple wire harnesses 7 are tightened together, the clamping and wiring mechanism releases a preset distance, reducing the clamping force of the clamping rod 3 on the wire harnesses 7, thus reducing the friction between the clamping rod 3 and the wire harnesses 7 when the clamping and wiring mechanism is pushed. Then, the side pushing mechanism 5 horizontally pushes the clamping and wiring mechanism to achieve the wiring of the multiple wire harnesses 7. Finally, the lifting mechanism 9 pushes the winding and wiring mechanism 1 downwards, causing the winding and wiring mechanism 1 to engage with the multiple wire harnesses 7. When the winding and wiring mechanism 1 engages, the multiple wire harnesses 7 are in a compressed state, meaning they are taut and have small gaps. The worker attaches the end of the wiring tape 1d to the wire harnesses 7, and then the winding and wiring mechanism 1 is rotated, while the robot moves horizontally, thus achieving the wiring of the multiple wire harnesses 7.

[0041] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic wire harnessing robot controller, characterized in that, The system includes a wire winding mechanism (1), a robot arm connector (6), a lifting mechanism (9), two clamping and arranging mechanisms, and two side pushing mechanisms (5). The two side pushing mechanisms (5) and the lifting mechanism (9) are all fixedly installed on the robot arm connector (6). The robot arm connector (6) is fixedly installed on the robot's robot arm. The lifting mechanism (9) is used to push the wire winding mechanism (1) downward to engage the outer edge of multiple wire bundles (7). The wire winding mechanism (1) is located between the two clamping and arranging mechanisms, and the two clamping and arranging mechanisms are respectively connected to the working ends of the two side pushing mechanisms (5). The side pushing mechanism (5) is used to push the clamping and arranging mechanisms to move horizontally. Each clamping cable mechanism includes an arc-shaped receiving seat (2), a synchronous pushing clamping mechanism (4), and two clamping rods (3). The inner edge of the arc-shaped receiving seat (2) is in contact with the outer edge of the cable harness (7). The middle parts of the two clamping rods (3) are rotatably mounted at both ends of the arc-shaped receiving seat (2). The synchronous pushing clamping mechanism (4) is used to drive the two clamping rods (3) to rotate simultaneously. The synchronous push clamping mechanism (4) includes an electric push rod (4b), a horizontal push plate (4d), and two drive arms. The electric push rod (4b) is fixedly installed on the robot arm connecting seat (6). The electric push rod (4b) is used to horizontally push the horizontal push plate (4d). The two drive arms are respectively installed on two side push mechanisms (5). Each drive arm includes a slider (4e), two vertical slide rods (4a), and two hinge rods (4c). The two vertical slide rods (4a) can slide vertically and are connected to the side push mechanism (5). Each clamping rod (3) has a sliding column at its end. The vertical slide rod (4a) has a sliding groove for sliding shaft. The slider (4e) is slidably installed on the horizontal push plate (4d). The horizontal push plate (4d) has a sliding groove for sliding horizontal push plate (4d). One end of each hinge rod (4c) is hinged to the vertical slide rod (4a), and the other end of the hinge rod (4c) is hinged to the slider (4e).

2. The automatic wire harnessing robot controller as described in claim 1, characterized in that, A second slider (4f) is fixedly installed on the vertical slide bar (4a), and a slide rail (4h) for the second slider (4f) to slide vertically is fixedly installed on the side push mechanism (5).

3. The automatic wire harnessing robot controller as described in claim 2, characterized in that, Each side-pushing mechanism (5) includes a displacement seat (5a), an electric push rod (5b) and two guide posts (5c). The displacement seat (5a) is slidably connected to the guide posts (5c), and the arc-shaped receiving seat (2) is fixedly connected to the displacement seat (5a). The electric push rod (5b) is used to push the displacement seat (5a) to slide along the guide posts (5c).

4. The automatic wire harnessing robot controller as described in claim 3, characterized in that, The winding harness mechanism (1) includes an arc-shaped rotating plate (1a), an arc plate mounting base (1b), a rotary drive mechanism (1c), and a harness tape (1d). The arc plate mounting base (1b) is fixedly installed at the bottom of the lifting mechanism (9). The arc-shaped rotating plate (1a) is rotatably installed inside the arc plate mounting base (1b). A card holder (1a1) is provided on the arc-shaped rotating plate (1a). The harness tape (1d) is rotatably installed on the card holder (1a1). The rotary drive mechanism (1c) is fixedly installed on the arc plate mounting base (1b). The rotary drive mechanism (1c) is used to drive the arc-shaped rotating plate (1a) to rotate along the arc plate mounting base (1b).

5. The automatic wire harnessing robot controller as described in claim 4, characterized in that, The rotary drive mechanism (1c) includes a co-rotating drive (1c2) and at least two rubber wheels (1c1). The distance between the two rubber wheels (1c1) is greater than the distance between the two ends of the arc-shaped rotating plate (1a). The co-rotating drive (1c2) drives the arc-shaped rotating plate (1a) to rotate through the two rubber wheels (1c1).

6. The automatic wire harnessing robot controller as described in claim 5, characterized in that, The lifting mechanism (9) includes an electric push rod three (9a) and a guide column two (9b). The guide column two (9b) is slidably connected to the robot arm connecting seat (6), and the electric push rod three (9a) is fixedly connected to the robot arm connecting seat (6). The bottom of the output end of the electric push rod three (9a) is provided with a mounting plate connected to the arc plate mounting seat (1b).

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