Automobile wiring harness plugging and wrapping production line

Abstract

The present invention provides an automobile wiring harness plugging and wrapping production line, comprising: a production line, wherein a plurality of intelligent multi-axis manipulator devices are arranged on both sides of the production line along the process direction of the production line; wherein the intelligent multi-axis manipulator is used to work according to set action instructions based on the capture of sensor signals, so as to plug and fix the wire speed accordingly; the present application provides an intelligent automobile wiring harness plugging and wrapping solution, which adds an intelligent multi-axis manipulator device according to the current automobile production and assembly line, and sets the action flow and action formation of the intelligent multi-axis manipulator device, so that the intelligent multi-axis manipulator device can integrate the grabbing of the wiring harness, plugging, and wrapping, thereby realizing the automation of automobile wiring harness assembly.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and specifically relates to an automobile wiring harness plugging and bundling production line. Background Art

[0002] Traditional automotive wiring harnesses are basically connected manually, and manual connection has a certain error rate. With the advancement of intelligent factories, most of the work in automobile production is currently replaced by machines, and the intelligent standard has been basically realized. However, due to the complexity of the wiring harness layout, it is completely impossible to replace manual work with machinery. Generally speaking, there are more than 40 electrical units in a car, such as steering wheel devices, sunroof devices, engine ECU devices, transfer case electronic control unit devices, airbag devices, etc. The wiring harness connection contained in each electrical unit has different forms and the structure is relatively complex. Therefore, it is impossible to fully realize intelligent mechanical connection. However, according to the assembly process of automotive wiring harnesses, it is found in daily research that more than 20 electrical units can realize fully automatic mechanical connection, and the remaining 60% can complete mechanical connection, which can greatly reduce the use of manual labor and reduce the error rate. Summary of the invention

[0003] In view of this, the main purpose of the present invention is to provide an automobile wiring harness plugging and bundling production line.

[0004] The technical solution adopted by the present invention is as follows:

[0005] Automobile wiring harness plugging and wrapping production line, including:

[0006] A production line, wherein a plurality of intelligent multi-axis manipulator devices are arranged on both sides of the production line along the process direction of the production line; wherein the intelligent multi-axis manipulator is used to work according to the set action instructions based on the capture of the sensor signal, so as to plug and fix the line speed accordingly;

[0007] The setting action instruction is formed by the following method:

[0008] Get 3D drawings of automotive wiring harnesses;

[0009] Set multiple process nodes along the process direction of the production line using the 3D drawings of the automotive wiring harness;

[0010] A plurality of limit sensors are provided at each process node, and the limit sensors are used to limit the position movement of the production line and form waiting nodes and plug-in signals;

[0011] After receiving the plug-in signal, the intelligent multi-axis manipulator device is controlled in the waiting node to perform multiple simulated plug-ins and harness fixation, and the action and action stroke of the intelligent multi-axis manipulator device are recorded;

[0012] The recorded actions and action travels are marked by human experts. After marking, simulated plugging and harness fixing are performed again under the corresponding plugging signals and waiting nodes to form corrected actions and corrected action travels.

[0013] Each plug-in signal, the corresponding correction action under the plug-in signal, and the correction action schedule form a node signal in the corresponding waiting node;

[0014] The node signals are combined according to the process direction of the production line to form the set action instructions.

[0015] Furthermore, the setting action instruction is set in a storage module of the control device.

[0016] The step of combining the node signals according to the process direction of the production line to form the setting action instruction specifically includes the following steps:

[0017] According to the process direction of the production line, the plug-in signals are obtained one by one, the plug-in signals are written into the start-up and shutdown programs, and the control threads are set accordingly to control the intelligent multi-axis manipulator device to start;

[0018] The motion control program is written after the start-up and closing programs, and the correction action and the correction action stroke corresponding to the correction action are written in the motion control program; and a corresponding thread is formed to control the action and action stroke of the intelligent multi-axis manipulator device.

[0019] Furthermore, the limit sensors are arranged according to the following method:

[0020] At each process node, multiple limit sensors are arranged according to the distribution of the corresponding automotive electrical layout units, with each automotive electrical layout unit as an independent core, and at least one limit sensor is set at the plug-in starting end and the plug-in end end of each wiring harness during the plug-in process, so as to limit the movement range of the intelligent multi-axis manipulator device during the plug-in process of each wiring harness.

[0021] Further, the limit sensor is arranged on the sensor panel;

[0022] The sensor panels are arranged on both sides of the production line, and a moving device is arranged at the bottom of the sensor panel. When the process of the production line enters the process node in sequence, the control device controls the movement of the moving device to control the movement of the sensor panel, and sends the corresponding multiple limit sensors on the sensor panel to the specified position.

[0023] Furthermore, the specific steps of setting multiple process nodes along the process direction of the production line using the three-dimensional drawing of the automobile wiring harness are as follows:

[0024] Set the ratio between the 3D drawing of the automotive wiring harness and the actual assembly;

[0025] Each independent automobile electrical layout unit is regarded as an assembly core, and multiple assembly cores are divided into a node according to the position relationship and assembly process, and multiple nodes form multiple process nodes according to the process direction.

[0026] The present application provides a solution for the plugging and wrapping of intelligent automobile wiring harnesses. According to the current automobile production and assembly lines, an intelligent multi-axis manipulator device is added accordingly. By setting the action flow and action formation of the intelligent multi-axis manipulator device, the intelligent multi-axis manipulator device can be integrated into grabbing the wiring harness, plugging, and wrapping, thereby realizing the automation of automobile wiring harness assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following drawings are only used to illustrate and explain the present invention, and are not used to limit the scope of the present invention, wherein:

[0028] Figure 1 This is a schematic diagram of the layout of the production line of the present invention;

[0029] Figure 2 It is the layout diagram of the wiring harness of the whole vehicle in the present invention;

[0030] Figure 3 This is a layout diagram of a limit sensor in the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution, design method and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] The present invention provides an automobile wiring harness plugging and wrapping production line, comprising:

[0033] A production line, wherein a plurality of intelligent multi-axis manipulator devices are arranged on both sides of the production line along the process direction of the production line; wherein the intelligent multi-axis manipulator is used to work according to the set action instructions based on the capture of the sensor signal, so as to plug and fix the line speed accordingly;

[0034] The setting action instruction is formed by the following method:

[0035] Get 3D drawings of automotive wiring harnesses;

[0036] Set multiple process nodes along the process direction of the production line using the 3D drawings of the automotive wiring harness;

[0037] A plurality of limit sensors are provided at each process node, and the limit sensors are used to limit the position movement of the production line and form waiting nodes and plug-in signals;

[0038] After receiving the plug-in signal, the intelligent multi-axis manipulator device is controlled in the waiting node to perform multiple simulated plug-ins and harness fixation, and the action and action stroke of the intelligent multi-axis manipulator device are recorded;

[0039] The recorded actions and action travels are marked by human experts. After marking, simulated plugging and harness fixing are performed again under the corresponding plugging signals and waiting nodes to form corrected actions and corrected action travels.

[0040] Each plug-in signal, the corresponding correction action under the plug-in signal, and the correction action schedule form a node signal in the corresponding waiting node;

[0041] The node signals are combined according to the process direction of the production line to form the set action instructions.

[0042] Furthermore, the setting action instruction is set in a storage module of the control device.

[0043] The step of combining the node signals according to the process direction of the production line to form the setting action instruction specifically includes the following steps:

[0044] According to the process direction of the production line, the plug-in signals are obtained one by one, written into the start-up and shut-down programs, and the control threads are set accordingly to control the intelligent multi-axis manipulator device to start;

[0045] The motion control program is written after the start-up and closing programs, and the correction action and the correction action stroke corresponding to the correction action are written in the motion control program; and a corresponding thread is formed to control the action and action stroke of the intelligent multi-axis manipulator device.

[0046] Furthermore, the limit sensors are arranged according to the following method:

[0047] At each process node, multiple limit sensors are arranged according to the distribution of the corresponding automotive electrical layout units, with each automotive electrical layout unit as an independent core, and at least one limit sensor is set at the plug-in starting end and the plug-in end end of each wiring harness during the plug-in process, so as to limit the movement range of the intelligent multi-axis manipulator device during the plug-in process of each wiring harness.

[0048] Further, the limit sensor is arranged on the sensor panel;

[0049] The sensor panels are arranged on both sides of the production line, and a moving device is arranged at the bottom of the sensor panel. When the process of the production line enters the process node in sequence, the control device controls the movement of the moving device to control the movement of the sensor panel, and sends the corresponding multiple limit sensors on the sensor panel to the specified position.

[0050] Reference Figure 1 , Figure 1 An exemplary plug-in and wrapping production line is provided, in which the production line 100 forms a plurality of modular units according to the assembly process and assembly stations of the automobile, and in each modular unit, a plurality of process nodes are set according to the three-dimensional drawing of the automobile wiring harness along the process direction of the production line, wherein the division of the process nodes mainly follows the following steps: setting the ratio between the three-dimensional drawing of the automobile wiring harness and the actual assembly; taking each independent automobile electrical layout unit as an assembly core, and dividing the plurality of assembly cores into a node according to the position relationship and the assembly process, and the plurality of nodes form a plurality of process nodes according to the process direction.

[0051] In the above, setting the ratio between the three-dimensional drawing of the automobile wiring harness and the actual assembly provides basic design parameters for setting the motion stroke of the intelligent multi-axis manipulator device during assembly, such as referring to Figure 1 , along the production line 100, a first assembly station 102 is provided, and a mechanical limit is provided at the first assembly station 102. When the assembly 101 moves to the first assembly station 102, the mechanical limit provides a sensor signal. When the control device receives the sensor signal, it controls the sensor panels 104 on both sides of the first assembly station 102 to move, so that the sensor panel 104 moves to the side adjacent to the first assembly station 102. Among them, the sensor panel 104 fixes the limit sensor through a telescopic device, a connecting rod, etc., so that the limit sensor can move to the attachment of the structural part of the corresponding electrical unit. When the corresponding structural part sticks to the limit sensor, the limit sensor will send a limit signal, indicating that the electrical unit corresponding to the assembly has moved to the corresponding station position. At this time, the corresponding control intelligent multi-axis manipulator device grabs the wire harness, completes the plug-in according to the set action process and the set action stroke, and grabs the corresponding wrapping piece after the plug-in is completed to adaptively fix the line speed.

[0052] Reference Figure 3 , Figure 3A layout of a limit sensor is provided, wherein a telescopic cylinder 200 is fixed on a sensor panel 104, a telescopic rod 201 is arranged on the telescopic cylinder 200, a rotation drive mechanism 204 is arranged at the front end of the telescopic rod 201, a first connecting rod 203 and a second connecting rod 205 are arranged on the rotation drive mechanism 204, a first limit sensor 204 and a second limit sensor 206 are arranged on the first connecting rod 203 and the second connecting rod 205 respectively, wherein the rotation drive mechanism 204 can drive the first connecting rod 203 and the second connecting rod 205 to complete a 180° position rotation, wherein the rotation drive mechanism 204 can utilize a micro motor to drive a turntable to rotate, wherein the first connecting rod 203 and the second connecting rod 205 are arranged on the turntable.

[0053] Due to different car positions, the electrical layout is set at different positions. The layout of the limit sensor must fully follow the space for car assembly and be able to reasonably deliver the sensor to the corresponding position. In the specific layout, it can be a joint layout of multiple telescopic cylinders and multiple rotating drive mechanisms.

[0054] In the above, since the wiring harness splicing at different positions cannot be completely 100% mechanized, in the present application, on the upper production line 100, a calibration area 103 is further provided at the rear end of the first assembly station 102, where manual re-inspection and manual splicing can be performed, and manual splicing cannot be performed mechanically.

[0055] Reference Figure 2 ,This application provides an electrical layout diagram of a complete vehicle. According to the principle of this application, multiple process nodes are set along the process direction of the production line using a three-dimensional drawing of the automotive wiring harness;

[0056] A plurality of limit sensors are arranged at each process node, and the limit sensors are used to limit the position movement of the production line and form waiting nodes and plug-in signals; Figure 1 and Figure 3For example, in area A, an assembly station is formed in area A, which has four corresponding process nodes, namely, the automobile taillight 1, the rear camera 3, the rear radar host device 4 and the electric tailgate device 2. The automobile taillight 1 and the rear radar host device 4 have relatively complex structures, and the wiring harnesses that need to be plugged in will be limited by space and assembly parts, and cannot be mechanically plugged in. Therefore, these parts can first use the manipulator to complete the relatively simple wiring harness plugging, and then manually assemble with the assembly parts for the corresponding plugging. According to the above arrangement, different limit sensors can be set for different process nodes, and the limit sensors are used to limit the action and action stroke of the intelligent multi-axis manipulator device. For example, before setting, according to the process direction of the production line, the plug-in signals are obtained one by one, the plug-in signals are written into the start-up and closing programs, and the control threads are set accordingly to control the intelligent multi-axis manipulator device to start; the action control program is written after the start-up and closing programs, and the correction action and the correction action stroke corresponding to the correction action are written in the action control program; and the corresponding threads are formed to control the action and action stroke of the intelligent multi-axis manipulator device.

[0057] In the above, the intelligent multi-axis manipulator is actually set to work. By simulating operations, recording actions and the formation of actions, the action flow specifications for each plug-in can be formed, and these can be written into the control program. When plugging, after receiving the plug-in signal, the intelligent multi-axis manipulator is controlled in the waiting node to perform multiple simulated plug-ins and harness fixation, and the actions and action strokes of the intelligent multi-axis manipulator are recorded; the recorded actions and action strokes are marked by artificial experts, and after marking, simulated plug-ins and harness fixation are performed again under the corresponding plug-in signal and waiting node to form correction actions and correction action strokes; each plug-in signal and the corresponding correction action and correction action stroke under the plug-in signal form a node signal in the corresponding waiting node; the node signals are combined according to the process direction of the production line to form the set action instructions.

[0058] In the above, the intelligent multi-axis robot device adopts a five-axis or six-axis robot on the market.

[0059] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Automobile wiring harness plugging and wrapping production line, characterized in that: include: A production line, wherein a plurality of intelligent multi-axis manipulator devices are arranged on both sides of the production line along the process direction of the production line; wherein the intelligent multi-axis manipulator is used to work according to the set action instructions based on the capture of the sensor signal, so as to plug and fix the line speed accordingly; The setting action instruction is formed by the following method: Get 3D drawings of automotive wiring harnesses; Set multiple process nodes along the process direction of the production line using the 3D drawings of the automotive wiring harness; A plurality of limit sensors are provided at each process node, and the limit sensors are used to limit the position movement of the production line and form waiting nodes and plug-in signals; After receiving the plug-in signal, the intelligent multi-axis manipulator device is controlled in the waiting node to perform multiple simulated plug-ins and harness fixation, and the action and action stroke of the intelligent multi-axis manipulator device are recorded; The recorded actions and action travels are marked by human experts. After marking, simulated plugging and harness fixing are performed again under the corresponding plugging signals and waiting nodes to form corrected actions and corrected action travels. Each plug-in signal, the corresponding correction action under the plug-in signal, and the correction action schedule form a node signal in the corresponding waiting node; The node signals are combined according to the process direction of the production line to form the set action instructions.

2. The automotive wiring harness plugging and wrapping production line according to claim 1 is characterized in that: The setting action instruction is set in the storage module of the control device, The step of combining the node signals according to the process direction of the production line to form the setting action instruction specifically includes the following steps: According to the process direction of the production line, the plug-in signals are obtained one by one, written into the start-up and shut-down programs, and the control threads are set accordingly to control the intelligent multi-axis manipulator device to start; The motion control program is written after the start-up and closing programs, and the correction action and the correction action stroke corresponding to the correction action are written in the motion control program; and a corresponding thread is formed to control the action and action stroke of the intelligent multi-axis manipulator device.

3. The automotive wiring harness plugging and wrapping production line according to claim 1 is characterized in that: The limit sensors are arranged as follows: At each process node, multiple limit sensors are arranged according to the distribution of the corresponding automotive electrical layout units, with each automotive electrical layout unit as an independent core, and at least one limit sensor is set at the plug-in starting end and the plug-in end end of each wiring harness during the plug-in process, so as to limit the movement range of the intelligent multi-axis manipulator device during the plug-in process of each wiring harness.

4. The automotive wiring harness plugging and wrapping production line according to claim 1 or 3, characterized in that: The limit sensor is arranged on the sensor panel; The sensor panels are arranged on both sides of the production line, and a moving device is arranged at the bottom of the sensor panel. When the process of the production line enters the process node in sequence, the control device controls the movement of the moving device to control the movement of the sensor panel, and sends the corresponding multiple limit sensors on the sensor panel to the specified position.

5. The automotive wiring harness plugging and wrapping production line according to claim 1 is characterized in that: The specific steps to set multiple process nodes along the process direction of the production line using the three-dimensional drawings of the automotive wiring harness are as follows: Set the ratio between the 3D drawing and the actual assembly of the automotive wiring harness; Each independent automobile electrical layout unit is regarded as an assembly core, and multiple assembly cores are divided into a node according to the position relationship and assembly process, and multiple nodes form multiple process nodes according to the process direction.

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