Wiring method and wiring device

Abstract

The application provides a wiring method and a wiring device. The wiring method comprises the following steps: obtaining image data of a to-be-wired conductor; determining a stripping position posture and a stripping movement path of a grabbing structure according to the image data, so as to control the grabbing structure to drive a stripping structure to perform a stripping operation on the to-be-wired conductor according to the stripping position posture and the stripping movement path; obtaining image data of the to-be-wired conductor after the stripping operation is completed; determining a wiring position posture of the grabbing structure according to the image data, and controlling the grabbing structure to drive a wiring structure to perform wiring on the to-be-wired conductor according to the wiring position posture. Through the technology of recognizing the grabbing structure in combination with the image data, the positioning of the stripping structure, the wiring structure and the to-be-wired conductor is accurately completed, so that the insulation layer of the to-be-wired conductor is automatically stripped, and the exposed part of the to-be-wired conductor is quickly connected with a to-be-wired conductor, thereby solving the problem that the existing wiring line is inconvenient to be wired.

Description

Technical Field

[0001] This invention relates to the field of power line wiring technology, and more specifically, to a wiring method and wiring device. Background Technology

[0002] When a distribution network line needs to be connected to a feeder line or when emergency power restoration work is required, the line conductors need to be connected in parallel with the external line. The traditional connection method mostly involves connecting the output power line of a generator truck. Workers use insulated bucket trucks or foot straps to reach the work point to climb and connect the wires, manually connecting the output power line of the emergency generator truck to the 10kV overhead distribution line to restore power supply to the line.

[0003] Currently, to achieve automated wiring technology, existing technology provides an overhead line access emergency power supply operation robot. This wiring method can autonomously connect to the distribution network line. The wiring device moves synchronously with the distribution network line as the cable arm approaches to reach the preset clamping position. The turntable device, wiring device, and clamping device are integrated on the flipping device. During stripping, the thickness of the distribution network line's outer sheath is detected by a thickness detection unit. The stripping device adjusts the corresponding cutting amount according to the outer sheath thickness to achieve the stripping action of the distribution network line.

[0004] However, the accuracy of color detection is easily affected by light intensity, which can lead to poor control of the wire stripping feed and damage to the wire. In addition, the wire clamping mechanism has a U-shaped opening, which requires flipping and translating when aligning and clamping the wire. This often results in inaccurate clamping or if the clamped wire is tilted, it can cause eccentricity during the stripping process, resulting in incomplete stripping and the need for rework. Summary of the Invention

[0005] The main objective of this invention is to provide a wiring method and wiring device to solve the problem that wiring is inconvenient in existing power distribution lines.

[0006] To achieve the above objectives, according to one aspect of the present invention, a wiring method is provided, comprising: acquiring image data of a wire to be connected; determining the stripping position and orientation of a gripping structure and a stripping movement path based on the image data, so as to control the gripping structure to drive the stripping structure to perform a stripping operation on the wire to be connected based on the stripping position and orientation and the stripping movement path; acquiring image data of the wire to be connected after completing the stripping operation; determining the wiring position and orientation of the gripping structure based on the image data, and controlling the gripping structure to drive the wiring structure to perform wiring on the wire to be connected based on the wiring position and orientation.

[0007] Furthermore, the method for determining the stripping position and posture of the gripping structure based on image data includes: setting predetermined model coordinates; obtaining the relative position of the clamping part of the stripping structure and the wire to be connected; obtaining the predetermined clamping position of the corresponding clamping part based on the predetermined model coordinates; and determining the stripping position and posture based on the predetermined clamping position.

[0008] Furthermore, the method of stripping the wire to be connected by driving the stripping structure according to the stripping position and posture includes: moving the gripping structure according to the stripping position and posture to move the clamping part to a predetermined clamping position; activating the second drive part of the stripping structure to drive the clamping part to clamp the wire to be connected; and moving the stripping part of the stripping structure to strip the wire to be connected.

[0009] Furthermore, the method for determining the stripping movement path of the grasping structure based on image data includes: acquiring the insulation layer thickness data of the conductor to be connected; determining the feed rate of the stripping part of the stripping structure and the number of rotations around the axis of the conductor to be connected based on the insulation layer thickness data; and determining the stripping movement path based on the feed rate and the number of rotations.

[0010] Furthermore, the method of stripping the conductor to be connected by driving the stripping structure according to the stripping movement path includes: activating the fourth drive unit of the stripping structure; moving the stripping unit around the conductor to be connected in a linear spiral motion according to the stripping movement path to complete the stripping of the conductor to be connected.

[0011] Furthermore, the method for determining the wiring position posture of the gripping structure based on image data includes: obtaining the relative position of the wiring part of the wiring structure and the wire to be connected; obtaining the predetermined clamping position of the corresponding wiring part based on the predetermined clamping position of the clamping part of the wire stripping structure; and determining the wiring position posture based on the predetermined clamping position.

[0012] Furthermore, the method of connecting the wire to be connected by driving the wiring structure according to the wiring position and posture includes: moving the gripping structure according to the wiring position and posture to move the wiring part to the predetermined pressing position; activating the third drive part of the wiring structure to drive the wiring part to press and connect the wire to be connected with the wire to be matched, so as to complete the wiring of the wire to be connected.

[0013] Furthermore, the wiring method also includes: acquiring the actual wire data of the wire to be connected; adjusting the tangent angle of the stripping structure according to the actual wire data; selecting the corresponding wire to be matched according to the actual wire data and connecting the wire to be matched to the wiring structure; determining the wiring position of the wire to be connected according to the actual wire data; and activating the upper structure to move the grabbing structure, stripping structure and wiring structure to the wiring position.

[0014] Furthermore, the method for adjusting the tangent angle of the stripping structure based on the conductor data includes: sequentially acquiring conductor data of different types of conductors to be connected; sequentially simulating each tangent angle of the stripping structure based on each conductor data, and establishing a mathematical model for each conductor data and its corresponding tangent angle; and obtaining the corresponding tangent angle based on the actual conductor data of the conductor to be connected through the mathematical model.

[0015] According to another aspect of the present invention, a wiring device is provided, applicable to the above-described wiring method; the wiring device includes: a gripping structure movably disposed; the gripping structure is provided with a camera component for acquiring image data of a wire to be connected; a stripping structure detachably disposed, such that the gripping structure grips or releases the stripping structure, so that after gripping the stripping structure, the gripping structure drives the stripping structure to strip the wire to be connected; and a wiring structure detachably disposed, such that the gripping structure grips or releases the wiring structure, so that after gripping the wiring structure, the gripping structure drives the wiring structure to a position for wiring with the wire to be connected, so that the wire to be connected and the wire to be connected are connected, as provided on the wiring structure.

[0016] Applying the technical solution of this invention, a wiring method is provided. The method includes acquiring image data of the conductor to be connected; determining the stripping position and movement path of the gripping structure based on the image data, and controlling the gripping structure to perform stripping operations on the conductor to be connected based on the stripping position and movement path; acquiring image data of the conductor to be connected after the stripping operation; determining the wiring position and posture of the gripping structure based on the image data, and controlling the gripping structure to perform wiring operations on the conductor to be connected based on the wiring position and posture. By employing a gripping structure combined with image data recognition technology, the positioning of the stripping structure, wiring structure, and conductor to be connected is accurately completed, thereby automatically stripping the insulation layer of the conductor to be connected and quickly connecting the exposed part of the conductor to be connected with the conductor to be fitted. This allows the entire operation to be completed without manual intervention, efficiently and safely connecting overhead lines to emergency power supplies by combining image recognition and sensor technology, thus solving the problem of inconvenient wiring of distribution network lines in existing technologies. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 A schematic diagram of the overall structure of an embodiment of the wiring device according to the present invention is shown;

[0019] Figure 2 A schematic diagram of the wire stripping structure of the wiring device according to the present invention is shown;

[0020] Figure 3 A schematic diagram of the structure of the wire stripping part of the wiring device according to the present invention is shown when stripping the wire to be connected.

[0021] Figure 4 A schematic flowchart of an embodiment of the wiring method according to the present invention is shown;

[0022] Figure 5 A schematic diagram of the overall process of an embodiment of the wiring method according to the present invention is shown.

[0023] The above figures include the following reference numerals:

[0024] 1. Wire to be connected; 11. Insulation layer; 2. Gripping structure; 3. Moving structure; 31. Moving part; 32. Braking part; 33. First driving part; 4. Stripping structure; 41. Clamping part; 42. Second driving part; 43. Stripping part; 44. Fourth driving part; 5. Wiring structure; 51. Wiring part; 52. Third driving part; 6. Cable loading structure; 7. Camera component. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Please refer to Figures 1 to 5 This invention provides a wiring method, which includes: acquiring image data of the wire to be connected 1; determining the stripping position and movement path of the gripping structure 2 based on the image data, so as to control the gripping structure 2 to drive the stripping structure 4 to perform a stripping operation on the wire to be connected 1 based on the stripping position and movement path; acquiring image data of the wire to be connected 1 after completing the stripping operation; determining the wiring position and movement path of the gripping structure 2 based on the image data, and controlling the gripping structure 2 to drive the wiring structure 5 to perform wiring on the wire to be connected 1 based on the wiring position and movement path.

[0027] This invention provides a wiring method that uses a gripping structure 2 combined with image data recognition technology to accurately locate the stripping structure 4, the wiring structure 5, and the conductor 1 to be connected. This automatically strips the insulation layer 11 of the conductor 1 and quickly connects the exposed part of the conductor 1 to the conductor to be connected. The entire operation is completed without manual intervention. By combining image recognition and sensor technology, the overhead line is connected to an emergency power supply in a highly efficient and safe manner, thus solving the problem of inconvenient wiring of distribution network lines in the prior art.

[0028] Specifically, the method for determining the stripping position and posture of the gripping structure 2 based on image data includes: setting predetermined model coordinates; obtaining the relative position of the clamping part 41 of the stripping structure 4 and the wire to be connected 1, obtaining the predetermined clamping position of the corresponding clamping part 41 based on the predetermined model coordinates; and determining the stripping position and posture based on the predetermined clamping position.

[0029] Furthermore, the method of stripping the wire to be connected 1 by driving the stripping structure 4 according to the stripping position and posture includes: moving the gripping structure 2 according to the stripping position and posture to drive the clamping part 41 to move to the predetermined clamping position; activating the second drive part 42 of the stripping structure 4 to drive the clamping part 41 to clamp the wire to be connected 1; and moving the stripping part 43 of the stripping structure 4 to strip the wire to be connected 1.

[0030] In this embodiment, based on the pre-set program and position coordinates obtained from multiple experiments, the connection port of the gripping structure 2 and the base connection block of the wire stripping structure 4 can be quickly connected point-to-point, so that the gripping structure 2 can grip the wire stripping structure 4 to the access point; the moving part 31 drives the gripping structure 2 to move horizontally, and the camera component 7 takes pictures of the clamping part 41 of the wire stripping structure 4 and the wire to be connected 1, and analyzes the spatial position state between the clamping part 41 and the wire to be connected 1 to obtain the relative position of the clamping part 41 of the wire stripping structure 4 and the wire to be connected 1; the coordinates of the pre-trained model obtained from multiple experiments are matched, and the obtained coordinates are used to fine-tune the gripping structure 2, and the gripping structure 2 stops after moving to the predetermined clamping position.

[0031] The method for setting the predetermined model coordinates includes: calculating the position of the wire to be connected 1 relative to the end of the clamping part 41 based on the estimated distance between the plane where the wire to be connected 1 and the camera component 7 are located, the distance between the wire to be connected 1 and the camera component 7 along the X-axis, and the assembly position of the gripping structure 2 and the camera component 7; transmitting the calculation result (translation transformation vector T) to the control module to enable the gripping structure 2 to complete the corresponding movement; the gripping structure 2 moves to the predetermined clamping position, cooperates with the stripping part 43 of the wire stripping structure 4 to complete the wire stripping operation, and records the coordinates (X, Y, Z) of the current wire stripping position of the wire to be connected, which is the predetermined clamping position of the wiring part 51 of the subsequent wiring structure 5.

[0032] Specifically, the method for determining the stripping movement path of the gripping structure 2 based on image data includes: acquiring the thickness data of the insulation layer 11 of the conductor to be connected 1; determining the feed amount of the stripping part 43 of the stripping structure 4 and the number of rotations around the axis of the conductor to be connected 1 based on the insulation layer thickness data; and determining the stripping movement path based on the feed amount and the number of rotations.

[0033] The thickness data of the insulation layer 11 is obtained according to the specific model of the wire 1 to be connected.

[0034] Furthermore, the method of stripping the wire to be connected 1 by driving the stripping structure 4 according to the stripping movement path includes: activating the fourth drive unit 44 of the stripping structure 4; moving the stripping unit 43 to perform a linear spiral motion around the wire to be connected 1 according to the stripping movement path, so as to complete the stripping of the wire to be connected 1.

[0035] In this embodiment, the clamping part 41 of the stripping structure 4 clamps the wire to be connected 1, and at the same time drives the stripping part 43, which has been set at a certain angle, to be inserted into the insulation layer 11 of the wire to be connected 1 at a certain tilt angle; after clamping the wire to be connected 1, the stripping part 43 is used to strip the wire to be connected 1; the fourth driving part 44 drives the stripping part 43 to rotate around the axis of the wire to be connected 1, while the gripping structure 2 moves horizontally along the extension direction of the wire to be connected 1, driving the stripping part 43 to make a linear spiral motion, thereby realizing the stripping of the insulation layer 11; the camera component 7 works throughout the process to monitor the entire movement process and can view the stripping status of the insulation layer 11 of the wire to be connected 1.

[0036] Specifically, the method for determining the wiring position posture of the gripping structure 2 based on image data includes: obtaining the relative position of the wiring part 51 of the wiring structure 5 and the wire to be connected 1; obtaining the predetermined clamping position of the corresponding wiring part 51 based on the predetermined clamping position of the clamping part 41 of the wire stripping structure 4; and determining the wiring position posture based on the predetermined clamping position.

[0037] Furthermore, the method of connecting the wire to be connected by the wiring structure 5 according to the wiring position and posture includes: moving the gripping structure 2 according to the wiring position and posture to move the wiring part 51 to the predetermined pressing position; activating the third driving part 52 of the wiring structure 5 to drive the wiring part 51 to press and connect the wire to be connected and the wire to be matched, so as to complete the wiring of the wire to be connected.

[0038] In this embodiment, after the wire stripping operation is completed, the clamping part 41 releases the wire to be connected 1 and quickly puts the wire stripping structure 4 back to its original position according to the preset position coordinates obtained from multiple tests. Similarly, the gripping structure 2 retrieves the wiring structure 5 in the same way and obtains the relative position of the wiring part 51 of the wiring structure 5 and the wire to be connected 1 in the same image acquisition method. The gripping structure 2 drives the wiring part 51 to move to the predetermined pressing position so that the wire to be connected 1 and the wire to be mated are pressed and connected.

[0039] Generally, the wiring section 51 of the wiring structure 5 is connected to the emergency power supply, so that the stripped wire 1 is connected to the emergency power supply through the wire to be matched, so that the wire 1 is energized by the emergency power supply, and the wiring and energizing work of the emergency power supply is completed.

[0040] Specifically, the wiring method also includes: obtaining the actual wire data of the wire to be connected 1; adjusting the tangent angle of the stripping structure 4 according to the actual wire data; selecting the corresponding wire to be matched according to the actual wire data and connecting the wire to be matched to the wiring structure 5; determining the wiring position of the wire to be connected 1 according to the actual wire data; and activating the upper structure 6 to move the gripping structure 2, the stripping structure 4 and the wiring structure 5 to the wiring position.

[0041] Furthermore, the method for adjusting the tangent angle of the stripping structure 4 based on the conductor data includes: sequentially acquiring conductor data of different types of conductors 1 to be connected; sequentially simulating each tangent angle of the stripping structure 4 based on each conductor data, and establishing a mathematical model for each conductor data and its corresponding tangent angle; and obtaining the corresponding tangent angle based on the actual conductor data of the conductor 1 to be connected through the mathematical model.

[0042] In this embodiment, a cable model is established according to the national standard GB / T 14049-2008 for 10kV overhead insulated conductors. Through multiple simulations with different tangent angles, the optimal cutting angle for different specifications of conductors to be connected is determined, thus establishing a mathematical model as the standard for subsequent wire stripping operations. Upon arrival at the site, the operators first collect data, determine the specifications of the conductor to be connected, and determine the thickness of the insulation layer 11 of the conductor 1. Using the mathematical model, they adjust the cutting angle of the stripping section 43 of the stripping structure 4 to ensure a specific cutting angle during subsequent stripping. The selected conductor is connected to the connection section 51 of the connection structure 5. After confirmation, the operators use a drone to attach the insulation tape of the upper structure 6 to the overhead conductor 1.

[0043] Furthermore, the upper structure 6 is activated, which drives the gripping structure 2, the stripping structure 4, and the wiring structure 5 to rise to the same level as the wire to be connected 1. The entire rising process is monitored by a gyroscope, and the level is adjusted in real time using a pre-set leveling program to keep it in a horizontal state. After rising close to the wire to be connected 1, the upper structure 6 touches the limit switch and stops rising. The moving part 31 of the moving structure 3 moves above the wire to be connected 1. The first drive part 33 of the moving structure 3 is activated, which drives the moving part 31 to move to the wiring position. The braking part 32 is activated, which stops the moving part 31 from moving.

[0044] Specifically, such as Figure 5 As shown, the specific implementation method of the wiring method in this application embodiment is as follows:

[0045] S1: Obtain the actual wire data of the wire to be connected 1; adjust the tangent angle of the stripping part 43 according to the actual wire data, select the corresponding wire to be matched, determine the connection position of the wire to be connected 1; connect the wire to be matched to the connection part 51;

[0046] S3: The upper structure 6 drives the gripping structure 2, the stripping structure 4, and the wiring structure 5 to rise to the horizontal plane where the wiring position is located; the moving structure 3 drives the gripping structure 2 to move horizontally to the wiring position;

[0047] S5: The gripping structure 2 grips the wire stripping structure 4; acquires image data of the wire to be connected 1; and determines the predetermined clamping position of the clamping part 41 based on the image data.

[0048] S7: The gripping structure 2 moves the wire stripping structure 4 to the predetermined clamping position; the clamping part 41 clamps the wire to be connected 1; the wire stripping part 43 strips the wire to be connected 1.

[0049] S9: After the wire stripping operation is completed, the grabbing structure 2 puts the wire stripping structure 4 back and grabs the wiring structure 5; acquires the image data of the wire to be connected 1; and determines the predetermined clamping position of the wiring part 51 based on the image data.

[0050] S11: The gripping structure 2 drives the wiring structure 5 to move to the predetermined clamping position; the wiring part 51 clamps and connects the wire to be connected to the wire to be matched.

[0051] S13: After the emergency power supply is completed, the wiring section 51 will release the wire to be connected from the wire 1 to be connected, and the gripping structure 2 will put the wiring structure 5 back.

[0052] S15: The upper structure 6 drives the gripping structure 2, the stripping structure 4 and the wiring structure 5 to descend back to the starting point.

[0053] The present invention also provides a wiring device suitable for the above-described wiring method; such as Figure 1 and Figure 2 As shown, the wiring device includes a gripping structure 2, a stripping structure 4, and a wiring structure 5. The gripping structure 2 is movably configured and equipped with a camera component 7 for acquiring image data of the wire to be connected 1. The stripping structure 4 is detachably configured so that the gripping structure 2 can grip or release the stripping structure 4, thereby causing the gripping structure 2 to strip the wire to be connected 1 after gripping the stripping structure 4. The wiring structure 5 is detachably configured so that the gripping structure 2 can grip or release the wiring structure 5, thereby causing the gripping structure 2 to move the wiring structure 5 to a position for wiring with the wire to be connected 1 after gripping the wiring structure 5, thereby connecting the wire to be connected and the wire to be connected 1.

[0054] Furthermore, the wiring device also includes a moving structure 3 and an upper wire structure 6. The gripping structure 2, the stripping structure 4, and the wiring structure 5 are all mounted on the moving structure 3 so that the moving structure 3 drives the gripping structure 2, the stripping structure 4, and the wiring structure 5 to move horizontally. The moving structure 3 is mounted on the upper wire structure 6 so that the upper wire structure 6 drives the moving structure 3 to move vertically upward or downward.

[0055] Specifically, the moving structure 3 includes a moving part 31, a braking part 32, and a first driving part 33. The first driving part 33 is drivenly connected to the moving part 31, and the braking part 32 is movably provided so that the braking part 32 has a braking position that contacts the moving part 31 and an initial position that is spaced apart from the moving part 31.

[0056] Optionally, the gripping structure 2 is a robotic arm; the moving part 31 is a moving wheel; the braking part 32 is a brake block; and the first driving part 33 includes a drive motor and a drive screw.

[0057] Specifically, the wire stripping structure 4 includes a clamping part 41, a second driving part 42, a wire stripping part 43, and a fourth driving part 44. The second driving part 42 is drivenly connected to the clamping part 41; the fourth driving part 44 is drivenly connected to the wire stripping part 43; the clamping part 41 and the wire stripping part 43 are both provided on the mounting body of the wire stripping structure 4.

[0058] Optionally, the clamping part 41 consists of two clamping plates arranged opposite each other; the second driving part 42 is a drive screw; the second driving part 42 drives the two clamping plates to be movably arranged in a direction closer to or farther from each other to clamp or release the wire to be connected 1; the wire stripping part 43 is a wire stripping cutter; the fourth driving part 44 includes a drive motor, a drive gear and a driven gear, so that the fourth driving part 44 drives the wire stripping part 43 to perform linear helical motion. Both clamping plates are made of insulating material.

[0059] Specifically, the wiring structure 5 includes a wiring section 51 and a third driving section 52, with the third driving section 52 being drivenly connected to the wiring section 51.

[0060] Optionally, the wiring section 51 consists of two conductive plates arranged opposite each other; the third driving section 52 is a driving screw that drives the two conductive plates to be movably arranged in a direction closer to or farther from each other, so that the wire to be connected and the wire to be connected 1 arranged on the wiring section 51 are pressed together.

[0061] Optionally, the upper structure 6 is a winch; the camera component 7 is a camera.

[0062] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0063] This invention provides a wiring method, which includes acquiring image data of the conductor to be connected; acquiring image data of the conductor 1 to be connected; determining the stripping position and movement path of the gripping structure 2 based on the image data, and controlling the gripping structure 2 to drive the stripping structure 4 to perform the stripping operation on the conductor 1 to be connected based on the stripping position and movement path; after completing the stripping operation, acquiring image data of the conductor 1 to be connected; determining the wiring position and posture of the gripping structure 2 based on the image data, and controlling the gripping structure 2 to drive the wiring structure 5 to perform the wiring operation on the conductor 1 to be connected based on the wiring position and posture. By adopting the gripping structure 2 combined with image data recognition technology, the positioning of the stripping structure 4, the wiring structure 5, and the conductor 1 to be connected is accurately completed, thereby automatically completing the stripping of the insulation layer 11 of the conductor 1 to be connected and quickly completing the connection between the exposed part of the conductor 1 to be connected and the conductor to be connected. This makes the entire operation process free from manual interference, and utilizes the combination of image recognition and sensor technology to efficiently and safely complete the overhead line connection to emergency power supply operation, thereby solving the problem of inconvenient wiring of distribution network lines in the prior art.

[0064] The wiring method and device provided by this invention can accurately align the gripping structure 2 with the wire to be connected 1 using the vision technology of the camera component 7, and adaptively adjust the stripping direction according to the tilt angle of the wire to be connected 1. By precisely controlling the cutting accuracy of the stripping part 43 and automatically setting the cutting amount according to the thickness of the insulation layer 11, the insulation layer 11 can be completely stripped without damaging the wire to be connected 1. This adaptive stripping technology greatly improves work efficiency and stripping accuracy. After completing the stripping task, the moving structure 3 does not need to be displaced or its posture changed; the gripping structure 2 directly retrieves the wiring structure 5 for the next wiring operation. This continuous, displacement-free operation design reduces the time for the moving structure 3 to move and reposition, improves overall work efficiency, and reduces operational complexity. This high-precision wiring technology ensures the accuracy and reliability of the wiring, reducing the risk of failure due to wiring errors or poor contact.

[0065] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wiring method, characterized in that, include: Obtain the actual conductor data of the conductor to be connected (1); Adjust the tangent angle of the stripping structure (4) according to the actual conductor data; Select the corresponding wire to be matched according to the actual wire data, and connect the wire to be matched to the wiring structure (5); determine the wiring position of the wire to be connected (1) according to the actual wire data; The activation of the online structure (6) drives the gripping structure (2), the wire stripping structure (4), and the wiring structure (5) to move to the wiring position; The method for adjusting the tangent angle of the stripping structure (4) according to the conductor data includes: sequentially acquiring conductor data of different types of conductors (1) to be connected; sequentially simulating each tangent angle of the stripping structure (4) according to each conductor data, establishing a mathematical model for each conductor data and the corresponding tangent angle; and obtaining the corresponding tangent angle through the mathematical model based on the actual conductor data of the conductor (1) to be connected. The wiring method further includes: The grabbing structure (2) grabs the wire stripping structure (4) and obtains the image data of the wire to be connected (1); The stripping position and movement path of the grasping structure (2) are determined based on the image data, so as to control the grasping structure (2) to drive the stripping structure (4) to perform stripping operation on the wire to be connected (1) according to the stripping position and movement path. After the wire stripping operation is completed, the grabbing structure (2) puts the wire stripping structure (4) back and grabs the wiring structure (5) to obtain the image data of the wire to be connected (1); The wiring position and posture of the grasping structure (2) are determined based on the image data, and the grasping structure (2) is controlled to drive the wiring structure (5) to connect the wire (1) to be connected based on the wiring position and posture.

2. The wiring method according to claim 1, characterized in that, The method for determining the stripping position and pose of the grasping structure (2) based on the image data includes: Set the predetermined model coordinates; Obtain the relative position of the clamping part (41) of the wire stripping structure (4) and the wire to be connected (1), and obtain the predetermined clamping position of the corresponding clamping part (41) according to the predetermined model coordinates; The stripping position posture is determined according to the predetermined clamping position.

3. The wiring method according to claim 2, characterized in that, The method for stripping the wire to be connected (1) by driving the stripping structure (4) according to the stripping position and posture includes: The gripping structure (2) moves according to the stripping position and posture, causing the clamping part (41) to move to the predetermined clamping position; The second drive unit (42) of the wire stripping structure (4) is activated to drive the clamping unit (41) to clamp the wire to be connected (1); The stripping part (43) of the stripping structure (4) is moved to strip the wire (1) to be connected.

4. The wiring method according to claim 1, characterized in that, The method for determining the stripping movement path of the grabbing structure (2) based on the image data includes: Obtain the thickness data of the insulation layer (11) of the wire to be connected (1); The depth of the stripping section (43) of the stripping structure (4) and the number of rotations around the axis of the conductor to be connected (1) are determined based on the thickness data of the insulation layer (11). The stripping movement path is determined based on the feed rate and the number of rotations.

5. The wiring method according to claim 4, characterized in that, The method for stripping the wire to be connected (1) by driving the stripping structure (4) according to the stripping movement path includes: The fourth drive unit (44) of the wire stripping structure (4) is activated. According to the stripping movement path, the stripping part (43) moves in a straight spiral motion around the conductor to be connected (1) to complete the stripping of the conductor to be connected (1).

6. The wiring method according to claim 1, characterized in that, The method for determining the wiring position and orientation of the grasping structure (2) based on the image data includes: Obtain the relative position of the wiring part (51) of the wiring structure (5) and the wire to be connected (1), and obtain the predetermined clamping position of the corresponding wiring part (51) according to the predetermined clamping position of the clamping part (41) of the wire stripping structure (4). The wiring position posture is determined according to the predetermined clamping position.

7. The wiring method according to claim 6, characterized in that, The method of connecting the wire to be connected (1) by driving the wiring structure (5) to connect the wire according to the wiring position and posture includes: The gripping structure (2) moves according to the orientation of the wiring position, thereby moving the wiring part (51) to the predetermined pressing position; The third drive unit (52) of the wiring structure (5) is activated to drive the wiring unit (51) to press and connect the wire to be connected (1) with the wire to be matched, so as to complete the wiring of the wire to be connected (1).

8. A wiring device, characterized in that, The wiring method applicable to any one of claims 1 to 7; the wiring device comprises: The gripping structure (2) is movably configured; the gripping structure (2) is provided with a camera component (7) for acquiring image data of the wire to be connected (1); The wire stripping structure (4) is detachably provided so that the gripping structure (2) grips or releases the wire stripping structure (4) so ​​that after the gripping structure (2) grips the wire stripping structure (4), it drives the wire stripping structure (4) to strip the wire to be connected (1). The wiring structure (5) is detachably provided so that the gripping structure (2) grips or releases the wiring structure (5) so that after the gripping structure (2) grips the wiring structure (5), it drives the wiring structure (5) to move to the position where it is connected to the wire to be connected (1) so that the wire to be connected and the wire to be connected (1) are connected.

Images