Automatic wiring device and method

Abstract

The present invention discloses an automatic wiring device and method, wherein the wiring method comprises: S1, generating offline work orders and wiring paths according to electrical drawings and wiring schemes; S2, making and transmitting cables to designated locations according to the offline work orders; S3, using sensors to identify cable information, and then the robot performs wiring according to the wiring paths; S4, adjusting the wire trough and completing the wiring; wherein, the step S4 also includes monitoring the robot's motion state, clamping strength, and real-time wiring paths, and adjusting the robot's motion parameters and wiring paths according to the monitoring data. The offline and robot data and programs of the present invention can be flexibly modified as needed, and the wiring quality is stable, which is suitable for the mass production of various types of distribution cabinet wiring harnesses, and effectively eliminates human errors; it is suitable for the wiring work of subway and high-speed rail vehicle electrical control cabinets and console wire reels, releasing manual workload and expanding the customized business of wire reel wiring harnesses.

Description

Technical Field

[0001] The invention relates to the technical field of electrical cabinet wiring, and in particular to an automatic wiring device and method. Background Art

[0002] In the context of intelligent manufacturing upgrades, the traditional production method of electrical distribution cabinets can no longer meet the needs of high-efficiency and high-quality production. The existing cable harness production mainly relies on manual operation, which has problems such as low efficiency, unstable quality and high cost.

[0003] In summary, it is now necessary to design an automatic wiring device and method to solve the above problems in the prior art. Summary of the invention

[0004] The present invention provides an automatic wiring device and method, which solves the shortcomings of traditional wiring methods and cannot meet the production requirements of high efficiency and high quality.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme: An automatic wiring method, comprising: Step S1: Generate offline work orders and wiring paths according to electrical drawings and wiring plans; Step S2: according to the offline work order, make and transmit the cable to the designated location; Step S3: using sensors to identify cable information, and then the robot performs wiring according to the wiring path; Step S4, adjusting the cable duct and completing wiring; Wherein, the step S4 also includes monitoring the motion state, clamping force and real-time wiring path of the robot, and adjusting the motion parameters and wiring path of the robot according to the monitoring data.

[0006] In some embodiments of the present invention, the step S2 further includes wiring harness positioning, and the wiring harness positioning specifically includes: Check and adjust the wiring path through the display device and set the coordinate system; Set up cable ducts according to the wiring plan.

[0007] In some embodiments of the present invention, step S2 specifically includes the following steps: S21, producing the cable according to preset parameters, wherein the production process includes selecting, marking, heat shrinking, terminal crimping and cutting of the cable; S22, using a conveying device to convey the cable to a material picking position of the robot; S23, the user checks and adjusts the wiring scheme according to the display device and sets the coordinate system; S24. According to the wiring plan, the user lays the inflatable cable trough, adjusts the position and angle of the cable trough, connects the ventilation hose between the airbag slots, and sets the air pressure parameters.

[0008] In some embodiments of the present invention, step S3 specifically includes the following steps: S31, the robot obtains the wiring path and goes to the material picking position to pick up the material; S32, the sensor identifies and verifies the cable information; S33: The robot switches the clamping tool according to the wiring path and cable information, and places the cable in the corresponding cable trough.

[0009] In some embodiments of the present invention, step S4 specifically includes the following steps: S41, when the cable enters the cable trough, the clamping device clamps the cable; S42, after the wiring is completed, the airbag of the inflatable cable trough releases gas, and the cable is fixed at the designated position; S43, monitoring the robot's motion state, clamping force and real-time wiring path in real time, and adjusting the robot's motion parameters and wiring path according to the monitoring data.

[0010] In some embodiments of the present invention, the inflatable cable trough uses a groove-shaped airbag and a cable trough made of flexible material, and the groove-shaped airbag is used to automatically adjust the width and air pressure of the cable trough according to the number and specifications of cables; the groove-shaped airbag and the cable trough are connected by a movable docking tube; a pulley rod and a pulley with an inner convex structure are arranged at the inflection point of the cable trough.

[0011] In some embodiments of the present invention, the gripper structure of the manipulator of the robot includes a smooth gripper and a rolling gripper to meet the requirements of cable wiring of different lengths and positions.

[0012] In some embodiments of the present invention, an automatic wiring device is provided, comprising: Automatic offline module, which is used to automatically produce cables according to preset parameters; The wiring harness positioning module is used to provide a platform for cable routing and serve as a reference coordinate system for robot routing; A routing module, which is used to implement the routing and fixing of cables; A control module, which is in communication with the automatic unloading module, the harness positioning module and the path module, and is used to generate and transmit control instructions; The communication module is used to communicate with external devices.

[0013] In some embodiments of the present invention, there is provided an electronic device, comprising: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the above wiring method.

[0014] In some embodiments of the present invention, a computer-readable storage medium is provided, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the above wiring method when executed by a processor.

[0015] The technical solution of the present invention has the following technical effects compared with the prior art: The offline and robot data and programs of the present invention can be flexibly modified as needed, the wiring quality is stable, and it is suitable for mass production of various types of distribution cabinet wiring harnesses, effectively eliminating human errors; it is suitable for the wiring work of subway and high-speed rail vehicle electrical control cabinets and console wire reels, releasing manual workload and expanding the customization business of wire reels and wire harnesses.

[0016] In addition, during operation, after setting the program and data, the device can be started and stopped with one button. It has automatic diagnosis and self-optimization functions to realize mechanized wiring. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 It is a schematic flow chart of the automatic wiring method shown in an embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of an automatic wiring device shown in an embodiment of the present invention.

[0020] Figure 3 It is a schematic structural diagram of the wiring harness positioning module and the path module shown in an embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of the structure of the wiring harness positioning module shown in an embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of the structure of the cable duct shown in an embodiment of the present invention.

[0023] Figure 6It is a schematic structural diagram of the pulley rod shown in an embodiment of the present invention.

[0024] Figure 7 It is a schematic structural diagram of the smooth jaw and the rolling jaw shown in an embodiment of the present invention.

[0025] Figure 8 It is a structural schematic diagram of the electronic device.

[0026] Figure numerals: 100, wiring device; 110, automatic line unloading module; 120, harness positioning module; 130, path module; 131, robot; 132, smooth clamp; 133, rolling clamp; 140, control module; 150, communication module; 160, wire trough; 170, pulley rod; 171, limit part; 180, pulley; 190, clamping device; 200, electronic device; 210, processor; 220, memory; 230, transceiver. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0029] Reference Figure 1 As shown, an automatic routing method comprises: Step S1: Generate offline work orders and wiring paths according to electrical drawings and wiring plans; S11. Prepare the corresponding cables, terminals, heat shrink tubes and other materials according to the model and configuration of the electrical cabinet, and place each material at the designated position on the cable reel; S12. Import electrical drawings and wiring schemes into the control module, and then automatically parse the drawing information to generate wiring paths.

[0030] Step S2: according to the offline work order, make and transmit the cable to the designated location; S21, producing the cable according to preset parameters, wherein the production process includes selecting, marking, heat shrinking, terminal crimping and cutting of the cable; Specifically, the conveying device automatically selects cables of specified specifications from the cable drum according to the instructions, and the control module is used to control the speed and tension of the conveying device to ensure the stability of cable transmission; The wire number marking device prints the wire number mark and pre-installs the heat shrink tubing on the cable. The heat shrink device performs pre-heat shrinkage to ensure that the mark is firm. The terminal crimping device automatically strips the wire ends and selects the appropriate terminals for crimping. The crimping quality is detected in real time by the sensor, and an alarm is immediately issued if any abnormality is found. The cables are accurately cut according to the set length. S22, using a conveying device to convey the cable to a material picking position of the robot; Specifically, the cable is conveyed to the material taking position of the wiring manipulator by using the robot's manipulator or conveyor belt; S23, the user checks and adjusts the wiring scheme according to the display device and sets the coordinate system; Specifically, a two-dimensional wiring diagram of the electrical cabinet is displayed on the electronic display device of the harness positioning unit, and the user sets the X, Y coordinate axes and the origin position on the wiring diagram and synchronizes it to the control module; In some other embodiments, in order to adapt to complex wiring schemes, such as wiring requirements on multiple planes in an electrical cabinet, multiple electronic display devices are used, one of which is used as the main display screen, and the others are sub-display screens. The position information and wiring harness information in the sub-display screens can be shared and transmitted with the main display screen.

[0031] S24. According to the wiring plan, the user lays the inflatable cable trough, adjusts the position and angle of the cable trough, connects the ventilation hose between the airbag slots, and sets the air pressure parameters to ensure the fixing effect of the cables.

[0032] Reference Figure 3 As shown, the user arranges the corresponding wire duct 160 on the workbench according to the wiring requirements in the electrical cabinet. The robot is set on one side of the workbench to move the wire harness from the conveyor device to the wire duct 10 for wiring. Clamping devices 190 are provided on both sides of the wire duct 160. In this embodiment, the clamping devices 190 are positioning clamps. Figure 4 As shown, the positioning clip uses staggered bending parts to form positioning holes, thereby achieving limiting fixation of the wiring harness.

[0033] Step S3: using sensors to identify cable information, and then the robot performs wiring according to the wiring path; Specifically, S31, after receiving the wiring path information, the robot goes to the material picking position and uses the clamping tool to clamp the cable; For the clamping tool, according to the cable length and wiring position, the robot automatically switches the clamping tool (smooth clamp or rolling clamp) to optimize the wiring efficiency.

[0034] Reference Figure 7 As shown, the clamping tool adopts a combined design, with a slender smooth clamping jaw 132 and a 360° rotating rolling clamping jaw 133, which can meet the wiring requirements of cables of different lengths and positions.

[0035] For long cables, a smooth clamp 132 is used, so that the robot 131 clamps the long wire harness, and the two are relatively fixed, and the smooth clamp 132 drives the cable to wind in the wire groove 160.

[0036] For short cables, a rolling clamp 133 is used, and the rolling clamp 133 achieves clamping through a plurality of balls.

[0037] Pneumatically control the opening, closing and rotation of the clamping jaws to achieve fast switching and improve wiring efficiency; S32, the sensor identifies the cable specifications, line number markings and terminal information in real time, and compares them with the work order data to ensure consistency; For sensors, the robot is equipped with high-precision visual sensors that can read the cable specifications, wire number labels, and terminal information in real time; S33, the robot arm accurately lays the cables in the inflatable cable trough according to the preset wiring path, and uses the pulley device to smoothly route the cables at the turning point of the cable trough; Reference Figure 5 As shown, for the inflatable cable trough, a slot-shaped airbag and a cable trough 160 made of a flexible material are used, and the slot-shaped airbag is used to automatically adjust the width and air pressure of the cable trough according to the number and specifications of the cables; the slot-shaped airbag and the cable trough 160 are connected by a movable butt pipe; the layout is flexible and can adapt to different wiring schemes; Reference Figure 6 As shown, a pulley rod 170 and a pulley 180 with an inner convex structure are provided at the inflection point of the cable trough, and the pulley 180 is sleeved on the outer periphery of the pulley rod 170; a limiting portion 171 is provided on the top of the pulley rod 170 to prevent the cable from slipping out of the cable trough 160 during the wiring process; the design of the pulley 180 ensures that the cable passes smoothly at the inflection point, reduces the movement resistance of the manipulator, and protects the cable surface from damage.

[0038] Step S4, adjusting the wire duct 160 and completing wiring; S41, when the cable enters the cable trough 160, the clamping device 190 clamps the cable; Specifically, the clamping device 190 is composed of starting clamping tools on both sides, and the clamp is provided with a pulley, which can replace the clamping cable in turn to prevent loosening.

[0039] The action of the clamping device 190 is coordinated by the control module to ensure synchronization with the action of the robot; S42, after the wiring is completed, the airbag of the inflatable cable trough releases gas, and the cable is fixed at the designated position; S43, real-time monitoring of the motion state, clamping force and real-time wiring path of the robot 131, and adjusting the motion parameters and wiring path of the robot according to the monitoring data; Specifically, the control module monitors the robot's motion status, clamping force, wiring path accuracy and other data in real time; then the control module automatically adjusts the robot's motion parameters and wiring strategies based on the feedback data to improve wiring quality and efficiency; if any abnormality is found, such as cable specifications not meeting requirements or crimping quality issues, the system automatically alarms and shuts down, prompting the operator to handle the situation.

[0040] After completing the wiring of one cable, the system automatically starts processing the next cable until the wiring tasks of all harnesses are completed; after production is completed, the system saves all production data, including material usage, wiring parameters, fault records, etc., to provide data support for subsequent production and maintenance.

[0041] After all cables are routed, the system prompts that production is over and the operator can proceed with subsequent assembly and testing. The wiring quality is inspected automatically or manually to ensure that the cables are correctly connected, clearly marked, and undamaged.

[0042] According to the system prompts, operators perform regular maintenance on the equipment, such as replacing wearing parts, cleaning sensors, calibrating robotic arms, etc. According to production needs and technological development, the system's software and hardware are upgraded to improve system performance and functions.

[0043] The technical solution of the present invention has the following technical effects compared with the prior art: The offline and robot data and programs of the present invention can be flexibly modified as needed, the wiring quality is stable, and it is suitable for mass production of various types of distribution cabinet wiring harnesses, effectively eliminating human errors; it is suitable for the wiring work of subway and high-speed rail vehicle electrical control cabinets and console wire reels, releasing manual workload and expanding the customization business of wire reels and wire harnesses.

[0044] In addition, during operation, after setting the program and data, the device can be started and stopped with one button. It has automatic diagnosis and self-optimization functions to realize mechanized wiring.

[0045] Example 2: This example will be based on Figure 2 and Figure 8 A wiring device 100 and an electronic device 200 are described.

[0046] For the wiring device 100, refer to Figure 2 As shown, including: An automatic off-line module 110, which is used to automatically produce cables according to preset parameters; A harness positioning module 120, which is used to provide a platform for cable routing and serves as a reference coordinate system for robot routing; A path module 130, which is used to perform the routing and fixing of cables; A control module 140, which is in communication with the automatic unloading module, the harness positioning module and the path module, and is used to generate and transmit control instructions; The communication module 150 is used to communicate with external devices.

[0047] Specifically, the automatic offline unit 110 has the following functions: (1) Cable conveying device: It hangs cable reels of various wire diameters and realizes accurate cable transmission through motor drive. It is equipped with a cable remaining detection sensor, which automatically alarms when the cable reel is exhausted.

[0048] (2) Wire number marking and pre-heat shrinkage hanging device: Configure various types of heat shrink materials, use an automatic printer to print the wire number markings, and use a heat shrink machine to pre-shrink the markings to ensure that the markings are clear and not easy to fall off.

[0049] (3) Terminal storage and crimping device: It can store various types of terminals and use automatic wire stripping machine and terminal crimping machine to realize automatic stripping of wire ends and accurate crimping of terminals, and real-time detection of crimping quality.

[0050] (4) Cable cutting and conveying device: The cable is cut accurately according to the set length, and the processed cable is conveyed to the material picking position of the wiring robot using a conveyor belt or a robot.

[0051] The wiring harness positioning module 120 specifically includes: (1) Electronic display device: Use a high-resolution industrial touch screen or projection device to display the two-dimensional position information of the electrical cabinet, support multi-touch and gesture zooming, and facilitate operators to view and adjust.

[0052] (2) Transparent inflatable wire harness fixing device: It is composed of airbag grooves made of high-strength transparent material. The airbag grooves are connected by ventilation hoses. The air pressure is controlled by solenoid valves and air pumps to achieve flexible fixing and release of the cables.

[0053] The path module 130 specifically includes: (1) Robotic arm: It uses a six-axis or multi-axis industrial robot with high-precision and high-speed movement capabilities and is equipped with special clamping tools to flexibly respond to different types of cable wiring requirements.

[0054] (2) Sensors: Equipped with visual sensors, force feedback sensors, and displacement sensors, the system can identify the cable specifications, marking information, and wiring positions in real time to ensure accurate wiring.

[0055] The control module 140 specifically includes: The display function cooperates with the electronic display device to provide a human-machine interactive interface, through which operators can set parameters, monitor status and diagnose faults. The two-dimensional position information of the electrical cabinet is converted into coordinate information that can be recognized and executed by the robot, realizing the synchronous intelligent conversion of position display, position recognition and position execution; and realizing information sharing among various modules through a unified protocol and data format; Control function, realize data synchronization of automatic offline module, harness positioning module and path module, sharing and conversion of position information, analysis of sensor data and sending of instructions.

[0056] In addition, the control module 140 has real-time monitoring and fault diagnosis functions, which can quickly locate abnormalities and provide solutions. Through machine learning algorithms, the system can optimize wiring strategies based on historical data to improve production efficiency and quality.

[0057] It should be understood that the wiring device 100 here is embodied in the form of a functional module. The term "module" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a merged logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art may understand that the wiring device 100 may be specifically the electronic device 200 in the above embodiment, or the function of the electronic device 200 in the above embodiment may be integrated in the wiring device 100, and the wiring device 100 may be used to execute the various processes and / or steps corresponding to the electronic device 200 in the above method embodiment, and in order to avoid repetition, it will not be repeated here.

[0058] The wiring device 100 has the function of implementing the corresponding steps performed by the electronic device 200 of the wiring method in Example 1; the above functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the above acquisition module can be a communication interface, such as a transceiver interface.

[0059] In the embodiments of the present application, Figure 2 The wiring device 100 in the embodiment may also be a chip or a chip system, such as a system on chip (SoC).

[0060] Reference Figure 8 As shown, in this embodiment, an electronic device 200 is provided, including: A processor 210, and a memory 220 and a transceiver 230 communicatively connected to the processor; The memory 220 stores computer-executable instructions; the transceiver 230 is used to send and receive data; The processor 210 executes the computer-executable instructions stored in the memory 220 to implement the wiring method in Embodiment 1.

[0061] It should be understood that the electronic device 200 can be used to execute the corresponding steps and / or processes in the above method embodiments. Optionally, the memory 220 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory 220 may also include a non-volatile random access memory. For example, the memory 220 may also store information about the device type. The processor 210 may be used to execute the instructions stored in the memory 220, and when the processor 210 executes the instructions, the processor 210 may execute the corresponding steps and / or processes in the above method embodiments.

[0062] It should be understood that in the embodiment of the present application, the processor 210 may be a central processing unit (CPU), and the processor 210 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0063] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 210 or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in the processor 210 for execution. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0064] Embodiment 3: In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the wiring method in Embodiment 1 when executed by a processor.

[0065] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0066] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0067] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0068] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0069] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0070] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0071] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0072] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic wiring method, characterized in that: include: Step S1: Generate offline work orders and wiring paths according to electrical drawings and wiring plans; Step S2: according to the offline work order, make and transmit the cable to the designated location; Step S3: using sensors to identify cable information, and then the robot performs wiring according to the wiring path; Step S4, adjusting the cable duct and completing wiring; Wherein, the step S4 also includes monitoring the motion state, clamping force and real-time wiring path of the robot, and adjusting the motion parameters and wiring path of the robot according to the monitoring data.

2. An automatic wiring method according to claim 1, characterized in that: The step S2 further includes wiring harness positioning, which specifically includes: Check and adjust the wiring path through the display device and set the coordinate system; Set up cable ducts according to the wiring plan.

3. An automatic wiring method according to claim 1, characterized in that: The step S2 specifically includes the following steps: S21, producing the cable according to preset parameters, wherein the production process includes selecting, marking, heat shrinking, terminal crimping and cutting of the cable; S22, using a conveying device to convey the cable to a material picking position of the robot; S23, the user checks and adjusts the wiring scheme according to the display device and sets the coordinate system; S24. According to the wiring plan, the user lays the inflatable cable trough, adjusts the position and angle of the cable trough, connects the ventilation hose between the airbag slots, and sets the air pressure parameters.

4. An automatic wiring method according to claim 1, characterized in that: The step S3 specifically comprises the following steps: S31, the robot obtains the wiring path and goes to the material picking position to pick up the material; S32, the sensor identifies and verifies the cable information; S33: The robot switches the clamping tool according to the wiring path and cable information, and places the cable in the corresponding cable trough.

5. The automatic wiring method according to claim 1, characterized in that: The step S4 specifically comprises the following steps: S41, when the cable enters the cable trough, the clamping device clamps the cable; S42, after the wiring is completed, the airbag of the inflatable cable trough releases gas, and the cable is fixed at the designated position; S43, monitoring the robot's motion state, clamping force and real-time wiring path in real time, and adjusting the robot's motion parameters and wiring path according to the monitoring data.

6. An automatic wiring method according to claim 5, characterized in that: The inflatable cable trough adopts a groove-shaped airbag and a cable trough made of flexible material. The groove-shaped airbag is used to automatically adjust the width and air pressure of the cable trough according to the number and specifications of cables; the groove-shaped airbag and the cable trough are connected by a movable docking tube; a pulley rod and a pulley with an inner convex structure are arranged at the inflection point of the cable trough.

7. An automatic wiring method according to claim 1, characterized in that: The gripper structure of the robot's manipulator includes a smooth gripper and a rolling gripper, which are used to meet the requirements of cable wiring of different lengths and positions.

8. An automatic wiring device, characterized in that: include: Automatic offline module, which is used to automatically produce cables according to preset parameters; The wiring harness positioning module is used to provide a platform for cable routing and serve as a reference coordinate system for robot routing; A routing module, which is used to implement the routing and fixing of cables; A control module, which is in communication with the automatic unloading module, the harness positioning module and the path module, and is used to generate and transmit control instructions; The communication module is used to communicate with external devices.

9. An electronic device, characterized in that: include: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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