Wire harness batch automatic plugging device and control method thereof

Abstract

The invention discloses a wiring harness batch automatic plugging device and a control method thereof, a CCD camera, a first clamping jaw and a second clamping jaw are configured on a mechanical arm, the CCD camera is used for identifying a to-be-plugged wiring harness, the first clamping jaw is used for clamping the head end of the to-be-plugged wiring harness, the head end of the to-be-plugged wiring harness is plugged to a first target position on a to-be-wired backboard, and the second clamping jaw is used for clamping the head end of the to-be-plugged wiring harness; and the second clamping jaw is used for clamping the tail end of the to-be-plugged wire harness, carrying the to-be-plugged wire harness to perform routing on the to-be-wired backboard according to a specified track, and plugging the tail end of the to-be-plugged wire harness to a second target position when the to-be-plugged wire harness is routed to the second target position. The technical problems that an existing manual wire harness plugging mode depends on the proficiency of operation technicians, the automation degree is low, and plugging of single-core wires with different wire diameters, different types of terminals and different lengths on various different types of connectors is difficult to achieve are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power automation equipment, and particularly relates to a wire harness batch automatic plugging device and a control method thereof. Background Art

[0002] Substation protection and measurement control equipment is a key core system to support the dispatching control and safe and stable operation of large power grids. The traditional mode is still used in all links of the whole life cycle of substation protection and measurement control equipment, including design, manufacturing, installation, commissioning, operation and maintenance, and transformation. In the production process of substation protection and measurement control equipment, wire harness plugging is required. At present, the wire harness plugging method is manual plugging of 1-to-1 or 1-to-many connectors wire harnesses, which depends on the proficiency of operators, has a low degree of automation, and it is difficult to realize the plugging of single-core wire materials with different wire diameters, different types of terminals, and different lengths on a variety of different types of connectors. Summary of the Invention

[0003] The present invention provides a wire harness batch automatic plugging device and a control method thereof, which are used to solve the technical problems that the existing manual wire harness plugging method depends on the proficiency of operators, has a low degree of automation, and it is difficult to realize the plugging of single-core wire materials with different wire diameters, different types of terminals, and different lengths on a variety of different types of connectors.

[0004] In view of this, in the first aspect of the present invention, a wire harness batch automatic plugging device is provided, which includes a robotic arm body, a backplane to be wired, and a wire harness to be plugged;

[0005] The robotic arm body includes a base, a robotic arm, a gripper, and a CCD camera. The robotic arm is installed on the base, and the gripper and the CCD camera are installed at the end of the robotic arm. The gripper includes a first gripper and a second gripper;

[0006] The CCD camera is used to identify the wire harness to be plugged;

[0007] The first gripper is used to grip the head end of the wire harness to be plugged, plug the head end of the wire harness to be plugged into the first target position on the backplane to be wired, and release the first gripper after completing the plugging of the head end of the wire harness to be plugged;

[0008] The second gripper is used to grip the tail end of the wire harness to be plugged, move the wire harness to be plugged along a specified trajectory on the backplane to be wired, and when the wire harness to be plugged reaches the second target position, plug the tail end of the wire harness to be plugged into the second target position, and release the second gripper after completing the plugging of the tail end of the wire harness to be plugged.

[0009] Optionally, both the first gripper and the second gripper are pneumatic grippers.

[0010] Optionally, positioning pins are arranged on the backplane to be wired.

[0011] Optionally, the terminals at both ends of the wire harness to be inserted are tubular terminals.

[0012] The second aspect of the present invention provides a control method for the wire harness batch automatic insertion device provided in the first aspect of the present invention, including the following steps:

[0013] S1. Control the movement of the robotic arm to identify the wire harness to be inserted through the CCD camera;

[0014] S2. Control the first gripper to grip the head end of the wire harness to be inserted, and control the second gripper to grip the tail end of the wire harness to be inserted;

[0015] S3. Control the first gripper to insert the head end of the wire harness to be inserted into the first target position on the backplane to be wired, and release the first gripper after completing the insertion of the head end of the wire harness to be inserted;

[0016] S4. Control the second gripper to move the wire harness to be inserted along a specified trajectory on the backplane to be wired. When the wire harness to be inserted reaches the second target position, insert the tail end of the wire harness to be inserted into the second target position, and release the second gripper after completing the insertion of the tail end of the wire harness to be inserted.

[0017] Optionally, step S3 specifically includes:

[0018] Control the first gripper to insert the head end of the wire harness to be inserted into the first target position on the backplane to be wired, control the first gripper to lift the head end of the wire harness to be inserted with a preset force, and complete the insertion of the head end of the wire harness to be inserted when the head end of the wire harness to be inserted is clamped tightly, and then release the first gripper.

[0019] Optionally, after step S4, it further includes:

[0020] S5. Judge whether there is still a wire harness to be inserted that has not been inserted. If so, execute step S6; otherwise, jump to step S7;

[0021] S6. Control the movement of the robotic arm to identify the next wire harness to be inserted through the CCD camera, and return to step S2;

[0022] S7. The wire harness insertion is completed.

[0023] Optionally, after step S7, it further includes:

[0024] S8. Perform a circuit continuity test on the wire harness inserted on the backplane to be wired, judge whether there is a wire harness that fails the test. If so, execute step S9; otherwise, execute step S10;

[0025] S9. For the wire harness that fails the test, control the first jaw and the second jaw to simultaneously grip the head end and the tail end of the wire harness that fails the test, remove the wire harness that fails the test, and provide a wire harness to be inserted to replace the wire harness that fails the test, then return to step S2;

[0026] S10. The continuity test of the wire harness is completed.

[0027] Optionally, in step S9, when controlling the first jaw and the second jaw to simultaneously grip the head end and the tail end of the wire harness that fails the test and remove the wire harness that fails the test, store the wire harness that fails the test in a recycling bin.

[0028] Optionally, before step S1, it further includes:

[0029] S0. Perform the feeding preparation work for the backplane to be wired and the wire harness to be inserted, and complete the feeding preparation of the backplane to be wired and the wire harness to be inserted.

[0030] As can be seen from the above technical solutions, the wire harness batch automatic plugging device provided by the present invention has the following advantages:

[0031] The wire harness batch automatic plugging device provided by the present invention is configured with a CCD camera, a first jaw and a second jaw on the robotic arm. The CCD camera is used to identify the wire harness to be inserted. The first jaw is used to grip the head end of the wire harness to be inserted and insert the head end of the wire harness to be inserted into the first target position on the backplane to be wired. After completing the insertion of the head end of the wire harness to be inserted, release the first jaw. The second jaw is used to grip the tail end of the wire harness to be inserted and move the wire harness to be inserted along a specified trajectory on the backplane to be wired. When the wire harness to be inserted reaches the second target position, insert the tail end of the wire harness to be inserted into the second target position. After completing the insertion of the tail end of the wire harness to be inserted, release the second jaw. It does not require manual wire harness plugging and can also perform batch automatic plugging of wire harnesses with different wire diameters, different types of terminals, and different lengths at the same time, thus breaking the production limitation of traditional wire harness plugging that can only be the same type of wire harness, solving the technical problems that the existing manual wire harness plugging method depends on the proficiency of operators, has a low degree of automation, and is difficult to achieve the plugging of single-core wire materials with different wire diameters, different types of terminals, and different lengths on various different types of connectors.

[0032] At the same time, the wire harness batch automatic plugging device provided by the present invention can not only perform wire harness plugging, but also perform wire harness wiring, strongly associating the two processes of wire harness plugging and electrical wiring together, effectively saving production man-hours, ensuring manufacturing consistency, and ensuring product process quality. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a schematic structural diagram of a wire harness batch automatic plugging device provided in an embodiment of the present invention;

[0035] Figure 2 It is a schematic diagram of the end structure of the robotic arm of a wire harness batch automatic plugging device provided in an embodiment of the present invention;

[0036] Figure 3 It is a schematic flowchart of a control method for a wire harness batch automatic plugging device provided in an embodiment of the present invention;

[0037] Among them, the reference numerals are:

[0038] 100, base; 200, robotic arm; 300, end of the robotic arm; 400, backplane to be wired; 500, first jaw; 600, second jaw; 700, CCD camera. Detailed implementation manners

[0039] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0040] For ease of understanding, please refer to Figure 1 and Figure 2 , an embodiment of a wire harness batch automatic plugging device provided by the present invention includes a robotic arm body, a backplane 400 to be wired, and a wire harness to be plugged;

[0041] The robotic arm body includes a base 100, a robotic arm 200, jaws, and a CCD camera 700. The robotic arm 200 is installed on the base 100, and the jaws and the CCD camera 700 are installed at the end 300 of the robotic arm. The jaws include a first jaw 500 and a second jaw 600;

[0042] The CCD camera 700 is used to identify the wire harness to be plugged;

[0043] The first jaw 500 is used to grip the head end of the wire harness to be inserted, insert the head end of the wire harness to be inserted into the first target position on the backplane 400 to be wired, and release the first jaw after the head end of the wire harness to be inserted is inserted;

[0044] The second jaw 600 is used to grip the tail end of the wire harness to be inserted, lead the wire harness to be inserted to follow a specified trajectory on the backplane 400 to be wired. When the tail end of the wire harness to be inserted reaches the second target position, insert the tail end of the wire harness to be inserted into the second target position, and release the second jaw 600 after the tail end of the wire harness to be inserted is inserted.

[0045] It should be noted that the wire harness batch automatic insertion device provided in the embodiment of the present invention can be applied to the electrical wiring scenario of the secondary protection screen cabinet of the power system. The robotic arm body is configured with a central control system for intelligent control of the robotic arm body. Before inserting the wire harness, first complete the feeding preparation work of the backplane 400 to be wired and the wire harness to be inserted. Install related devices such as backplane connectors, protection device connectors, measurement and control device connectors, and air switch connectors on the backplane 400 to be wired, and transfer the wire harness to be inserted to the wire harness connection and insertion station through the wire harness storage pipeline. A CCD camera 700 is installed at the end 300 of the robotic arm. The CCD camera 700 is used to identify the wire harness to be inserted. When inserting the wire harness, first identify the position of the wire harness to be inserted through the CCD camera 700, and then identify the head end and tail end of the wire harness to be inserted. The robotic arm 200 moves to a position where it can grip the wire harness to be inserted, and controls the first jaw 500 to grip the head end of the wire harness to be inserted, and the second jaw 600 to grip the tail end of the wire harness to be inserted. Then insert the head end of the wire harness to be inserted into the first target position on the backplane 400 to be wired, and release the first jaw 500 after the head end of the wire harness to be inserted is inserted. The first target position is the starting position of the wire harness to be inserted to follow the trajectory. To avoid insecure insertion of the head end of the wire harness to be inserted, after inserting the head end of the wire harness to be inserted into the backplane 400 to be wired, control the first jaw 500 to lift the head end of the wire harness to be inserted with a preset force to confirm that the head end of the wire harness to be inserted is tightly clamped. After the head end of the wire harness to be inserted is inserted and the first jaw 500 is released, control the second jaw 600 to lead the wire harness to be inserted to follow a specified trajectory on the backplane 400 to be wired. Specifically, to prevent the wire harness to be inserted from deviating from the specified trajectory during wiring, positioning pins can be arranged on the backplane 400 to be wired to fix the wire harness to be inserted during wiring. When the tail end of the wire harness to be inserted reaches the second target position, insert the tail end of the wire harness to be inserted into the second target position, and release the second jaw 600 after the tail end of the wire harness to be inserted is inserted. The second target position is the end position of the wire harness to be inserted to follow the trajectory.

[0046] The wire harness batch automatic plugging device provided by the present invention is configured with a CCD camera, a first gripper, and a second gripper on the robotic arm. The CCD camera is used to identify the wire harness to be plugged. The first gripper is used to grasp the head end of the wire harness to be plugged and plug the head end of the wire harness to be plugged into the first target position on the backplane to be wired. After completing the plugging of the head end of the wire harness to be plugged, the first gripper is released. The second gripper is used to grasp the tail end of the wire harness to be plugged and move the wire harness to be plugged along a specified trajectory on the backplane to be wired. When the wire harness to be plugged reaches the second target position, the tail end of the wire harness to be plugged is plugged into the second target position. After completing the plugging of the tail end of the wire harness to be plugged, the second gripper is released. It is not necessary for manual wire harness plugging, and it is also possible to perform batch automatic plugging on wire harnesses with different wire diameters, different types of terminals, and different lengths at the same time, thereby breaking the production limitation of traditional wire harness plugging that can only be the same type of wire harness, and solving the technical problems that the existing manual wire harness plugging method depends on the proficiency of operators, has a low degree of automation, and is difficult to realize the plugging of single-core wire materials with different wire diameters, different types of terminals, and different lengths on a variety of different types of connectors.

[0047] In one embodiment, both the first gripper 500 and the second gripper 600 are pneumatic grippers. The terminals at both ends of the wire harness to be plugged are tubular terminals. The wire harness to be plugged is a single-core wire harness, and the length range is about 800 mm - 3000 mm, and the wire diameter range is .

[0048] The wire harness batch automatic plugging device provided by the present invention can perform batch automatic plugging on wire harnesses with different wire diameters, different types of terminals, and different lengths at the same time, thereby breaking the production limitation problem of traditional wire harness plugging that can only be the same type of wire harness; it can perform orderly plugging according to the processing requirements given in the wire harness table, effectively saving the time for manual search and verification of wire harness plugging, and effectively improving the production and processing efficiency; when the electrical wire harness table and electrical wiring diagram of the product change, only the corresponding content of the automatic plugging program of the wire harness batch automatic plugging device needs to be modified for the changed part of the electrical wiring diagram, and the production consistency is guaranteed; at the same time, for the wire harness batch automatic plugging device provided by the present invention, the two processes of wire harness plugging and electrical wiring are strongly coupled, and the plugging and electrical wiring are completed synchronously, effectively saving production man-hours, and at the same time effectively preventing damage caused by frequent wire manipulation during manual wire arrangement.

[0049] For ease of understanding, please refer to Figures 1-3 , an embodiment of a control method for a wire harness batch automatic plugging device is provided in the present invention. This control method is applied to any wire harness batch automatic plugging device provided in the present invention, and this control method includes the following steps:

[0050] S1. Control the movement of the robotic arm and identify the wire harness to be plugged through the CCD camera;

[0051] S2. Control the first jaw to grip the head end of the wire harness to be inserted, and control the second jaw to grip the tail end of the wire harness to be inserted;

[0052] S3. Control the first jaw to insert the head end of the wire harness to be inserted into the first target position on the backplane to be wired, and release the first jaw after completing the insertion of the head end of the wire harness to be inserted;

[0053] S4. Control the second jaw to move the wire harness to be inserted along a specified trajectory on the backplane to be wired. When the wire harness to be inserted reaches the second target position, insert the tail end of the wire harness to be inserted into the second target position, and release the second jaw after completing the insertion of the tail end of the wire harness to be inserted.

[0054] In one embodiment, step S3 specifically includes:

[0055] Control the first jaw to insert the head end of the wire harness to be inserted into the first target position on the backplane to be wired, control the first jaw to lift the head end of the wire harness to be inserted with a preset force. When the head end of the wire harness to be inserted is clamped tightly, complete the insertion of the head end of the wire harness to be inserted, and release the first jaw.

[0056] In one embodiment, after step S4, it further includes:

[0057] S5. Determine whether there is still a wire harness to be inserted that has not been inserted. If so, execute step S6; otherwise, jump to step S7;

[0058] S6. Control the robotic arm to move, identify the next wire harness to be inserted through the CCD camera, and return to step S2;

[0059] S7. The wire harness insertion is completed.

[0060] In one embodiment, after step S7, it further includes:

[0061] S8. Perform a circuit continuity test on the wire harnesses inserted on the backplane to be wired, and determine whether there is a wire harness that fails the test. If so, execute step S9; otherwise, execute step S10;

[0062] S9. For the wire harness that fails the test, control the first jaw and the second jaw to grip the head end and the tail end of the wire harness that fails the test simultaneously, remove the wire harness that fails the test, and provide a wire harness to be inserted to replace the wire harness that fails the test, and return to step S2;

[0063] S10. The wire harness continuity test is completed.

[0064] In one embodiment, in step S9, the first clamp and the second clamp are controlled to simultaneously clamp the head end and the tail end of the wiring harness that failed the test, and when the wiring harness that failed the test is removed, the wiring harness that failed the test is stored in a recycling box. The staff can repair and retest the wiring harness in the recycling box to facilitate resource recycling.

[0065] In one embodiment, before step S1, the method further includes:

[0066] S0. Execute the material preparation work of the backplane to be wired and the wiring harness to be plugged in, and complete the material preparation of the backplane to be wired and the wiring harness to be plugged in.

[0067] The control method of the wire harness batch automatic plug-in device provided in the present invention has the same technical effect as the wire harness batch automatic plug-in device provided in the present invention. Its technical effect has been described in the embodiment of the wire harness batch automatic plug-in device provided in the present invention and will not be repeated here.

[0068] The terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0069] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wire harness batch automatic plug-in device, characterized in that: It includes a robot body, a backplane to be wired, and a wiring harness to be plugged in; The robot body includes a base, a robot arm, a clamp and a CCD camera. The robot arm is installed on the base, the clamp and the CCD camera are installed at the end of the robot arm, and the clamp includes a first clamp and a second clamp; The CCD camera is used to identify the wiring harness to be plugged in; The first clamp is used to clamp the head end of the wiring harness to be plugged in, plug the head end of the wiring harness to be plugged in to the first target position on the backplane to be wired, and release the first clamp after the plugging of the head end of the wiring harness to be plugged in is completed; The second clamp is used to clamp the tail end of the wire bundle to be plugged in, and carry the wire bundle to be plugged in along the specified track on the backplane to be wired. When the wire bundle to be plugged in is routed to the second target position, the tail end of the wire bundle to be plugged in is plugged into the second target position. After the tail end of the wire bundle to be plugged in is completed, the second clamp is released.

2. The wire harness batch automated plug-in device according to claim 1, characterized in that: The first clamping jaw and the second clamping jaw are both pneumatic clamping jaws.

3. The wire harness batch automated plug-in device according to claim 1, characterized in that: The back panel to be wired is provided with latching pins.

4. The wire harness batch automated plug-in device according to claim 1, characterized in that: The terminals at both ends of the wiring harness to be plugged in are tube-type terminals.

5. A control method for a wire harness batch automated plug-in device according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1, control the movement of the robot arm and identify the wiring harness to be plugged in through the CCD camera; S2, controlling the first clamping jaw to clamp the head end of the wiring harness to be plugged in, and controlling the second clamping jaw to clamp the tail end of the wiring harness to be plugged in; S3, controlling the first clamping claw to plug the head end of the wiring harness to be plugged into the first target position on the backplane to be wired, and releasing the first clamping claw after completing the plugging of the head end of the wiring harness to be plugged; S4, control the second clamp to carry the wiring harness to be plugged in along the specified track on the backplane to be wired, and when the wiring harness to be plugged in reaches the second target position, plug the tail end of the wiring harness to be plugged in to the second target position, and release the second clamp after the tail end of the wiring harness to be plugged in is completed.

6. The control method of the wire harness batch automatic plug-in device according to claim 5, characterized in that: Step S3 specifically includes: Control the first clamp to plug the head end of the wiring harness to be plugged into the first target position on the backplane to be wired, control the first clamp to lift the head end of the wiring harness to be plugged under a preset force, and when the head end of the wiring harness to be plugged is clamped, the plugging of the head end of the wiring harness to be plugged is completed, and the first clamp is released.

7. The control method of the wire harness batch automatic plug-in device according to claim 5 or 6, characterized in that: After step S4, the following steps are also included: S5, determining whether there are any wiring harnesses that have not been plugged in yet, if so, executing step S6, otherwise, jumping to step S7; S6, controlling the movement of the robot arm, identifying the next wiring harness to be plugged in through the CCD camera, and returning to step S2; S7. Wire harness plugging is completed.

8. The control method of the wire harness batch automatic plug-in device according to claim 7, characterized in that: After step S7, the following steps are also included: S8, performing a circuit continuity test on the wiring harness plugged into the wiring backplane to be wired, and determining whether there is a wiring harness that fails the test, if so, executing step S9, otherwise, executing step S10; S9, for the wiring harness that fails the test, controlling the first clamp and the second clamp to simultaneously clamp the head end and the tail end of the wiring harness that fails the test, removing the wiring harness that fails the test, and providing a wiring harness to be plugged in to replace the wiring harness that fails the test, and returning to step S2; S10. The wiring harness continuity test is completed.

9. The control method of the wire harness batch automatic plug-in device according to claim 8, characterized in that: In step S9, the first clamp and the second clamp are controlled to simultaneously clamp the head end and the tail end of the wiring harness that fails the test, and when the wiring harness that fails the test is removed, the wiring harness that fails the test is stored in a recycling box.

10. The control method of the wire harness batch automatic plug-in device according to claim 5, characterized in that: Before step S1, the method further includes: S0. Execute the material preparation work of the backplane to be wired and the wiring harness to be plugged in, and complete the material preparation of the backplane to be wired and the wiring harness to be plugged in.

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