System for handling electrical components of vehicle

Abstract

The present disclosure provides a system for handling electrical components of a vehicle. A system for handling electrical components of a vehicle includes a fixture, a vehicle component, a robot, a guidance device, and a controller. The fixture includes at least one module having a terminal. The vehicle component is coupled to a fixture and includes an electrical connector. The guide device is movable between a first position in which the guide device is disengaged from the module and a second position in which the guide device is engaged with the module. The guide device defines an opening including a shape corresponding to a shape of the terminal. The controller is configured to instruct the robot to grab the electrical connector, move the guidance device to the second position, and instruct the robot to connect the electrical connector to the terminal based on the received data. The electrical connector extends through the opening of the guide device to connect to the terminal.

Description

Technical Field

[0001] This disclosure relates to a system for disposing of electrical components of a vehicle. Background Technology

[0002] The statements in this section provide only background information in relation to this disclosure and may not constitute prior art.

[0003] Industrial robots are already used in a variety of manufacturing operations, including, for example, welding, placing parts for subsequent manufacturing or assembly operations, and moving parts from one location to another, such as retrieving parts from a storage location and moving them to an assembly station. For example, automating the movement of some vehicle parts, such as wiring harnesses, can be challenging due to the lack of proper handling of parts and mechanical repeatability.

[0004] This disclosure addresses these problems related to automating the handling of components, as well as other problems related to handling said components. Summary of the Invention

[0005] This section provides a general overview of this disclosure and is not a full disclosure of its entire scope or all its features.

[0006] In one form, this disclosure provides a system for handling electrical components of a vehicle. The system includes a fixing device, a vehicle component, at least one robot, a guiding device, and a controller. The fixing device includes at least one module coupled thereto. The module includes a first terminal. The vehicle component is coupled to the fixing device and includes a first electrical connector. The guiding device is movable between a first position and a second position, in which the guiding device is disengaged from the module, and in the second position, the guiding device is engaged with the module to prevent movement of the module. The guiding device defines a first opening, the first opening including a shape corresponding to the shape of the first terminal of the module. The first opening surrounds the first terminal in response to the guiding device moving to the second position. The controller communicates with the robot and the guiding device. The controller is configured to: instruct the robot to grasp the first electrical connector based on received data, move the guiding device to the second position, and instruct the robot to connect the first electrical connector to the first terminal of the module. The first electrical connector extends through the first opening of the guiding device to connect to the first terminal.

[0007] In a variation of the system described in the above paragraphs, which can be implemented individually or in any combination: the controller is configured to move the guiding device from the second position to the first position in response to the first electrical connector being connected to the first terminal; the guiding device includes a first member and a second member, which are spaced apart from each other when the guiding device is in the first position, and engage with each other to define the first opening when the guiding device is in the second position; an actuator assembly is coupled to the guiding device and configured to move the guiding device between the first position and the second position; the vehicle component includes a rigid wiring harness body to which the first electrical connector is coupled before the robot grasps the first electrical connector; the module is removable. The vehicle component includes a rigid wiring harness body and a collar fixed to the rigid wiring harness body, the first electrical connector being coupled to the collar before the robot grasps the first electrical connector; the module includes a second terminal; the guiding device defines a second opening, the second opening including a shape corresponding to the shape of the second terminal of the module, the second opening surrounding the second terminal in response to the guiding device being moved to a second position; the vehicle component includes a second electrical connector; the controller is configured to instruct the robot to connect the second electrical connector to the second terminal of the module after the first electrical connector is connected to the first terminal, the second electrical connector extending through the second opening of the guiding device to connect to the second terminal; and the module includes a plurality of modules.

[0008] In another form, this disclosure provides a system for handling electrical components of a vehicle. The system includes a fixing device, a vehicle component, at least one robot, a guiding device, and a controller. The fixing device includes at least one module coupled thereto. The module includes a first terminal. The vehicle component is coupled to the fixing device to form a structure and includes a first electrical connector. The guiding device is movable between a first position and a second position, in which the guiding device is disengaged from the module, and in the second position, the guiding device is engaged with the module to prevent movement of the module. The guiding device defines a first opening, the first opening including a shape corresponding to the shape of the first terminal of the module. The first opening surrounds the first terminal in response to the guiding device being moved to the second position and includes an insertion region and a connection region. The insertion region has an area larger than the area of ​​the connection region. The controller communicates with the robot and the guiding device. The controller is configured to: instruct the robot to grasp the first electrical connector, move the guiding device to the second position, and instruct the robot to connect the first electrical connector to the first terminal of the module based on received data. The first electrical connector extends through the first opening of the guide device to connect to the first terminal.

[0009] In a variation of the system described above, which can be implemented individually or in any combination: the insertion region narrows toward the connection region; the robot includes a first robot and a second robot, the first robot connecting the first electrical connector to the first terminal and the second robot moving the structure after the first robot connects the first electrical connector to the first terminal; the controller is configured to move the guide device from the second position to the first position in response to the first electrical connector connecting to the first terminal; the guide device includes a first member and a second member, which are spaced apart from each other when the guide device is in the first position, and engage with each other to define the first opening when the guide device is in the second position; an actuator assembly is coupled to the guide device and configured to move the guide device between the first position and the second position; the vehicle component includes a rigid wiring harness body, to which the first electrical connector is coupled before the robot grasps the first electrical connector; the vehicle component includes a rigid wiring harness body and a collar fixed to the rigid wiring harness body, to which the first electrical connector is coupled before the robot grasps the first electrical connector; and the module includes a plurality of modules.

[0010] In another embodiment, this disclosure provides a system for handling electrical components of a vehicle. The system includes a fixing device, a vehicle component, at least one robot, a guiding device, and a controller. The fixing device includes at least one module coupled thereto. Each module includes a first terminal and a second terminal. The vehicle component is coupled to the fixing device to form a structure. The vehicle component includes a rigid wiring harness body, a first electrical connector, and a second electrical connector. The first and second electrical connectors are coupled to the rigid wiring harness body. The guiding device is movable between a first position and a second position, in which the guiding device is disengaged from one of the modules, and in the second position, the guiding device is engaged with the module to prevent movement of the module. The guiding device defines a first opening and a second opening, each including a shape corresponding to the shape of the first and second terminals of the module. The first opening surrounds the first terminal in response to the guiding device being moved to the second position, and the second opening surrounds the second terminal in response to the guiding device being moved to the second position. Each of the first and second openings includes an insertion region and a connection region. The insertion region has an area larger than the area of ​​the connection region. The controller communicates with the robot and the guiding device. The controller is configured to: instruct the robot to grasp the first electrical connector based on received data; move the guiding device to a second position; instruct the robot to connect the first electrical connector to the first terminal of the module; the first electrical connector extends through a first opening in the guiding device to connect to the first terminal; instruct the robot to grasp the second electrical connector; instruct the robot to connect the second electrical connector to the second terminal, the second electrical connector extending through a second opening in the guiding device to connect to the second terminal; move the guiding device from the second position to the first position in response to the first electrical connector being connected to the first terminal and the second electrical connector being connected to the second terminal; and instruct the robot to move the structure after the first electrical connector is connected to the first terminal and the second electrical connector is connected to the second terminal.

[0011] Further applicability will become apparent from the description provided herein. It should be understood that the descriptions and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0012] To facilitate a good understanding of this disclosure, various forms of the disclosure will now be described by way of example with reference to the accompanying drawings, in which:

[0013] Figure 1 This is a perspective view of a system for disposing of vehicle components according to the principles of this disclosure, wherein the system's guide device is in a retracted position and the system's wiring harness components are disposed on a working surface.

[0014] Figure 2 yes Figure 1 A perspective view of the wire harness component of the fixing device attached to the system;

[0015] Figure 3 yes Figure 1 A perspective view of the system, with the system's guidance equipment in the deployed position;

[0016] Figure 4A yes Figure 1 A front view of a portion of the guide device in its deployed position;

[0017] Figure 4B yes Figure 4A A close-up view of the area indicated as 4B;

[0018] Figure 5A yes Figure 1 A perspective view of an electrical connector for a wiring harness component, the electrical connector being connected to a vehicle module component of the vehicle;

[0019] Figure 5B yes Figure 1 A perspective view of an electrical connector for a wiring harness component, the electrical connector being connected to a vehicle module component of the vehicle;

[0020] Figure 6 It is shown that, in accordance with the teachings of this disclosure Figure 1 A schematic block diagram of the system components;

[0021] Figure 7 It describes the methods for handling according to the teachings of this disclosure. Figure 1 The flowchart of the algorithm for the system components;

[0022] Figure 8 This is a perspective view of another system for disposing of vehicle components according to the principles of this disclosure;

[0023] Figure 9A yes Figure 8 A perspective view of the robot system, the robot grasping... Figure 8 Electrical connectors for the wiring harness components of the system;

[0024] Figure 9B yes Figure 8 A perspective view of the robot system, the robot will Figure 8 The electrical connectors of the wiring harness components are connected to the vehicle module components;

[0025] Figure 10 It is shown that, in accordance with the teachings of this disclosure Figure 8 A schematic block diagram of the system components; and

[0026] Figure 11 It describes the methods for handling according to the teachings of this disclosure. Figure 8 The flowchart of the algorithm for the components of the system.

[0027] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Detailed Implementation

[0028] The following description is merely exemplary in nature and is not intended to limit this disclosure, its application, or its uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0029] refer to Figure 1 A system 10 for handling vehicle component 12 is shown. Handling vehicle component 12 may include retrieving vehicle component 12 from a part support (e.g., a pad holder), handling vehicle component 12, placing vehicle component 12 onto a work surface 16, attaching electrical connectors to a vehicle module on the work surface 16, and / or installing vehicle component 12 into a machine (e.g., a vehicle). System 10 allows handling vehicle component 12 with minimal human intervention. In this way, handling vehicle component 12 can be automated to, for example, increase productivity, reduce cycle time, and reduce variability and error. In the example shown, vehicle component 12 includes electrical components, such as wiring harnesses. That is, wiring harnesses tend to be flexible, complex, and highly variable from one part to the next, making it difficult to automate the installation of wiring harnesses into a machine. System 10 of this disclosure provides adaptations to vehicle component 12 (such as wiring harnesses and objects mating with vehicle component 12) to better support automation. It should be understood that vehicle component 12 may be other components of a vehicle besides wiring harnesses.

[0030] refer to Figure 1 System 10 may include vehicle component 12 (only one shown in the figure), anchoring device 14, one or more robots 22, at least one guidance device 24, and controller 26. Figure 6 Each vehicle component 12 can be moved from the component support (not shown) to the fixing device 14. An example of a system for moving a vehicle component 12 from a component support to the fixing device 14 is disclosed in U.S. Patent Application No. 18 / 909,210, filed October 8, 2024, entitled “System for Disposing of Components of a Vehicle,” the contents of which are incorporated herein by reference in their entirety. References Figure 1 and Figure 2 Each vehicle component 12 includes a body or housing 28 and a plurality of collars 30a, 30b, 30c, 30d. The body 28 may be made of a rigid material (e.g., metal or plastic) and may house electrical components 21 (e.g., flexible wires). In the example shown, the body 28 is hollow and has a square shape. In some forms, the plate 28 may have a circular shape, a rectangular shape, or any other suitable shape that may house electrical components. An example of the body 28 is disclosed in U.S. Patent Application No. 18 / 909,197, filed October 8, 2024, entitled “Method and System for Mounting Wiring Harnesses into a Vehicle,” which is commonly owned by and incorporated herein by reference in its entirety.

[0031] A collar 30a may be coupled to the opposite end of a segment 28a of the body 28 of the vehicle component 12 and may be configured to attach the vehicle component 12 to a part support (not shown). An example of such a collar is disclosed in U.S. Patent Application No. 18 / 909,210, filed October 8, 2024, entitled "System for Disposing of Components of a Vehicle," the contents of which are collectively owned with this application and are incorporated herein by reference in their entirety. A collar 30b may be coupled between collars 30a to a segment 28a of the body 28 of the vehicle component 12 and may be configured to allow a robot (not shown) to grasp the vehicle component 12 to move it from the part support to the fixture 14. An example of such a collar is disclosed in U.S. Patent Application No. 18 / 909,210, filed October 8, 2024, entitled "System for Disposing of Components of a Vehicle," the contents of which are collectively owned with this application and are incorporated herein by reference in their entirety.

[0032] One or more collars 30c may be coupled to a segment 28b of the body 28 of the vehicle component 12 and may be configured to allow a robot 22 to grasp the segment 28b of the vehicle component 12 and disengage the segment 28b from the segment 28a. An example of such a collar is disclosed in U.S. Patent Application No. 18 / 909,193, filed October 8, 2024, entitled “System for Disposing of Electrical Components,” the contents of which are collectively owned with this application and are incorporated herein by reference in their entirety. One or more collars 30d may be coupled to corresponding segments 28a, 28b of the vehicle component 12 and may be configured to removably engage a connector 21a of the electrical component 21 to the body 28 of the vehicle component 12. In the example shown, collar 30d is coupled to segment 28b of the vehicle component 12 and may engage the connector 21a of the electrical component 21 to segment 28b. In this manner, as described above, connector 21a is secured to body 28 when vehicle component 12 moves from component support (not shown) to fixing device 14 and when segment 28b separates from segment 28a. An example of such a collar is disclosed in U.S. Patent Application No. 18 / 909,193, filed October 8, 2024, entitled “System for Disposing of Electrical Components,” which is commonly owned by and incorporated herein by reference in its entirety.

[0033] refer to Figure 1 and Figure 2 The fixing device 14 is removably attached to the working surface 16. Figure 1 This allows the fixing device 14 to be grasped by a robot (not shown). That is, the fixing device 14 can be supported on one or more rails or beams that can be fixed to the working surface 16, such that the fixing device 14 is spaced apart from the working surface 16. In some forms, the fixing device 14 can be removably directly coupled to the working surface 16. An example of the fixing device 14 is disclosed in U.S. Patent Application No. 18 / 909,197, filed October 8, 2024, entitled “Method and System for Mounting Wiring Harnesses into a Vehicle,” the contents of which are incorporated herein by reference in their entirety.

[0034] Each module support 42 is fixed to a corresponding segment 28a, 28b of the fixing device 14 and can be configured to retain a corresponding vehicle module 46a, 46b. In one example, vehicle modules 46a, 46b may be engine control modules that control multiple systems of an internal combustion engine. In another example, vehicle modules 46a, 46b may be suspension modules that control the suspension and independently adjust the tension of each wheel. It should be understood that, without departing from the scope of this disclosure, module supports 42 may support other vehicle modules for the machine.

[0035] Each module support 42 includes a structure or housing to which vehicle modules 46a, 46b can be coupled. For example, a robot (not shown) can couple vehicle modules 46a, 46b to the module support 42 with minimal human intervention, thereby increasing productivity and reducing cycle time. In the example shown, the module support 42 is secured to the fixture 14 (e.g., by fasteners). In other forms, one or more module supports 42 may be secured to a portion of the fixture 14, and one or more module supports 42 may be secured to another portion of the fixture 14. 。 In this way, vehicle modules 46a and 46b can be positioned at different locations and angles relative to each other along the fixing device 14.

[0036] refer to Figure 1 , Figure 5A , Figure 5B and Figure 6 The robot 22 is configured to detach segments 28a and 28b of the vehicle component 12 from each other on the working surface 16, and to connect connector 21a of the electrical component 21 to terminals 53 of the vehicle modules 46a and 46b. Figure 5A and Figure 5B Robot 22 includes a robotic arm 50 and a robotic gripper structure or device 52. The robotic arm 50 includes multiple segments connected to each other at joints, allowing robot 22 to have multiple degrees of freedom. The robotic arm 50 is also secured to a working surface 16 at a first end. In some variations, the robotic arm 50 includes an optional adapter (not shown) adapted for attachment to the working surface 16. In some forms, robot 22 is separate from the working surface 16 and is partially or fully autonomous, and is configured to move autonomously to the working surface 16 as instructed by controller 26. To move itself autonomously, controller 26 is configured to control various movement systems of robot 22 based on position data obtained from one or more sensors. In exemplary applications, the movement system may include a propulsion system and / or a steering system for controlling the wheels, and the sensors used to provide position data may include GNSS sensors, imaging sensors, local position sensors, etc.

[0037] A robotic gripper structure 52 is attached to a robotic arm 50 and configured to grasp and move segments 28a, 28b of vehicle component 12. An example of such a robotic gripper structure is disclosed in U.S. Patent Application No. 18 / 909,193, filed October 8, 2024, entitled “System for Handling Electrical Components,” which is jointly owned with this application and whose contents are incorporated herein by reference in their entirety.

[0038] Another robot (not shown) is configured to move the fixture 14 and vehicle component 12 from the work surface 16 to the machine, and to attach the vehicle component 12 and control modules 46a, 46b to the machine. That is, the robot engages the fixture 14 to move the fixture 14 and the vehicle component 12 attached thereto from the work surface 16 to the machine. An example of such a robot is disclosed in U.S. Patent Application No. 18 / 909,197, filed October 8, 2024, entitled “Method and System for Installing Wiring Harnesses into a Vehicle,” which is commonly owned by and incorporated herein by reference in its entirety.

[0039] refer to Figure 1 , Figure 3 As shown in Figure 4, the guide device 24 is fixed to the working surface 16 and can be in the first or retracted position. Figure 1 ) and the second or expanded position ( Figure 3 The guide device 24 moves between the first or retracted position (Figure 4), disengaging from the corresponding vehicle modules 46a, 46b in the first or retracted position, and engaging with the corresponding vehicle modules 46a, 46b in the second or extended position to prevent movement of the corresponding vehicle modules 46a, 46b. The guide device 24 defines a plurality of openings 60, the plurality of openings including shapes corresponding to the shapes of the terminals 53 of the corresponding vehicle modules 46a, 46b. The plurality of openings 60 also surround the terminals 53 in response to the guide device 24 moving to the second position.

[0040] The guiding device 24 can also move vertically and horizontally relative to the working surface 16. In this way, the guiding device 24 can be moved to different vehicle modules 46a, 46b of the fixing device 14 coupled to the working surface 16. The guiding device 24 includes a first member 24a and a second member 24b. The first member 24a and the second member 24b are spaced apart from each other when the guiding device 24 is in a first position and engage with each other to define an opening 60 when the guiding device 24 is in a second position. Each of the first member 24a and the second member 24b includes a mounting section 62 and a module section 64. An actuator assembly 66 is coupled to the respective mounting sections 62 of the first member 24a and the second member 24b via, for example, fasteners, and is configured to move the guiding device 24 between the first position and the second position. The actuator assembly 66 may be an electric motor, an air cylinder, a hydraulic motor, or any other suitable actuator that allows movement of the first member 24a and the second member 24b.

[0041] like Figure 4B As shown, module segment 64 includes a plurality of cutouts 66 at its periphery. When the guiding device 24 is moved to the second position, the first member 24a and the second member 24b engage with each other to define plate 67, and the cutouts 66 of the first member 24a and the second member 24b mate with each other to define a plurality of openings 60. Each opening 60 defines an insertion region 68 open through a first side of plate 67 and a connection region 70 open through a second side of plate 67 opposite to the first side. The insertion region 68 has an area larger than the area of ​​the connection region 70. In other words, the opening 60 narrows from the insertion region 68 toward the connection region 70. Therefore, when each connector 21a is connected to the corresponding terminal 53, the connector 21a is inserted through the corresponding opening 60, at which the connector 21a is guided from the insertion region 68 through the connection region 70 and to the corresponding terminal 53. In this way, the guiding device 24 can accommodate errors or deviations in the initial positioning of the connector 21a performed by the robot 22.

[0042] refer to Figure 6 The controller 26 communicates with the robot 22, the actuator assembly 66, and the guidance device 24, and can monitor and control the operation of the robot 22, the actuator assembly 66, and the guidance device 24 based on the received data. In one example, the controller 26 communicates with the robot 22, the actuator assembly 66, and the guidance device 24 using wired or wireless communication protocols (e.g., Bluetooth®, cellular, Wi-Fi, Near Field Communication (NFC), Ultra Wideband (UWB), etc.).

[0043] refer to Figure 7An exemplary control algorithm 100 is shown for connecting connector 21a of vehicle component 12 to terminals 53 of corresponding modules 46a, 46b. Processing can begin once vehicle component 12 has moved from part support (not shown) to fixture 14 and vehicle modules 46a, 46b have been engaged with fixture 14 (as described above). At 104, the control algorithm uses controller 26 to instruct robot 22 to grasp one of the electrical connectors 21a of vehicle component 12 based on received data. For example, the data may be one or more sensors (not shown) that detect when vehicle component 12 is engaged with fixture 14 and / or one or more sensors that detect when vehicle modules 46a, 46b are engaged with fixture 14.

[0044] At position 108, the control algorithm uses controller 26 to instruct guide device 24 to align with the corresponding vehicle modules 46a, 46b. That is, guide device 24 can be moved relative to working surface 16, for example, by a motor, to align horizontally and vertically with the corresponding vehicle modules 46a, 46b. At position 112, the control algorithm uses controller 26 to instruct guide device 24 to move to a second position. In this way, openings 60 formed by plates 67 of the first member 24a and the second member 24b surround the terminals 53 of the corresponding vehicle modules 46a, 46b, and plates 67 hold and retain the corresponding vehicle modules 46a, 46b in the appropriate position (e.g., a known position).

[0045] At point 116, the control algorithm uses controller 26 to instruct robot 22 to grasp each connector 21a and connect the connector 21a to the terminal 53 of the corresponding vehicle module 46a, 46b. Each connector 21a extends through the corresponding opening 60 of guide device 24 when it is connected to terminal 53. Plate 67 is used to hold vehicle modules 46a, 46b in place while connector 21a is connected to terminal 53, ensuring that connector 21a is properly connected to terminal 53 with high precision, while still accommodating errors or deviations.

[0046] After robot 22 connects each connector 21a to the terminal 53 of the corresponding vehicle module 46a, 46b, guide device 24 moves to another vehicle module 46a, 46b associated with fixture 14, where the process is repeated (i.e., guide device 24 holds another vehicle module 46a, 46b while connector 21a of vehicle component 12 is connected to vehicle module 46a, 46b). Once all connectors 21a are connected to the terminal 53 of vehicle modules 46a, 46b, fixture 14, vehicle modules 46a, 46b, and vehicle component 12 form a rigid structure. A robot (not shown) can move the rigid structure to a machine. In this way, the parts of the rigid structure (e.g., connectors 21a, vehicle modules 46a, 46b, vehicle component 12, fixture 14) are held in place during the movement of the rigid structure to the machine. That is, the rigid structure is formed at a working surface 16, which can be located away from the final vehicle assembly line where the machine is located (e.g., at a different location). In this way, the rigid structure can be assembled from the final vehicle assembly line and then moved to the machine on the final vehicle assembly line. Offline buildup of electrical connector 21a and vehicle modules 46a, 46b to fixture 14 allows for longer cycle times per robot operation, thus allowing for the use of smaller robots. Offline buildup of electrical connector 21a and vehicle modules 46a, 46b to fixture 14 also allows for offline verification of electrical connections, thereby preventing rework on the final vehicle assembly line. Offline buildup of electrical connector 21a and vehicle modules 46a, 46b to fixture 14 also prevents electrical connector 21a from becoming entangled with features and parts on the machine.

[0047] refer to Figures 8 to 11 The diagram illustrates a system 210 for handling vehicle component 212. Except as otherwise noted below, the structure and function of system 210 may be similar to or the same as system 10 described above.

[0048] System 210 may include vehicle component 212 (only one shown in the figure), fixture 214, one or more robots 222, and controller 226. Figure 10 The structure and function of vehicle component 212 and fixing device 214 may be similar to or the same as those of vehicle component 12 and fixing device 14 described above, and therefore will not be described in detail.

[0049] Robot 222 is configured to detach segments of vehicle component 212 from each other on working surface 216 and to connect connector 221a of electrical component 221 to terminals 253 of vehicle modules 246a, 246b. Robot 222 includes a robot arm 250, a robot gripper structure or device 252, and a vision sensor 264. The structure and function of robot arm 250 may be similar to or the same as those of robot arm 50 described above, and therefore will not be described in detail. The structure and function of robot gripper structure 252 may be similar to or the same as those of robot gripper structure 52 described above, and therefore will not be described in detail.

[0050] refer to Figure 9A , Figure 9B and Figure 10 The vision sensor 264 is mounted on the robot arm 250 or gripper structure 252 and can communicate with the controller 226 using wireless communication protocols (e.g., Bluetooth®, cellular, Wi-Fi, Near Field Communication (NFC), Ultra Wideband (UWB), etc.). Each vision sensor 264 collects visual image data and transmits the data to the controller 226. Based on the visual image data, the controller 226 provides instructions to the robot 222 to operate the robot 222. More specifically, the controller 226 provides instructions to operate the robot 222 to grasp the electrical connector 221a and connect it to the terminals 253 of the vehicle modules 246a, 246b.

[0051] In one embodiment, the vision sensor 264 is configured with an object detection algorithm trained to identify the electrical connector 221a and terminal 253 based on images collected by the vision sensor 264. The object detection algorithm is an image processing technique such as Canny edge detection or deep learning. In another embodiment, the controller 226 is configured with an object detection algorithm and, based on data from a positioning system (not shown), locates the connector 221a on vehicle component 12 and the terminal 253 on vehicle modules 246a, 246b based on the image data. In one embodiment, the visual image data includes coordinate data, such as two-dimensional or three-dimensional coordinate data, that the positioning system is configured to process into a global coordinate system. Based on the positioning performed by the positioning system, the controller 226 is configured to identify objects and their positions within the visual image data.

[0052] System 210 may also include sensor 266 ( Figure 10For example, sensor 266 can be associated with robot 222 and can communicate with controller 226 using wireless communication protocols (e.g., Bluetooth®, cellular, Wi-Fi, Near Field Communication (NFC), Ultra Wideband (UWB), etc.). Each sensor 266 measures the force or pressure applied to robot 222 and transmits the data to controller 226. Based on the force or pressure data, controller 226 provides instructions to robot 222 to operate robot 222.

[0053] refer to Figure 11 An exemplary control algorithm 300 is shown for connecting connector 221a of vehicle component 212 to terminals 253 of corresponding modules 246a, 246b. Processing can begin once vehicle component 212 has moved from part support (not shown) to fixture 214 and vehicle modules 246a, 246b have been coupled to fixture 214 (as described above). At 304, the control algorithm uses controller 226 to instruct robot 222 to move to the vicinity of one of the electrical connectors 221a and activate vision system 264 to pinpoint the precise location of electrical connector 221a on vehicle component 212. At 308, the control algorithm uses controller 226 to instruct robot 222 to grasp one electrical connector 221a of vehicle component 212 based on data received from vision sensor 264.

[0054] At 312, the control algorithm uses controller 226 to instruct robot 222 to move connector 221a to the vicinity of one of the terminals 253 of the corresponding modules 246a and 246b. At 316, the control algorithm uses controller 226 to activate vision system 264 to locate the precise position of terminal 253 on vehicle modules 246a and 246b. In some forms, robot 222 may also touch one or more surfaces of the corresponding modules 246a and 246b and transmit data to controller 226. Based on force or pressure data, controller 226 may provide robot 222 with further instructions regarding the precise position of terminals 253 of vehicle modules 246a and 246b. At 320, the control algorithm uses controller 226 to instruct robot 222 to connect connector 221a to terminal 253 of the corresponding vehicle modules 246a and 246b.

[0055] Unless otherwise expressly indicated herein, all numerical values ​​indicating mechanical / thermal properties, percentages of composition, dimensions and / or tolerances or other characteristics should be understood as being modified by the words “about” or “approximately” when describing the scope of this disclosure. Such modification is expected for various reasons, including: industrial practice; material, manufacturing and assembly tolerances; and testing capabilities.

[0056] As used herein, the phrases A, B, and C at least one should be interpreted as representing logic (A or B or C) using the non-exclusive logic "or", and should not be interpreted as representing "at least one of A, at least one of B, and at least one of C".

[0057] In this application, the terms “controller” and / or “module” may refer to, be part of, or include the following: application-specific integrated circuit (ASIC); digital, analog, or mixed analog / digital discrete circuit; digital, analog, or mixed analog / digital integrated circuit; composable logic circuit; field-programmable gate array (FPGA); processor circuitry (shared, dedicated, or grouped) that executes code; memory circuitry (shared, dedicated, or grouped) that stores code executed by the processor circuitry; other suitable hardware components that provide the described functionality; or combinations of some or all of the foregoing, such as in a system-on-a-chip.

[0058] The term memory is a subset of the term computer-readable medium. As used herein, the term computer-readable medium does not cover transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); therefore, the term computer-readable medium can be considered tangible and non-transient. Non-limiting examples of non-transient tangible computer-readable media include non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog magnetic tape or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0059] The apparatus and methods described in this application can be implemented, in part or in whole, by a dedicated computer created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. Function blocks, flowchart components, and other elements described above serve as software specifications that can be translated into computer programs through the routine work of a technician or programmer.

[0060] The description in this disclosure is merely exemplary in nature, and therefore, variations without departing from the spirit and scope of this disclosure are intended to be made within its scope. Such variations should not be considered as departing from the spirit and scope of this disclosure.

[0061] According to the present invention, a system for disposing of electrical components of a vehicle is provided, the system comprising: a fixing device including at least one module coupled thereto, the at least one module including a first terminal; a vehicle component coupled to the fixing device to form a structure, the vehicle component including a first electrical connector; at least one robot; and a guiding device movable between a first position and a second position, wherein in the first position the guiding device is disengaged from the at least one module, and in the second position the guiding device is engaged with the at least one module to prevent movement of the at least one module, the guiding device defining a first opening, the first opening including a connection with the at least one module. The first opening, corresponding to the shape of the first terminal, surrounds the first terminal in response to the guide device being moved to the second position and includes an insertion area and a connection area, the insertion area having an area larger than the area of ​​the connection area; and a controller communicating with the at least one robot and the guide device, the controller being configured to: instruct the at least one robot to grasp the first electrical connector based on received data; move the guide device to the second position; and instruct the at least one robot to connect the first electrical connector to the first terminal of the at least one module, the first electrical connector extending through the first opening of the guide device to connect to the first terminal.

[0062] According to one embodiment, the insertion region narrows toward the connection region.

[0063] According to one embodiment, the at least one robot includes a first robot and a second robot, wherein the first robot connects the first electrical connector to the first terminal, and the second robot moves the structure after the first robot connects the first electrical connector to the first terminal.

[0064] According to one embodiment, the controller is configured to move the guiding device from the second position to the first position in response to the first electrical connector being connected to the first terminal.

[0065] According to one embodiment, the guiding device includes a first component and a second component, wherein the first component and the second component are spaced apart from each other when the guiding device is in the first position, and engage with each other to define the first opening when the guiding device is in the second position.

[0066] According to one embodiment, the invention is further characterized by an actuator assembly coupled to the guiding device and configured to move the guiding device between the first position and the second position.

[0067] According to one embodiment, the vehicle component includes a rigid wiring harness body, wherein the first electrical connector is coupled to the rigid wiring harness body before the at least one robot grasps the first electrical connector.

[0068] According to one embodiment, the vehicle component includes a rigid wiring harness body and a collar fixed to the rigid wiring harness body, wherein the first electrical connector is coupled to the collar before the at least one robot grasps the first electrical connector.

[0069] According to one embodiment, the at least one module includes multiple modules.

[0070] According to the present invention, a system for disposing of electrical components of a vehicle is provided, comprising a fixing device including a plurality of modules coupled thereto, each module including a first terminal and a second terminal; a vehicle component coupled to the fixing device to form a structure, the vehicle component including a rigid wiring harness body, a first electrical connector and a second electrical connector coupled to the rigid wiring harness body; at least one robot; a guiding device movable between a first position and a second position, in which the guiding device is disengaged from one of the plurality of modules, and in the second position, the guiding device is engaged with said one of the plurality of modules to prevent movement of said one of the plurality of modules, the guiding device defining a first opening and a second opening, each of the first opening and the second opening including a shape corresponding to the shape of the first terminal and the second terminal, the first opening surrounding the first terminal in response to the guiding device being moved to the second position and the second opening surrounding the second terminal in response to the guiding device being moved to the second position. Each of the first opening and the second opening includes an insertion region and a connection region, the insertion region having an area larger than the area of ​​the connection region; and a controller configured to: instruct the at least one robot to grasp the first electrical connector based on received data; move the guiding device to the second position; instruct the at least one robot to connect the first electrical connector to the first terminal, the first electrical connector extending through the first opening of the first device to connect to the first terminal; instruct the at least one robot to grasp the second electrical connector; instruct the at least one robot to connect the second electrical connector to the second terminal, the second electrical connector extending through the second opening of the guiding device to connect to the second terminal; move the guiding device from the second position to the first position in response to the first electrical connector being connected to the first terminal and the second electrical connector being connected to the second terminal; and instruct the at least one robot to move the structure after the first electrical connector is connected to the first terminal and the second electrical connector is connected to the second terminal.

Claims

1. A system for handling electrical components of a vehicle, the system comprising: A fixing device, the fixing device including at least one module connected thereto, the at least one module including a first terminal; A vehicle component, the vehicle component being coupled to the mounting device and including a first electrical connector; At least one robot; A guiding device is movable between a first position and a second position, in which the guiding device is disengaged from the at least one module, and in the second position, the guiding device is engaged with the at least one module to prevent movement of the at least one module. The guiding device defines a first opening, the first opening including a shape corresponding to the shape of a first terminal of the at least one module, the first opening surrounding the first terminal in response to the guiding device being moved to the second position. as well as A controller that communicates with the at least one robot and the guidance device; The controller is configured to: Based on the received data, instruct the at least one robot to grasp the first electrical connector; Move the guiding device to the second position; as well as The robot is instructed to connect the first electrical connector to the first terminal of the at least one module, the first electrical connector extending through the first opening of the guide device to connect to the first terminal.

2. The system of claim 1, wherein the controller is configured to move the guiding device from the second position to the first position in response to the first electrical connector being connected to the first terminal.

3. The system of claim 1, wherein the guiding device includes a first component and a second component, and wherein the first component and the second component are spaced apart from each other when the guiding device is in the first position, and engage with each other to define the first opening when the guiding device is in the second position.

4. The system of claim 3, further comprising an actuator assembly coupled to the guiding device and configured to move the guiding device between the first position and the second position.

5. The system of claim 1, wherein the vehicle component includes a rigid wiring harness body, and wherein the first electrical connector is coupled to the rigid wiring harness body prior to the at least one robot grasping the first electrical connector.

6. The system of claim 1, wherein the at least one module is removably coupled to the fixing device.

7. The system of claim 1, wherein the vehicle component includes a rigid wiring harness body and a collar attached to the rigid wiring harness body, and wherein the first electrical connector is coupled to the collar prior to the at least one robot grasping the first electrical connector.

8. The system of claim 1, wherein: The at least one module includes a second terminal; and The guiding device defines a second opening having a shape corresponding to the shape of the second terminal of the at least one module, the second opening surrounding the second terminal in response to the guiding device being moved to the second position.

9. The system of claim 8, wherein: The vehicle component includes a second electrical connector; The controller is configured to instruct the at least one robot to connect the second electrical connector to the second terminal of the at least one module after the first electrical connector is connected to the first terminal, the second electrical connector extending through the second opening of the guide device to connect to the second terminal.

10. The system of claim 1, wherein the at least one module comprises a plurality of modules.

11. The system of claim 1, wherein the first opening includes an insertion region and a connection region, the insertion region having an area larger than the area of ​​the connection region.

12. The system of claim 11, wherein the insertion region narrows toward the connection region.

13. The system of claim 1, wherein the at least one robot comprises a first robot and a second robot, wherein the first robot connects the first electrical connector to the first terminal, and the second robot moves the structure after the first robot connects the first electrical connector to the first terminal.

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