Interchangeable tools for automated robotic wiring system

Abstract

The invention relates to automated wiring systems comprising end effectors with interchangeable tools and methods thereof.

Description

[0001] INTERCHANGEABLE TOOLS FOR AUTOMATED ROBOTIC WIRING SYSTEM

[0002] RELATED APPLICATION / S

[0003] This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 447,076 filed on 21 February 2023, the contents of which are incorporated herein by reference in their entirety.

[0004] FIELD AND BACKGROUND OF THE INVENTION

[0005] The present invention, in some embodiments thereof, relates to interchangeable tools for a robot and, more particularly, but not exclusively, to interchangeable tools for a robot in a wiring system.

[0006] Additional background art includes U.S. Patent No. US 10,099,371B2 disclosing robots capable of accommodating dynamic replacement of end effectors load and run software that allows the end effector to be operated without change to the main control program. The driver may be dynamically linked and run during program execution when the corresponding end effector is detected. Typically, the robot controller will store a library of drivers, and load the appropriate driver when a new end effector is detected.

[0007] U.S. Patent Application Publication No. US20190054634A1 disclosing an effector unit for a robot, which can be locked and unlocked via a relative movement of the robot, so that several effectors can be used in the effector unit. In addition, the document discloses a corresponding method for automatically changing effectors.

[0008] U.S. Patent Application Publication No. US20220193925A1 disclosing a tool changing system for an industrial robot, the tool changing system including a tool; a base member for arrangement in a manipulator of the industrial robot and for holding the tool; and a tool storage for holding the tool when released from the base member; and a base member force device configured to force the tool to the base member in any orientation of the base member when the tool is held by the base member; and a tool storage force device configured to force the tool to the tool storage in any orientation of the tool storage when the tool is held by the tool storage. A method of handling a tool by an industrial robot is also disclosed.

[0009] SUMMARY OF THE INVENTION

[0010] Following is a non-exclusive list including some examples of embodiments of the invention. The invention also includes embodiments which include fewer than all the features in an example and embodiments using features from multiple examples, also if not expressly listed below.

[0011] Example 1. An end effector for a robotic wiring system, comprising a wire holder comprising a first type of exchangeable tool.

[0012] Example 2. The end effector according to example 1, wherein said wire holder comprises a first adaptor configured for allowing exchanging of said first type of exchangeable tool.

[0013] Example 3. The end effector according to example 1 or example 2, wherein said first type of exchangeable tool are one or more of a wire grasping tool, a USB gripper, a RJ45 gripper, a HDMI gripper, a continuity test probe and a USB data transfer tool.

[0014] Example 4. The end effector according to any one of examples 1-3, wherein said first type of exchangeable tool comprises two elongated finger-like extensions.

[0015] Example 5. The end effector according to any one of examples 1-4, wherein said two elongated finger-like extensions are actuated using a “scissor-like” mechanism.

[0016] Example 6. The end effector according to any one of examples 1-5, wherein said “scissor- like” mechanism provides said two elongated finger-like extensions with an angular movement.

[0017] Example 7. The end effector according to any one of examples 1-6, wherein said two elongated finger-like extensions are characterized by one or more of the following actuation states comprising an open stated, a semi-closed state and a closed state.

[0018] Example 8. The end effector according to any one of examples 1-7, wherein said wire holder comprises a caging actuator configured for holding an actuation state of said first type of exchangeable tool while using said end effector.

[0019] Example 9. The end effector according to any one of examples 1-8, wherein said two elongated finger-like extensions are characterized by having a distance between said two elongated finger- like extensions of from about 2mm to about 7mm.

[0020] Example 10. The end effector according to any one of examples 1-9, wherein said two elongated finger-like extensions are characterized by having a distance between said two elongated finger-like extensions configured for holding a required object.

[0021] Example 11. The end effector according to any one of examples 1-10, wherein said two elongated finger-like extensions are configured to apply a force of from about IN to about 20N.

[0022] Example 12. The end effector according to any one of examples 1-11, wherein said two elongated finger-like extensions are configured for grasping wires having a diameter of from about 0.5mm to about 6.0mm and higher diameter.

[0023] Example 13. The end effector according to any one of examples 1-12, wherein each of said two elongated finger-like extensions comprise a distal end configured to hold one or more of a wire, a connector, USB connector, a RJ45 connector, a HDMI connector, a cable, a tube, a fiber optic cable and a fiber optic tube.

[0024] Example 14. The end effector according to any one of examples 1-13, wherein said wire holder comprises one or more of first sensors configured to monitor actions performed by said wire holder.

[0025] Example 15. The end effector according to any one of examples 1-14, wherein one of said one or more of first sensors is at least one force sensor for measuring forces from one or more axis.

[0026] Example 16. The end effector according to any one of examples 1-15, wherein said end effector comprises dedicated calibration information used by said one or more sensors for each type of said first type of exchangeable tool.

[0027] Example 16a. The end effector according to any one of examples 1-16, wherein at least one sensor from said one or more of first sensors are positioned on said end effector and additionally are configured for monitoring said first type of exchangeable tool.

[0028] Example 17. The end effector according to any one of examples l-16a, wherein one or more of said one or more of first sensors are positioned on said first type of exchangeable tool.

[0029] Example 18. The end effector according to any one of examples 1-17, wherein said wire holder comprises one or more of first motors for moving said wire holder in one or more directions.

[0030] Example 19. The end effector according to any one of examples 1-18, wherein said wire holder comprises one or more of second sensors for monitoring the moving actions of said wire holder.

[0031] Example 20. The end effector according to any one of examples 1-19, wherein one of said one or more of second sensors is at least one anti-collision sensor for monitoring external forces applied on one or more parts of said end effector while being used.

[0032] Example 21. The end effector according to any one of examples 1-20, wherein said wire holder comprises an exchangeable tool locker configured for locking said first type of exchangeable tool in place.

[0033] Example 22. The end effector according to any one of examples 1-21, wherein said first type of exchangeable tool comprises at least one identification marking.

[0034] Example 23. The end effector according to any one of examples 1-22, wherein said first type of exchangeable tool comprises a distal end configured to hold a component at a certain angle in relation to an axis of said first type of exchangeable tool.

[0035] Example 24. The end effector according to any one of examples 1-23, wherein said angle of from about 0° to about 180°. Example 25. The end effector according to any one of examples 1-24, wherein a distance from a distal end of said first type of exchangeable tool to said adaptor is from about 10mm to about 300mm.

[0036] Example 26. The end effector according to any one of examples 1-25, wherein said first type of exchangeable tool comprises a total width of from about 1mm to about 10mm.

[0037] Example 27. The end effector according to any one of examples 1-26, wherein said end effector exchanges said first type of exchangeable tool from a plurality of first type of exchangeable tools located in a dedicated stand for first type of exchangeable tools.

[0038] Example 28. The end effector according to any one of examples 1-27, further comprising a wire locker comprising a second type of exchangeable tool.

[0039] Example 29. The robotic wiring system according to any one of examples 1-28, wherein said second type of exchangeable tool is a motorized screwdriver configured to receive one or more interchangeable screwdriver bits.

[0040] Example 30. The end effector according to any one of examples 1-29, wherein said motorized screwdriver comprises a second adaptor configured for allowing exchanging of said one or more interchangeable screwdriver bits.

[0041] Example 31. The end effector according to any one of examples 1-30, wherein said second type of exchangeable tool is a motorized pusher configured for pushing locking mechanism in electrical connector terminals.

[0042] Example 32. The end effector according to any one of examples 1-31, wherein said wire locker comprises one or more of third sensors configured to monitor locking actions of said wire locker.

[0043] Example 33. The end effector according to any one of examples 1-32, wherein one of said one or more of third sensors is a torque sensor configured to monitor torque related to locking mechanisms of electrical terminal connectors.

[0044] Example 34. The end effector according to any one of examples 1-33, wherein said wire locker comprises one or more of second motors for moving said wire locker in one or more directions.

[0045] Example 35. The end effector according to any one of examples 1-34, wherein said first type of exchangeable tool is configured to perform tasks related to an automated wiring process.

[0046] Example 36. The end effector according to any one of examples 1-35, wherein said second type of exchangeable tool is configured to perform tasks related to an automated wiring process. Example 37. The end effector according to any one of examples 1-36, wherein said tasks are one or more of grasping a wire, grasping a tube, grasping a cable, locking a wire, testing continuity and delivering data.

[0047] Example 38. The end effector according to any one of examples 1-37, wherein said first type of exchangeable tool is configured to fit in a tight spot.

[0048] Example 39. The end effector according to any one of examples 1-38, wherein said second type of exchangeable tool is configured to fit in a tight spot.

[0049] Example 40. The end effector according to any one of examples 1-39, wherein said first type of exchangeable tool is configured to be used in a validation process.

[0050] Example 41. The end effector according to any one of examples 1-40, wherein said second type of exchangeable tool is configured to be used in a validation process.

[0051] Example 42. The end effector according to any one of examples 1-41, wherein said first type of exchangeable tool is configured to be used in a quality assurance (QA) process.

[0052] Example 43. The end effector according to any one of examples 1-42, wherein said second type of exchangeable tool is configured to be used in a quality assurance (QA) process.

[0053] Example 44. The end effector according to any one of examples 1-43, wherein said end effector comprises a single multi-sensor configured for monitoring the processes of all parts of said end effector.

[0054] Example 45. The end effector according to any one of examples 1-44, wherein said calibration information is generated by one or more of tests, analysis and simulations.

[0055] Example 46. A robotic wiring system comprising: a. at least one robotic arm comprising an end effector according to example 1 ; and b. a tool stand comprising a plurality of tools.

[0056] Example 47. A method of performing a wiring process by an automated wiring machine, comprising: a. receiving wiring information data comprising a plurality of tasks; b. picking up, by said automated wiring machine, a dedicated tool for a task from said plurality of tasks according to said wiring information data; c. performing said task from said plurality of tasks according to said wiring information data; wherein said method comprises interchanging tools when a specific task from said plurality of tasks requires a different tool from said picked up tool. Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

[0057] As will be appreciated by one skilled in the art, some embodiments of the present invention may be embodied as a system, method or computer program product. Accordingly, some embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, some embodiments of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. Implementation of the method and / or system of some embodiments of the invention can involve performing and / or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of some embodiments of the method and / or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware and / or by a combination thereof, e.g., using an operating system.

[0058] For example, hardware for performing selected tasks according to some embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to some embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to some exemplary embodiments of method and / or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and / or data and / or a non-volatile storage, for example, a magnetic hard-disk and / or removable media, for storing instructions and / or data. Optionally, a network connection is provided as well. A display and / or a user input device such as a keyboard or mouse are optionally provided as well.

[0059] Any combination of one or more computer readable medium(s) may be utilized for some embodiments of the invention. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0060] A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0061] Program code embodied on a computer readable medium and / or data used thereby may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0062] Computer program code for carrying out operations for some embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (FAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0063] Some embodiments of the present invention may be described below with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0064] These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0065] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0066] Some of the methods described herein are generally designed only for use by a computer, and may not be feasible or practical for performing purely manually, by a human expert. A human expert who wanted to manually perform similar tasks, such as changing between tools used for wiring actions, might be expected to use completely different methods, e.g., making use of expert knowledge and / or the pattern recognition capabilities of the human brain, which would be vastly more efficient than manually going through the steps of the methods described herein.

[0067] BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0068] Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.

[0069] In the drawings:

[0070] Figure 1 is a schematic representation of an exemplary automated wiring system, according to some embodiments of the invention; Figure 2 is a schematic representation of an exemplary automated wiring unit / system, according to some embodiments of the invention;

[0071] Figure 3 is an exemplary vertical automatic wiring system, according to some embodiments of the invention;

[0072] Figure 4 is a schematic representation of an exemplary horizontal automated wiring system with a dedicated wire preparation module, according to some embodiments of the invention;

[0073] Figure 5A is schematic representation of an exemplary wiring arm module comprising a plurality of articulations, according to some embodiments of the invention;

[0074] Figures 5B-F are schematic representations of how a human performs wiring actions;

[0075] Figure 6A is a schematic representation of an exemplary wiring arm module, according to some embodiments of the invention;

[0076] Figure 6B is a schematic representation of an exemplary wiring arm module, according to some embodiments of the invention;

[0077] Figure 7 A is a schematic representation of an exemplary wiring-end effector module, according to some embodiments of the invention;

[0078] Figure 7B is a schematic representation of the parts of the wire holding element / wire holder, according to some embodiments of the invention;

[0079] Figure 7C is a schematic representation of the sensors located on the elongated extensions, according to some embodiments of the invention;

[0080] Figure 7D is a schematic representation of an exemplary gimbal blocks to which the extensions are connected, according to some embodiments of the invention;

[0081] Figure 7E is a schematic representation of the exemplary movements of the gimbal block and an exemplary embodiment of a device comprising two gimbal blocks, according to some embodiments of the invention;

[0082] Figure 7F is a schematic representation of an exemplary wire locking element / wire locker 704, according to some embodiments of the invention;

[0083] Figure 7G are schematic representations of a plurality of possible interactions of wiringend effector modules with different types of terminal blocks having different locking mechanisms of the wire in the connector of the component, according to some embodiments of the invention;

[0084] Figure 7H is a schematic representation of exemplary ferrules, according to some embodiments of the invention;

[0085] Figure 71 is a schematic representation of exemplary ferrules, according to some embodiments of the invention; Figure 8 is a schematic representation of a wiring-end effector module configured for interchangeable tools, according to some embodiments of the invention;

[0086] Figures 9A-9B are schematic representations of an exemplary locking mechanism for interchangeable tools, according to some embodiments of the invention;

[0087] Figures 9C-9E are schematic representations of exemplary characteristics of interchangeable tools, according to some embodiments of the invention;

[0088] Figures 10A-10D are schematic representations of exemplary wiring gripping mechanism, according to some embodiments of the invention;

[0089] Figure 11 is a schematic representation of an exemplary stand comprising a plurality of exchangeable tools, according to some embodiments of the invention;

[0090] Figures 12A-12B are exemplary stands for different interchangeable tools, according to some embodiments of the invention;

[0091] Figure 12C is a schematic representation of a plurality of exemplary interchangeable wire gripping tools, according to some embodiments of the invention;

[0092] Figure 12D is a schematic representation of a plurality of exemplary interchangeable tools configured to grab technical cables, according to some embodiments of the invention;

[0093] Figure 12E is a schematic representation of a plurality of exemplary technical tools, according to some embodiments of the invention;

[0094] Figures 13A-13B are schematic representations of an exemplary alternative wire gripper tool, according to some embodiments of the invention;

[0095] Figure 14A is schematic representation of an exemplary wiring end-effector having interchangeable tools capabilities, according to some embodiments of the invention;

[0096] Figures 14B-14G are schematic representations of an exemplary wire holding element / wire holder, according to some embodiments of the invention;

[0097] Figure 15 is a flowchart of an exemplary validation method, according to some embodiments of the invention;

[0098] Figure 16 is a flowchart of an exemplary method of wiring by an exemplary wiring-end effector module having interchangeable tools, according to some embodiments of the invention;

[0099] Figures 17A-17B are a flowchart of an exemplary method of wiring by an exemplary wiring-end effector module when the wire comprises ferrule, according to some embodiments of the invention;

[0100] Figure 18 is a flowchart of an exemplary method of wiring by the wiring arms module, according to some embodiments of the invention; Figure 19 is a schematic representation of an exemplary data flow and operation of an automated wiring system, according to some embodiments of the invention;

[0101] Figures 20A-20B are schematic illustrations of a wiring process by two automated mechanical arms, according to some embodiments of the invention;

[0102] Figure 21 is a graph describing the exemplary phases of the insertion of a wire into an electrical terminal connector of a component as identified by the sensors in the gripper, according to some embodiments of the invention;

[0103] Figures 22A-22C are three different examples of sensed forces by the gripper in three different scenarios, according to some embodiments of the invention; and

[0104] Figure 23 is a graph showing data received from sensors during different tests, according to some embodiments of the invention.

[0105] DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

[0106] The present invention, in some embodiments thereof, relates to interchangeable tools for a robot and, more particularly, but not exclusively, to interchangeable tools for a robot in a wiring system.

[0107] Overview

[0108] An aspect of some embodiments of the invention relates to robotic wiring systems and automatic exchange of dedicated wiring tools. In some embodiments, the robotic wiring system (referred hereinafter just as “wiring system”) comprises one or more robotic mechanical arms (referred hereinafter just as “robotic arm”) having an interchangeable end effector. In some embodiments, the robotic arm comprises connector configured to allow reversible connection of one or more tools to the robotic arm. In some embodiments, the connection of the tool to the robotic arm comprises a mechanical connection and / or an electrical connection. In some embodiments, the robotic arm can be one or more of a manipulator, a Cartesian gantry system and a multi-axis platform. In some embodiments, the connector comprises the actuation mechanism for the tool. In some embodiments, the tool itself comprises the actuation mechanisms required for its actuation. In some embodiments, the tools configured to be suitable for wiring actions. In some embodiments, the tools are configured to hold all types of hardware required to perform a full wiring of a device, for example, tools are configured to hold and / or manipulate one or more of electrical components, electrical wires, connectors, ferrules and cables.

[0109] In some embodiments, the wiring system is configured to easily exchange between tools in order to perform the wiring actions. In some embodiments, a plurality of dedicated tools are positioned close to the wiring area, and more specifically, at a distance suitable for the one or more robotic arms to access them.

[0110] In some embodiments, the wiring system comprises a plurality of tools that allow the automatic system to hold any and all types of wires and ferrules and to hold tube pipes, fiber optic cables, connectors and cables. A potential advantage of the system is that it potentially allows to easily design new tools according to needs. In some embodiments, the tools comprise one or more sensors configured to provide feedback regarding force(s) and / or torque(s) sensed through the tools. In some embodiments, the tools are designed to be slim, which allows access to narrow and / or tight components and ducts in electrical cabinets. In some embodiments, the system is configured to use technical tools, for example for quality assurance tasks, for example, continuity and data transfer. In some embodiments, the different tools comprise one or more markings used by the system to identify the different tools and, in addition, can be used to potentially protect the system from using non-original parts.

[0111] In some embodiments, the automatic wiring system comprises one or more sensors configured to monitor the wiring process and, when and if necessary, automatically interchange tools in the end-effector in order to continue and finish the wiring process. In some embodiments, the system receives in advance a chronological order in which interchangeable tools are going to be used. In some embodiments, if the system detects a problem (using the one or more sensors), the system is configured to assess the problem, choose which tool is appropriate to deal with the problem, perform the interchange of tools, resolve the problem, and continue with the wiring process as previously programmed. In some embodiments, problems are resolved using one or two of the robotic arms. In some embodiments, when two of the robotic arms are used, they cooperate with each other to resolve the problem.

[0112] Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and / or methods set forth in the following description and / or illustrated in the drawings and / or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

[0113] Referring now to Figure 1, showing a schematic representation of an exemplary automated wiring system, according to some embodiments of the invention.

[0114] In some embodiments, the system comprises an electric designing software to be used in an electronic device 102, for example one or more of a personal computer, a tablet, a cellphone and a dedicated designing station. For simplicity, the software and the electronic device will be referred herein after as designing console. In some embodiments, the system comprises a database 104 comprising one or more of technical electrical data, electrical designs, mechanical drawings, business data and more.

[0115] In some embodiments, the system comprises one or more of an automated electrical wiring unit / system / module 106, which will be further explained below.

[0116] In some embodiments, the software on the electronic device 102, the database 104 and the one or more automated electrical wiring unit / system / module 106 are in communication with each other by one or more of wired connection, wireless connection and wireless connection via a cloud server 108. In some embodiments, the database 104 and the cloud server 108 are one.

[0117] Exemplary designing console

[0118] In some embodiments, the designing console 102 comprises a specialized graphical interface unit (GUI) for virtually designing an electrical cabinet. In some embodiments, the user inserts all necessary information and requirements related to the project, comprising one or more of required switches, knobs and displays; demands for heat dissipation, radio frequency interference and electrostatic discharge protection; required number of wires, connectors, conduits; type of wires; wire information may include, wire gauge, color, insolation type, end piece type, and more, components in cabinet may include various electrical and electronic components such as switches, circuit breakers, relays, couplers, drivers, computer parts, boards, and more.

[0119] In some embodiments, the designing console 102 manages all design data including affiliated documents, such as bill of materials and connection lists or assembly instructions and datasheets. In some embodiments, a potential advantage of the designing console is that its object- oriented data structure ensures manufacturing instructions that always match the design data. In some embodiments, the designing console 102 is in communication with the database 104 that comprises component-based parts library that ensures that only real parts are used and, optionally, helps drive the design with automatic part selections.

[0120] In some embodiments, the designing console 102 is configured to help the user generating the plurality of plans necessary for the wiring of an electrical cabinet. For example, electrical schematics, which represent what type of wire goes where in the electrical cabinet; mechanical drawing, which represents a layout model of the different components inside the electrical cabinet (usually performed by an electrical engineer and / or a mechanical engineer).

[0121] In some embodiments, the database 104 comprises a library of parts that previous users have used and / or inserted in the library. In some embodiments, the library of parts includes technical information regarding the specific parts, and each part is represented in either plan. For example, an electrical engineer will use a specific part from the library (for example a circuit breaker) for a certain wire connection (which will be shown in the electrical schematics), while the mechanical engineer will use the location of the part to identify the physical location of the insertion point of the wire.

[0122] In some embodiments, the designing console 102 is operated, for example, by a production engineer, which integrates both electrical schematics and mechanical drawings in one plan, which is used to operate the automated electrical wiring unit / system 106 for assembly. In some embodiments, the system itself automatically merges both plans and, optionally after approval of a production engineer (or other dedicated personnel), they are provided to the automated electrical wiring unit / system 106 for assembly. In some embodiments, in addition, a simulation is run before the actual assembly by the automated electrical wiring unit / system 106. In some embodiments, the continuity of the data is preserved along the whole process, for example, from the planning of the cabinet, including the designing and merging of the electrical schematics and mechanical drawings, to the actual wiring of the cabinet, including the mounting of the components, the planning of the routing of the wires, the actions performed by each of the parts of the system. More information about the continuity of the data, the merging processes and other processes, can be found here: www(dot)smart-cabinet-building(dot)com / en / index(dot)jsp. The contents of which are incorporated herein by reference in their entirety.

[0123] In some embodiments, when there are no mechanical drawings, only a Bill of Materials (BOM), an empty (not wired) cabinet can be scanned and analyzed using dedicated scanning software, which then recognizes the type of cabinet and / or components. In some embodiments, then the system generates a planning of the wiring based on the scanning and the BOM.

[0124] In some embodiments, the designing console 102 comprises a “built-in in real-time design rule checker” configured to check and potentially prevent errors. In some embodiments, a potential advantage of this feature is potentially avoiding errors a priori, which is better than finding them later at the production stage. In some embodiments, the designing console comprises base functionalities including: device duplication prevention, short circuit prevention, design reuse with centrally stored sub-circuits or modules, automatic and parallel connections, save, load, copy, rotate and mirror drawings and areas, extensive functionality for exchanging symbols and components, component driven intelligent parts libraries, ensure only valid parts are used in the design, simple and complex variants and option management, online cross-references for connections and devices, object and text hyperlinks, user-defined attributes, user-defined grid sizes, fonts and line types and dynamic zooming and panning.

[0125] In some embodiments, the designing console comprises design and documentation of wire plans and harness layouts. In some embodiments, individual conductors can be combined in the design to form new wires or harnesses. In some embodiments, shielding and twisted-pair structure can also be added to the wires and automatically shown in the schematic. In some embodiments, views allow alternate documentation of devices such as single-line diagrams, wiring diagram and wire plans. For example connectors can be represented as single pins in the schematic and then as the complete connector in the wire plan. In some embodiments, changes to any of the views immediately updates all other views, ensuring all documentation is synchronized.

[0126] In some embodiments, the designing console comprises block functionality. In some embodiments, blocks represent components, rack equipment, black boxes, PCBs and through hierarchy whole systems and subsystems. In some embodiments, connector pins are dynamically added to the blocks and signal information is displayed alongside. In some embodiments, blocks represent hierarchical systems and subsystems, so users can tunnel down into blocks to the level below and signals and connections can pass between levels and sub-levels. In some embodiments, hierarchy enables top-down and bottom-up design, promotes design reuse, and provides managers with a system-level overview. In some embodiments, special representations of connectors, as used in the aerospace and automotive industries, can be created automatically using dedicated extensions.

[0127] In some embodiments, the system comprises instructions to validate the design according to certain standards and or codes, for example, all the ground bars are properly located and sized in accordance with the regulations for example of the state / country / CE / UL.

[0128] In some embodiments, the system is configured to allow the user to manage electrical schematics with mechanical drawings in and by the designing console 102. In some embodiments, a user provides and / or inserts rules for electrical schematics and / or mechanical drawings into the designing console 102. In some embodiments, the rules are rules related to one or more standards required by the government, special requirements by a client, technical limitations, and any other rule that a user will want to add to the designing console 102. In some embodiments, a user then designs the electrical schematics and / or the mechanical drawing in the designing console 102 itself. In some embodiments, different designs are provided by different users and independently inserted into the designing console 102. In some embodiments, designs are made elsewhere and manually inserted into the designing console 102. In some embodiments, once the designs are received, the designing console 102 performs a check of the designs to ensure that they are according to the rules that were set. In some embodiments, if there are problems with any of the designs, the system will notify the user. In some embodiments, correction are made in the designing console 102 itself. In some embodiments, the user bring corrected designs made elsewhere. In some embodiments, once the designs are approved, the designing console 102 merges between the electrical schematics and the mechanical drawings, thereby generating a master wiring plan. In some embodiments, after the merge, the designing console 102 optionally performs an additional check of the rules of each of the designs to ensure all rules are still maintained. In some embodiments, the system then continues to the preparing the robotic wiring plan.

[0129] In some embodiments, the user inserts the technical data of the electric cabinet, comprising for example, the length and number of DINs, the actual space dedicated for the elements of the electrical cabinets which are needed to be wired. In some embodiments, the designing console 102 comprises instructions to perform a check of the electrical schematics and / or the mechanical drawings and / or the merge of them in view of the technical data of the electric cabinet inserted by the user. In some embodiments, when the designing console 102 finds a contradiction and / or a problem, it sends a message to the user. Optionally the user can edit the plan and recheck it

[0130] In some embodiments, the designing console enables the transfer of electrical cabling / wiring details (components, connectors, terminals, splices, netlist information) to the automated electrical wiring unit / system 106.

[0131] In some embodiments, the designing console allows working in either two or three dimensions. In some embodiments, the designing console allows users to layout components inside panel enclosures. In some embodiments, intelligent automatic snapping points allow parts to be easily placed in their correct location, and with keep-out and height restrictions it is also possible to prevent clashes. In some embodiments, a potential advantage of the system is that it provides a system that is easy-of-use, which means that users potentially do not need to understand MCAD tools. In some embodiments, the software is configured to automatically plan the route of the wires through ducts in the panel, taking into account the shortest route and any segregation requirements. In some embodiments, duct fill capacity is also checked during the planning. In some embodiments, the length of each wire is calculated and that information is passed to the automated electrical wiring unit / system 106.

[0132] In some embodiments, based on the plans and the routing of the plurality of wires, a priority of cable placement is generated based on one or more of the following exemplary aspects: physical constrains (e.g. inserting wire 11 before 12 into the device to avoid collision / obstruction); and optimization of the sequence based on other priorities (e.g. reduction of cycle time).

[0133] In some embodiments, the designing console utilizes simplified models of the electrical panel design to check for collisions in the complete mechanical design. In some embodiments, this functionality enables full digital mock-ups to assess spacing requirements, collision / interference detection and error prevention. In some embodiments, a plurality of users can utilize the system at the same time, optionally independently or collaboratively. In some embodiments, the designing console ensures that all changes are tracked and documented. In some embodiments, alternate revisions of the design are compared against each other and any changes are reported and stored in both graphical and textual formats. In some embodiments, manufacturing data is extracted from the design in the form of wire lists, which includes route and length information to the automated electrical wiring unit / system 106.

[0134] Exemplary simulation module

[0135] In some embodiments, the designing console comprises a simulation module comprising dedicated software comprising instructions to run virtual simulations of the performance of the electrical cabinet during and / or after the design process. In some embodiments, after the simulations are run, an optimization process is performed according and / or in view to the results of the simulations.

[0136] In some embodiments, the simulation module performs simulations in order to potentially prevent collisions of the system (for example, the robotic arms) with the cabinet parts. In some embodiments the simulation module performs simulations in order to validate various sequences in order to select the one with the best cycle time. In some embodiments, the simulation module is used for the validation of the placement of all the components included in the Bill of Materials (BOM), in the electrical cabinet. In some embodiments, the simulation module is used for validating all the plans are used in the design of the wiring of the electrical cabinet. In some embodiments, the simulation module is used for a pre-run of the automated electrical wiring unit / system 106. In some embodiments, the simulation module will create and optionally download the code to automated electrical wiring unit / system 106. In some embodiments simulation module is used for pricing the cost of the cabinet assembly to the end user. In some embodiments, the simulation is used to optimize the use of raw materials, for example, to minimize the total length of wire used, in order to save copper.

[0137] Exemplary division of tasks to macro and micro processes

[0138] In some embodiments, the software of the designing console comprises instructions to divide the entire automated wiring process into a plurality of macro processes comprising a plurality of micro processes. In some embodiments, the optimization process, which includes the use of simulations, will ensure that the macro and micro processes are performed in an optimal manner according to the task, optionally by optimizing most, if not all, macro and micro processes. In some embodiments, the automated wiring systems performs the plurality of optimization processes utilizing micro and macro operation analysis with Al algorithms, which potentially reduces the set up time. In some embodiments, the Al algorithms are configured to analyze errors and / or recurring faults in the wiring performance and optionally correlate those with specific components and / or locations in the panel, to provide solutions and / or warnings in advance, when planning the wiring of a panel.

[0139] In some embodiments, the micro process is dependent on the specific tool used while similar macro process can use different micro processes relating to the actual devices in automated electrical wiring unit / system 106.

[0140] In some embodiments, the micro operation library is part of a 3rdparty entity that provides the tools with its corresponding micro operations, for example a gripper can be electrically operated resulting in a micro operation that activates a motor to perform a grasping task; alternatively a pneumatic actuator may be used. In some embodiments, a micro operation may include a sensing module, for example to identify that a wire was actually secured in place.

[0141] Exemplary automated wiring unit / system 106

[0142] In some embodiments, after the planning and / or designing of the electrical cabinet, the final designs are passed to the automated wiring unit / system 106 for assembly. In some embodiments, an electrical cabinet can be a panel, a system, an appliance or any other device in need of wiring.

[0143] Referring now to Figure 2, showing a schematic representation of an exemplary automated wiring unit / system 106, according to some embodiments of the invention. In some embodiments, an exemplary automated wiring unit / system 106 comprises one or more modules as part and / or inside a main casing or station 202, for example: a wire preparation module 204, one or more wiring arms modules 206, one or more wiring-end effector modules 208, panel handling module 210, quality assurance (QA) module 212 and a software module 214.

[0144] Exemplary software module 214

[0145] In some embodiments, the automated wiring unit / system 106 comprises a software module 214 in communication with all the different modules in the wiring unit / system 106 and with external systems. In some embodiments, the software module 214 receives the designing plans from the designing console (external system), and actuates the different modules in the automated wiring unit / system 106 to execute the wiring plans.

[0146] In some embodiments, the software module 214 is also responsible for debugging the system and perform and / or schedule maintenance of the system.

[0147] In some embodiments, the software module 214 includes an onsite simulation software that allows, amongst other things, to validate a process (or part of it) before and actual run. In some embodiments, a user can edit the run time software, for example, to add new wires, to edit the route of an existing wire and / or to omit a wire. In some embodiments, wire parameters such a gauge, color, etc. may also be edited by a user. In some embodiments, a user can add testing and / or QA routines to the execution software.

[0148] Exemplary panel handling module 210

[0149] In some embodiments, a variety of panel handling modules can support the process of loading and unloading a panel to system 106. In some embodiments, when the main casing is vertical (as shown for example in Figure 3), the panel handling module 210 is configured to rotate the electrical cabinet on its axis, inside the automated wiring unit / system 106, to facilitate one or more of loading the electrical cabinet, unloading the electrical cabinet and allow access of a user to equip the electrical cabinet while inside the automated wiring unit / system 106. In some embodiments, the panel handling module can hold the panel vertically (as shown for example in Figure 3) and / or horizontally (as shown for example in Figure 4).

[0150] In some embodiments, the panel handling module is used in combination with an automatic or semi-automatic loading / unloading system. In some embodiments, the loading / unloading system is moving in linear fashion rather than rotation.

[0151] Exemplary QA module 212

[0152] In some embodiments, the QA module 212 is in communication with all the modules of the automated wiring unit / system 106, and it is configuration to perform a plurality of actions to ensure the correct functioning of the automated wiring unit / system 106. In some embodiments, functions to be monitored are one or more of wire insertion validation, validation of location of electrical components in the electrical cabinet, wire routing verification, validation of correct actuation of locking mechanisms in electrical connectors of the components (for example by validating the torque of the screw holding the wire in the connector) and, optionally, wire connectivity validation and electrical integrity validation.

[0153] In some embodiments, the automated wiring machines comprise a plurality of sensors for tactile feedback, force feedback, moment / torque feedback which potentially increases the insertion of wires in their correct location, improves process reliability and potentially reduces the time of validation processes.

[0154] In some embodiments, a visual and / or optical system is used for QA. In some embodiments, various electrical circuits can be checked by providing various loads to the system, for example, by delivering current / voltage at different levels through the end-effector or through a special tool that may be attached (automatically or manually) to the wiring arm modules. For example, the locking actuation mechanism that actuates the locking mechanism in the connector comprises a screwdriver that actuates a screw that presses on the wire. In some embodiments, current is used to perform a continuity / resistance test, for example by touching two components (one with each arm) and validating continuity through resistance and or current parameters.

[0155] In some embodiments, the automated wiring systems utilizes deep-learning algorithms for the component location and identification, which potentially increases the location validation and insertion of wires in their correct location and potentially reduces the time of validation processes.

[0156] In some embodiments, since it is possible that part of the components could partially concealed from the QA system (or only partially visible), the Deep Learning (D / L) algorithms of the system uses previously learned process to identify the parts and estimate their location.

[0157] In some embodiments, the D / L algorithms are used to predict a possible error in the routing system, for example, if a ground wire typically goes to port A in certain connectors but in one instruction- set a ground wire is (mistakenly) routed to port B - the system provides a warning or alternatively use other logic to see if port B can also accept the ground wire.

[0158] In some embodiments, the automated wiring systems utilizes reinforced learning for flexible wire insertion with impedance control, which potentially increases the insertion of wires in their correct location.

[0159] In some embodiments, the automated wiring system uses a search routine with a feedback system to locate the opening (port) for wire insertion in the connector of the component. In some embodiments, the automated wiring system uses a visual systems, with or without other sensors, to locate the opening of the connector in the component, before and / or during insertion of the wire. In some embodiments, the automated wiring system performs a dry run (a scan) above the components to validate the location of the opening of the connector in the component (using various sensors e.g. vision, optical, tactile) and provide a correction delta locations before the insertion routine is executed.

[0160] Wire preparation module 204

[0161] In some embodiments, the automated wiring unit / system 106 comprises a wire preparation module 204. In some embodiments, the wire preparation module 204 is an integral part of the automated wiring unit / system 106. In some embodiments, the wire preparation module 204 is an independent module, optionally external to the automated wiring unit / system 106. In some embodiments, the wire preparation module 204 is responsible for the preparation of the wires for their incorporation into the electrical cabinet by the automated wiring unit / system 106. In some embodiments, the wire preparation module 204 comprises one or more of the following parts: a plurality of wire stocks, one or more wire manipulators comprising a rail which allows the wire manipulators to move between modules (see below), at least one wire stripper module, a plurality of wire-end connector (wire head) mounting modules, a wire cutter and a frame configured to house all modules and parts of the wire preparation module 204.

[0162] In some embodiments, the wire preparation module 204 comprises a wire marking device configured to add personalized markings to the wires being prepared. For example, the wire marking device can add numbers, letters, symbols, etc. by means of a laser, a sticker, or any other printing machine configured to print on the surface of a wire or configured to add a sticker or sleeve with marking on a wire. In some embodiments, a potential advantage of a wire marking device is that is allows, later on, to potentially easily find specific wires in the cabinet.

[0163] Exemplary wire delivery unit

[0164] In some embodiments, ready to be used wires are provided in advance by providing pre-cut wires that are ready to be wired into an electrical cabinet. In some embodiments, pre-cut wires are acquired as is from a 3rdparty. In some embodiments, pre-cut wires are prepared in advanced by a wire preparation module. In some embodiments, read to be used wires are put in the reach of the mechanical arm modules. In some embodiments, when pre-cut wires are used and made available to the mechanical arm modules it is called to be used a wire delivery unit for providing wires to be inserted in the electrical cabinet by the automated system. In some embodiments, a dedicated fixture is used to present the precut wire to the system, for example, the fixture is built with provision to hold wires according to their lengths, alternatively, according to their order / sequence. In some embodiments, optionally, the wire delivery unit can be mobile and be attached to the system as may be needed. In some embodiments, optionally, the wire delivery unit can serve multiple systems. In some embodiment the wire prep module includes a hand over mechanism that delivers and or present the wire(s) to the wiring system for example with a manipulator, dual arms, pneumatic axes etc.

[0165] Exemplary wiring systems

[0166] Referring now to Figures 3 and 4, showing schematic representations of a vertical and a horizontal automatic wiring systems, respectively, according to some embodiments of the invention.

[0167] Referring now to Figure 3, showing an exemplary vertical automatic wiring system, according to some embodiments of the invention. As mentioned above, exemplary automated wiring systems are configured to include the plurality of modules as described above in a manner that a standing electrical cabinet is allocated within, and the modules can be operated around it to perform the automated wiring actions.

[0168] Referring now to Figure 4, showing a schematic representation of an exemplary horizontal automated wiring system with a dedicated wire preparation module, according to some embodiments of the invention. In some embodiments, the system is mounted on a horizontal platform 202, and on top of it, all necessary instruments are located. As mentioned above, in some embodiments the system comprises one or more wiring arms modules 206 (in Figure 4, two are shown) optionally both comprising wiring-end effector modules 208 and a wire preparation module 204, similar to what was disclosed above, configure to prepare ready to be connected wires 402, which will be used in the wiring of a panel 404 (for example). In some embodiments, this system optionally comprises a depth camera 406 configured to monitor the wiring actions of the system. In some embodiments, the wiring methods are the same as disclosed herein elsewhere.

[0169] Fine motors skills and wiring

[0170] Before explaining at least one embodiment of an exemplary wiring arms module 206 and an exemplary wiring end-effector module 208 of the invention in detail, the inventors would like to convey one of the many possible challenges in the robotic automation performance in general, and specifically, in the robotic automation for electrical wiring and robotic wiring manipulation. The inventors have found that in order to perform correct wiring of electrical wires into an electrical cabinet a certain level of dexterity and / or sensibility (meaning high levels of wire manipulation capabilities) is required and, apparently, in some instances, at least two hands. For example, a technician and / or a user, utilizing his somatosensory system (for example: touch), needs to hold the wire with one hand, insert the wire as is or the wire with a wire head in the electrical socket or electrical terminal connector of a component, and with the other hand perform the locking actions to lock the wire in the socket. The terms “electrical socket” and “electrical terminal connector” are interchangeable and should either of them be mentioned, it should be understood that either refer to the same thing, which is an object in a component configured to receive a wire for purposes of connecting and / or holding an electrical wire to the component. Furthermore, depending on the type of wire end, the user must use just the necessary force when inserting the wire into the socket for, on one side, inserting and keeping the wire in the socket while it is being locked and, on the other side, avoiding deformation of the wire due to the application of excessive force. It is also common in the art for the user to “feel” that the wire is secured in location by slightingly pulling it after the locking action has been performed. In the following paragraphs exemplary actions performed by a human will be described to allow a person having skills in the art to understand the challenges when translating apparent easy tasks performed by humans into robotics.

[0171] In some embodiments, the robotic systems comprise fine motor skills (or dexterity). In some embodiments, the automated wiring system (in general) and the wiring arms modules of the present invention comprises one or more of the following technical characteristics:

[0172] Articulation: in some embodiments, the arm modules together with the wiring-end effector module comprise a plurality of articulations that confers a plurality of degrees of freedom of movement to the system. Referring now to Figure 5A, schematically showing an exemplary wiring arm module 206 comprising a plurality of articulations, according to some embodiments of the invention. In some embodiments, the wiring arm module 206 comprises a plurality of articulations 502, 504, 506. In some embodiments, the articulations confers a plurality of degrees of freedom of movement. For example, articulations 502, 504, 506 can potentially confer between 4 to 8 degrees of freedom of movement as shown by the arrows. It should be understood the articulations disclosed herein are just examples to allow a person having skills in the art to understand the invention, and that greater or fewer articulations can be used. In some embodiments, the system can be Cartesian with rotary end effector or fully articulated.

[0173] Exemplary Sensibility: in some embodiments, the arm modules and the wiring-end effector modules comprise a plurality of sensors (see below) configured to monitor the interactions of the modules with the wires and / or the wire cabinet. In some embodiments, the arm modules and the wiring-end effector modules are actuated using a combination of motors, sensors and software that enable compliance based mechanisms with antagonistic elastic actuation as opposed to rigid- linkage based robot grippers. In some embodiments, this allows a higher variability in gripping force control. In some embodiments, the software comprises information regarding payload weights / stiffness and structure and program that enhances the correct function (grasp planning) of the grippers without overshoot.

[0174] In some embodiments, parts of the arms and or grippers may be automatically changed for specific tasks for example to hold different tools such as tweezers or cutters.

[0175] Grip and Slip capabilities: when a human performs wiring actions, he / she uses tactile feedback to secure a cable into a connector / device, a typical cycle of actions includes (see Figures 5B-5F):

[0176] Gripping tight the wire during insertion by applying radial force on the wire (radial force - Figure 5B) and applying an insertion force (axial force - Figure 5C) - before contact force is zero and it grows during insertion); • At a certain peak force (as determined by user experience) he “feels” that the wire is inserted in the connector (peak force - Figure 5D) of the component. Usually at this point, the axial force is countered by the complete insertion of the wire in the connector in the component;

[0177] • After the wire is secured in the connector, the user pulls back the wire (to feel if it is tightly secured) at a certain force (user pulls - Figure 5E);

[0178] • Then, the user apply less radial force on the cable (the grip force) and allows the cable to slip in the hand in the axial direction (Figure 5F). Usually, the user feels the slip of the cable without releasing the wire.

[0179] In some embodiments, these actions are performed using capabilities that are referred herein as Grip and Slip capabilities.

[0180] In some embodiments, the wiring arm modules 206, comprising the wiring-end effector modules 208, comprise a plurality of motors and sensors that perform forces and measurements of the axial and radial forces, similarly to the actions performed by a human, in order to provide a system with high levels of dexterity and sensibility capable to perform wiring actions. In some embodiments the wiring-end effector module 208 includes one or more optical sensors, for example, one or more cameras and / or lasers scanners. In some embodiments, the wiring-end effector module 208 includes multiple 2D and / or 3D cameras.

[0181] Exemplary wiring arms modules 206

[0182] Referring now to Figures 6A-B, showing a schematic representation of exemplary wiring arm modules 206, according to some embodiments of the invention. In some embodiments, a wiring arm module comprises a base 602, mounted on a rail 604. In this example, the rail 604 comprises two vertical tubes on which the whole wiring arm module moves vertically, as schematically shown by arrow 606. In some embodiments, mounted on the base 602, there is the mechanical arm 608 comprising a plurality of arm parts 610, 612 and articulations 502, 504, 506. In some embodiments, at the end of the mechanical arm 608 there is the wiring-end effector module 208. Referring now to Figure 6B, showing a schematic representation of two exemplary wiring arm modules 206 in a wiring unit / system 106, according to some embodiments of the invention. In some embodiments, each wiring arm module 206 is located at a side of the wiring unit / system 106. In some embodiments, a potential advantage of locating them this way is that it provides the necessary space for each mechanical arm to move freely without interfering with the movement of the other mechanical arm. In some embodiments, each wiring arm module 206 comprise a wiring- end effector modules 208, optionally comprising a camera 650. It should be understood that in any of the embodiments of the wiring-end effector modules 208, a camera is optionally added.

[0183] In some embodiments, the wiring arm module is optional, meaning a more simplistic holder of the wiring-end effector module 208 can be used. In the following paragraphs, examples of an automated wiring system comprising dedicated wiring arm modules 206 will be used to explain the invention. It should be understood that other types of platforms capable of actuating the wiringend effector module 208 can be used and are also included in the scope of the invention.

[0184] In some embodiments, a typical arm has a payload of about lOKg and accuracy of better than 0.1mm. In some embodiments, a Cartesian gantry style arm or dual arms are used for main movement (XYZ) while the fine local movement is done by 2 or 3 rotating axes along with an end effector.

[0185] Exemplary wiring-end effector modules 208

[0186] Referring now to Figure 7 A, showing a schematic representation of an exemplary wiringend effector module 208, according to some embodiments of the invention. In some embodiments, the wiring-end effector module 208 comprises one or more of the following parts: a wire holding element / wire holder 702 (or wire holder) and a wire locking element 704 (or wire locker). Referring now to Figure 7B, showing a schematic representation of the parts of the wire holding element / wire holder 702, according to some embodiments of the invention. In some embodiments, the wire holding element / wire holder 702 comprises one or more of a base 706 comprising wire pinching element 708. In some embodiments, the wire pinching element 708 comprises two extensions 710a-b, optionally two elongated finger-like extensions, which are brought together, for example, by an electrical mechanism 712 and / or by a pneumatic mechanism. In some embodiments, the length of the two extensions 710a-b when measured from the base to the end of the two extensions 710a-b is from about 20mm to about 200mm, optionally from about 15mm to about 250mm, optionally from about 10mm to about 300mm. In some embodiments, a potential advantage of having two extensions 710a-b having a length of about 200mm is that it potentially allows the distal end of the two extensions 710a-b to reach the panel being wired without causing a collision of the end effector with protruding elements in the panel since it potentially provides enough distance between the end effector and the surface of the panel being wired. In some embodiments, the width of the two extensions 710a-b is of about 6mm, for example from about 3mm to about 6mm, optionally form about 2mm to about 8mm, optionally from about 1mm to about 10mm. In some embodiments, a potential advantage of having a small width of the two extensions 710a-b is that it potentially allows the insertion of the two extensions 710a-b in small and / or crowded places. In some embodiments, the wire pinching element 708 comprises a gimbal block 770 to which the two extensions 710a-b are connected (see below further explanations regarding gimbal block 770). In some embodiments, the base 706 comprises a motor 714 that allows a horizontal movement of the wire holding element / wire holder 702, in the direction as schematically shown by arrow 716. In some embodiments, alternatively or additionally, the wiring arm module provides the motion along schematic arrow 716. In some embodiments, the horizontal movement shown by arrow 716 is the direction along the axis of the wire towards the electrical terminal connector. In some embodiments, the base 706 comprises one or more motors configured to move the holding element / wire holder 702 in one or more directions. In some embodiments the motion is in line with the wire terminal port that may be, for example, at an angle of 30, 45, 90 degrees (or any angle in between) from the plane of the panel.

[0187] Referring now to Figure 7C, showing a schematic representation of the sensors located on the elongated extensions 710a-b, according to some embodiments of the invention. In some embodiments, one or more of the elongated extensions 710a-b comprise one or more sensors 718 configured to monitor the force applied by the elongated extensions 710a-b on the wire 720. In some embodiments sensors are embedded in the finger or the body of the end-effector. In some embodiments, those sensors allow for the measurements of the axial and radial forces, similarly to the actions performed by a human, which provide a system with high levels of dexterity and sensibility capable to perform wiring actions, as explained above. In some embodiments, sensors are based for example, on strain gauges, load-cells and / or others. In some embodiments, additionally or alternatively, mechanism that can sense forces or moments (i.e.: sensors) are located on the part where the extensions are connected to the device, for example the gimbal block (see 770 in Figure 7D), as shown and explained below for Figures 7D-7E.

[0188] In some embodiments, the wire holding element / wire holder 702 is responsible for holding the wire once it is received from either the wire manipulators of the wire preparation module 204 or when picked up directly from a wire stand.

[0189] In some embodiments, the elongated extensions 710a-b can be replaced, automatically and / or manually, to accommodate a different wire gauge (see below).

[0190] In some embodiments, electrical mechanism 712 includes an anti-collision mechanism that protects the fingers.

[0191] In some embodiments, electrical mechanism 712 includes sensors that can measure moments that are applied by the elongated extensions 710a-b during insertion, for example moments at a value of from about 0.01NM to about 0.1NM. Referring now to Figures 7D-7E, showing schematic representations of exemplary gimbal blocks to which the extensions are connected, according to some embodiments of the invention. In some embodiments, the gimbal block 770 comprises a plurality of parts that allow the monitoring of forces applied on the extensions 710a-b. In some embodiments, the plurality of parts are one or more gimbals mounted on top of each other but having different axis of movement. In order to facilitate the explanations, two axis of movement will be described. It should be understood that more gimbals can be use, thereby providing more than two axis of movement that can be monitored. These are also part of the scope of the invention. Returning to Figure 7D, the gimbal block 770 comprises a top block 772, which connects the gimbal block 770 to the rest of the device. In some embodiments, below the top block 772 there is a top connector 774, which is connected to the top block 772 by means, for example, of screws 776. In some embodiments, one or more damping springs 796 in communication with one or more Button Axis Load Cells 778 are housed between the top block 772 and the top connector 774. In some embodiments, calibration of the Load Cells is performed by actuating the Damping Force Calibrating set screw 780. In some embodiments, below the top connector 774 there is a center block 782. In some embodiments, inserted in the top side of center block 782 there is a first gimbal axis 784, which confers the axis of movement perpendicular to the pin of the first gimbal axis 784 in the horizontal direction (see below explanations about the movement of the gimbal block). In some embodiments, inserted on the bottom side of the center block 782 there is a second gimbal axis 786 (shown in an inserted position). In some embodiments, the second gimbal axis 786 is perpendicular to the first gimbal axis 784. In some embodiments, the second gimbal axis 786 confers the axis of movement perpendicular to the pin of the second gimbal axis 786 in the horizontal direction (see below explanations about the movement of the gimbal block). In some embodiments, below the center block 782, there is a bottom connector 788, which is connected on the top to the center block 782 and on the bottom to a bottom block 790. In some embodiments, not shown in Figure 7D, another set of one or more damping springs in relation / interface with another set of one or more Button Axis Load Cells are housed between the bottom connector 788 and the bottom block 790. In some embodiments, the extensions 710a-b are connected to the bottom block 790.

[0192] In some embodiments, the device comprises one gimbal block 770 to which both extensions 710a-b are connected. In some embodiments, the device comprises two gimbal blocks 770, one gimbal block 770 for each extension, as shown for example in Figure 7E.

[0193] Referring now to Figure 7E, showing schematic representation of the exemplary movements of the gimbal block 770 and an exemplary embodiment of a device comprising two gimbal blocks, according to some embodiments of the invention. In some embodiments, as mentioned above, the gimbal block 770 comprises a first gimbal axis 784, which provides the gimbal block 770 movement in a first axis, and a second gimbal axis 786, which provides the gimbal block 770 movement in a second axis. In Figure 7E, a side view of the gimbal block 770 is shown, showing the movement (arrow 792) enabled by the first gimbal axis 784. Additionally, in Figure 7E, a front view of the gimbal block 770 is shown, showing the movement (arrow 794) enabled by the second gimbal axis. In some embodiments, the first gimbal axis 784 and the second gimbal axis 786 provide the gimbal block 770 with dual rotational axes at different locations. In some embodiments, these rotational axes are used with the single axis load cell to measure moments and force applied on the extensions. In some embodiments, as shown in Figure 7E, the two extensions are each separately connected to a gimbal block 770, therefore allowing measurement of different forces on each extension. In some embodiments, when the gimbal mechanisms reach their limit of rotation (movement), which optionally implies an access of force applied on an extension (for example during a possible collision of the device with the electrical panel), the system may halt the insertion operation of the wire and / or take corrective actions (moving the device).

[0194] Referring now to Figure 7F, showing a schematic representation of an exemplary wire locking element / wire locker 704, according to some embodiments of the invention. In some embodiments, the wire locking element / wire locker is configured to interact with the wire locking mechanism of a component after the wire is inserted in the respective electrical terminal block of that component in the wire cabinet. In some embodiments, components used in the cabinet can comprise different types of locking mechanisms in their connectors, for example: screw terminal, push button and / or push-in. In some embodiments, when using a component comprising an electrical terminal connector comprising a push-in locking mechanism, a wire locking element / wire locker 704 is not needed and therefore not used. In some embodiments, screw terminal or screw type terminal blocks (components) secure the wire against the conductor in the terminal block (component) by tightening a screw which closes a clamp. In some embodiments, push button terminal blocks secure the wire against the conductor by a spring clamp that is opened by pressing a button. In some embodiments, releasing the button clamps the spring onto the wire. In some embodiments, similar to the push button with a spring clamp, a push-in terminal block allows the wire to be pressed directly into the housing without the use of a push button to open the spring. In some embodiments, according to the type of locking mechanism in the terminal block (component), the wire locking element / wire locker 704 will comprise a dedicated actuator 722. For example, in Figure 7F, the wire locking element / wire locker 704 comprises a flat head screwdriver 722 which is used to secure screw type terminal blocks. In some embodiments, the head of the actuator and / or the drill bit 722 can be replaced manually or optionally automatically (for example, by moving the device towards a replacement rack where the vertical movement 730 is used to replace the head of the actuator 722). Referring now to Figure 7G, showing schematically representations of a plurality of possible interactions of wiring-end effector modules 208 with different types of terminal blocks (components) having different locking mechanisms of the wire in the connector of the component.

[0195] Returning to Figure 7F, in some embodiments, the wire locking element / wire locker 704 comprises a motor 724 configured to actuate the dedicated actuator 722. In some embodiments, the motor 724 and the dedicated actuator 722 are held by a base 726, which is further connected to a second motor 728 that performs a vertical movement, as schematically shown by arrow 730, necessary for the insertion of the dedicated actuator 722 into the terminal block. In some embodiments, not shown in Figure 7F, a plurality of motors are used to provide a plurality of movement directions to the wire locking element / wire locker 704. In some embodiments, the wire locking element / wire locker 704 is configured to move up and down, to the sides and forwards- backwards. In some embodiments, a potential advantage of providing such freedom of movement to the locking element 704 is that it allows the device to interact with a plurality of electrical terminal connectors, each having a different location for the access to the wire locking mechanism.

[0196] In some embodiments, the wire locking element / wire locker 704 comprises a torque sensor configured to monitor the torque forces applied by the actuator on the locking mechanism of the electrical terminal connector in the component. In some embodiments, the system comprises a database where specific torque forces related to specific locking mechanisms of electrical terminal connectors are saved. In some embodiments, the system comprises instructions to actuate the actuator according to specific parameters which specifically match the torque requirements of specific locking mechanism of specific electrical terminal connectors and specific wire gauge.

[0197] Exemplary use of wires having end terminal (wire head) ferrules

[0198] Referring now to Figures 7H-7I, showing schematic representation of ferrules, according to some embodiments of the invention. In some embodiments, the wires used in the automatic wiring system are wires that comprise a built-in ferrule at the distal end (ferrule wire head). Ferrules are a ring or cap 7002, optionally having a metal distal end 7004, used to enclose the distal end of the exposed wire in order to facilitate the handling and connection of the distal end of the wire into the electrical terminal connector of the component. In some embodiments, the ferrule is stiff. In some embodiments, the ferrule is stiffer than the wire itself. In some embodiments, the ferrule is between about 2 and about 10 times stiffer than the wire. In some embodiments, ferrules can have different dimensions, as shown for example in Figure 7H. In some embodiments, the ferrules can have a different form of the metal part 7004 at the distal end, as shown for example in Figure 71. In some embodiments, since the ferrule comprises the cap 7002, which is stiffer than the wire itself, the wiring-end effector module 208 pinches the cap 7002 instead of directly pinching the wire. In some embodiments, a potential advantage of pinching the cap 7002 is that it eases the manipulation of the wire during the insertion into the electrical terminal connector of the component. Since the wire is pliant, it can happen that the wire bends during the insertion causing a deviation in the directionality of the head of the wire that needs to be inserted in the electrical terminal connector. Pinching the cap 7002 potentially helps avoiding this. In some embodiments, ferrules are configured to be completely inserted into the electrical terminal connectors of the components, meaning that the cap 7002 needs to be completely inserted inside the electrical terminal connector of the component in order to be correctly connected. In some embodiments, during the use of wires with ferrules, the method of insertion of the wire into the electrical terminal connector of the component comprises additional steps, as will be further disclosed below. In some embodiments, the additional actions needed to be performed during the insertion of a wire including a ferrule include one or more of: the partial insertion of the ferrule into the electrical terminal connector of the component, release or partial release of the ferrule, moving backwards of the device, repinching the wire at a distal location in the wire in relation to the ferrule, finishing the insertion of the wire and ferrule in the electrical terminal connector of the component. In some embodiments, before the release of the ferrule, the system optionally partially closes the locking mechanism of the electrical terminal connector in the component to partially hold the ferrule in place and potentially avoid the ferrule from exiting the electrical terminal connector. In some embodiments, in this case, after re-pinching the wire and before further inserting the wire in the electrical terminal connector, the system releases the locking mechanism of electrical terminal connector to allow further insertion of the wire into the electrical terminal connector. In some embodiments, the wiring-end effector module 208 comprises an additional element configured to hold the wire in place while the extensions are moved to a more distal position on the wire. In some embodiments, the additional element can be a third extension configured to be extended when needed and to hold in place the wire.

[0199] In some embodiment the extensions / end effector can insert ferrules of complex shape such as fork type ferrule or ring type ferrule into the connector.

[0200] Exemplary interchangeable end effector

[0201] In some embodiments, as explained above, the wiring-end effector module 208 comprises one or more of the following parts: a wire holding element / wire holder 702 and a wire locking element / wire locker 704. In some embodiments, the automatic wiring system is configured to replace one or more parts of each of the wire holding element / wire holder 702 and the wire locking element / wire locker 704 in order to perform a different action in the automated wiring process. In some embodiments, the parts that are replaced are tools.

[0202] Referring now to Figure 8, showing a schematic representation of a wiring-end effector module 800 configured for interchangeable tools, according to some embodiments of the invention. In some embodiments, as disclosed above, the wiring-end effector module 800 comprises the wire holding element / wire holder 802 and the wire locking element / wire locker 804.

[0203] In some embodiments, the wire holding element / wire holder 802 comprises one or more of a force gauge 806, configured for sensing forces from 3 different axis; a gripping actuator 808 configured for actuating an interchangeable tool 810 (for example: a wire holder comprising two extensions as disclosed above for grasping at least one wire 812, a cable holder, a continuity probe, a USB data transfer tool, etc.), which is held by a tool holder 814, for example a snap-in tool holder.

[0204] In some embodiments, the wire locking element / wire locker 804 comprises one or more of a mechanical screwdriver motor 816 configured to rotate at least one interchangeable screwdriver bit 818. In some embodiments, the wire locking element / wire locker 804 comprises one or more actuators configured to provide movement to the wire locking element / wire locker 804 in one or more directions. For example, in Figure 8, the wire locking element / wire locker 804 is shown with two motors: a first motor 820 configured to provide a vertical controlled movement (see arrow 822) the wire locking element / wire locker 804 and a second motor 824 configured to provide, for example, a horizontal controlled movement (see arrow 826) to the wire locking element / wire locker 804. In some embodiments, motors are configured to move the different parts to one or more different directions, according to wiring requirements.

[0205] Exemplary interchangeable tools locking mechanism

[0206] Referring now to Figures 9A-9B showing schematic representations of an exemplary locking mechanism for interchangeable tools, according to some embodiments of the invention. In some embodiments, the wire holding element / wire holder 802 comprises one or more locking mechanism 900 configured to lock in place the interchangeable tools once inserted in the dedicated tool holder 814. For example, the locking mechanism 900 comprises a mechanical actuator 902 configured to move backwards and forwards a locking pin 904. Figure 9A shows, for example, when the locking pin 902 of the locking mechanism 900 locks the interchangeable tool in place, while Figure 9B shows, for example, when locking pin 902 of the locking mechanism 900 is retracted to allow release of the interchangeable tool. In some embodiments, the locking mechanism 900 can be further used to provide an electrical connection for the continuity connection tool (see below).

[0207] Exemplary characteristics of the interchangeable tools

[0208] Referring now to Figures 9C-9E, showing schematic representations of exemplary end effector interchangeable tools and their characteristics, according to some embodiments of the invention. In some embodiments, the interchangeable tool configured for grasping a wire / components is manufactured in order to potentially overcome difficulties related to automated wiring systems.

[0209] For example, in some embodiments, as schematically shown in Figure 9C, the interchangeable tool grasping a wire comprises a width that is small enough to pass through spaces in an exemplary duct where the wire is being extended. In Figure 9C it can be seen an interchangeable tool 910 grasping a wire 912 and positioning it along a duct 914. In some embodiments, at some point, the wire needs to exit the duct 914 to reach, for example, a terminal block 916. In some embodiments, exemplary ducts 914 comprise periodical openings, comprising a width W2, which allow wires 912 to enter / exit the duct 914. In some embodiments, the interchangeable tool 910 grasping a wire 912 comprises a total width W1 that is smaller than the width W2 of the opening of the duct 914 (W1<W2). In some embodiments, the total width W1 of the interchangeable tool 910 comprises a width_of about 6mm, for example from about 3mm to about 6mm, optionally form about 2mm to about 8mm, optionally from about 1mm to about 10mm.

[0210] Another example, in some embodiments, as schematically shown in Figure 9D, the interchangeable tool comprises a length that is big enough to reach an exemplary component without risking collision between the end effector and the components of the panel. In some embodiments, as disclosed in several embodiments herein elsewhere, an exemplary end effector comprises a plurality of parts, which together, provide an end effector of a certain size. In some embodiments, the size of the end effector might limit movement and / or distances to which the end effector can approach the panel. In some embodiments, the tools are characterized by having a length that allows reaching the panel while keeping a safe distance from the panel and / or from components in the panel. Figure 9D shows a panel 920 comprising a plurality of components 922a- f, each having different heights (heights being a distance that a certain component protrudes from the surface of the panel). In addition, several interchangeable tools 910 are shown to show how the length of them allows reaching the components while keeping the volumetric part 924 of the end effector away and / or at a safe distance from the components / panel. In some embodiments, the length of the extensions of the interchangeable tool 910 is from about 20mm to about 200mm, optionally from about 15mm to about 250mm, optionally from about 10mm to about 300mm.

[0211] Following the potential limitation in movement of the end effector due to its size, in some embodiments, the distal end of the interchangeable tool 910 configured for grasping wires, might comprise specialized grasping ends that allow grasping the wire at a certain angle. For example, as schematically shown in Figure 9E, the interchangeable tool 910 comprises a distal end that grasps a wire at an angle of about 45° in relation to the axis of the extensions of the interchangeable tool 910. In some embodiments, the angle is from about 0° to about 180°, for example, 0° (which is exactly as the axis - meaning the distal end wire is facing completely down along the axis of the extensions of the interchangeable tool 910), 30°, 45°, 70°, 90° (which is perpendicular to the axis of the extensions of the interchangeable tool 910). In some embodiments, a potential advantage of grasping a wire at a certain angle is that it allows positioning a wire at a best angle in relation to the location that is needed to be inserted without the need to maneuver the whole end effector in relation to the panel / component.

[0212] Exemplary wire gripping mechanism

[0213] Referring now to Figures 10A-B showing an exemplary wiring gripping mechanism, according to some embodiments of the invention. In some embodiments, as explained above, the automated wiring system comprises two extensions (for example 710a-710b in Figure 7B) configured to interact with a wire during the wiring process. In some embodiments, the two extensions work as “fingers” that grab the wire. In some embodiments, in order to allow the use of interchangeable tools in the wire holding element / wire holder 802, the mechanism 808 that actuates the movement (opening / closing) of the two extensions is located outside and / or separated of the extensions themselves, thereby allowing exchanging the tools while utilizing a single actuating mechanism. In some embodiments, the actuation mechanism 808 comprises two pressing parts 1002 / 1004 configured to apply controlled forces (see arrows in Figure 10A) on the extensions 1006 / 1008 of the tool 1010 in order to provide a controlled grip of the wire 1012 to the wire holding element / wire holder 802. In some embodiments, each extension 1006 / 1008 is connected at a proximal end to a head 1016 of the tool 1010. In some embodiments, the movement of the two extensions 1006 / 1008 towards each other when actuated is a circular one (as shown by the arrow), for example, similar to the movement of tweezers when actuated, as the proximal ends of the two extensions 1006 / 1008 are connected to the head 1016 and only the distal ends are free to move.

[0214] Referring now to Figures 10B-10D showing three exemplary actuation states of an exemplary wire gripping tool, according to some embodiments of the invention. In some embodiments, when the actuation mechanism 808 is not activated, the two extensions 1006 / 1008 of the tool 1010 are separated from each other, for example, a distance DI, as shown for example in Figure 10B. In some embodiments, an exemplary distance between the two extensions 1006 / 1008 when not actuated is from about 3mm to about 4mm, optionally from about 2.5mm to about 4.5mm, optionally from about 2mm to about 5mm, for example 3mm, 4mm, 4.7mm and any number there between. In some embodiments, optionally, the opening distance between the two extensions 1006 / 1008 is determined by the wire gauge and an additional added gap allows a simple release of the object being held.

[0215] In some embodiments, upon activation of the actuation mechanism 808 (not shown) the distance between the two extensions 1006 / 1008 of the tool 1010 is decreased, for example, to a distance D2, as shown for example in Figure 10C. In some embodiments, an exemplary distance between the two extensions 1006 / 1008 when actuated (meaning in a closed configuration) is from about 1mm to about 2mm, optionally from about 1.5mm to about 2.5mm, optionally from about 2mm to about 3mm, for example 2mm, 2.7mm, 3mm and any number there between. In some embodiments, when the two extensions 1006 / 1008 are in a close configuration, they are configured to secure the object being held with minimal friction between them. In some embodiments, the distance between the two extensions 1006 / 1008 of the tool 1010 is decreased by applying a certain amount of force Fl on one or more of the extensions 1006 / 1008. In some embodiments, an exemplary amount of force applied is from about 4N to about 10N, optionally from about 2N to about 15N, optionally from about IN to about 20N. In some embodiments, when the two extensions 1006 / 1008 of the tool 1010 are actuated to have a distance DI between the two extensions 1006 / 1008 of the tool 1010, the automated wiring system optionally utilizes the wire holding element / wire holder 802 for routing the wire along the electrical cabinet, as the distance DI is configured to allow holding a wire at the distal grooves 1014 of the two extensions 1006 / 1008 while not actually grabbing the wire, therefore allowing the wire to “run free” between the grooves 1014 without losing the wire in the process.

[0216] In some embodiments, upon further activation of the actuation mechanism 808 (not shown) the distance between the two extensions 1006 / 1008 of the tool 1010 is further decreased, for example, to a distance D3, as shown for example in Figure 10D. In some embodiments, an exemplary distance between the two extensions 1006 / 1008 when not actuated is from about 3mm to about 4mm, optionally from about 2.5mm to about 4.5mm, optionally from about 2mm to about 5mm, for example 3mm, 4mm, 4.7mm and any number there between. In some embodiments, optionally, the opening distance between the two extensions 1006 / 1008 is determined by the wire gauge and an additional added gap allows a simple release of the object being held. In some embodiments, the distance between the two extensions 1006 / 1008 of the tool 1010 is further decreased by applying a certain amount of force F2 on one or more of the extensions 1006 / 1008. In some embodiments, an exemplary amount of force applied is from about 4N to about 10N, optionally from about 2N to about 15N, optionally from about IN to about 20N. In some embodiments, when the two extensions 1006 / 1008 of the tool 1010 are actuated to have a distance D2 between the two extensions 1006 / 1008 of the tool 1010, the automated wiring system utilizes the wire holding element / wire holder 802 for grabbing the wire (gripping mode), as the distance D2 is configured to allow firmly grabbing a wire at the distal grooves 1014 of the two extensions 1006 / 1008. In some embodiments, for example, the insertion of a distal end of a wire to an electrical connector is performed in this mode.

[0217] In some embodiments, D1>D2>D3.

[0218] Exemplary interchangeable tools 810

[0219] In some embodiments, the automatic wiring system comprises a dedicated stand 1100 comprising a plurality of different interchangeable tools 810 and / or a plurality of different interchangeable screwdriver bits 818, as shown for example in Figure 11.

[0220] Referring now to Figures 12A-12B, showing an exemplary stand for different interchangeable tools 810, according to some embodiments of the invention. In some embodiments, the automatic wiring system is configured to interchange tools according to the required task. In some embodiments, exemplary interchangeable tools can be divided in three main types: wire gripping tools, cable gripping tools and technical tools. In some embodiments, exemplary interchangeable tools 810 comprise one or more of the following: a wire gripper for small size wires 1202 (for example having a diameter between 0.5mm and 1.0mm); a wire gripper for medium size wires 1204 (for example having a diameter between 2.5mm and 4.0mm); a wire gripper for large size wires 1206 (for example having a diameter from 6.0mm and higher); a USB gripper 1208 / 1212, a RJ45 gripper 1210, a HDMI gripper 1214, a continuity test probe 1216 and a USB data transfer tool 1218. In some embodiments, the plurality of exemplary interchangeable tools 810 are held in the stand while in close proximity of the wiring-end effector module 208, which is configured to move during the wiring process.

[0221] Exemplary wiring gripping tools

[0222] Referring now to Figure 12C, showing exemplary interchangeable wire gripping tools, according to some embodiments of the invention. In some embodiments, as explained above, wire gripping tools comprise three main components: a head and two extensions. In some embodiments, the head is configured to be inserted in the holding element of the wire holding element / wire holder element. In some embodiments, optionally, the head comprises a marking 1220 that allows the user and / or the system to identify the type of tool. For example, in Figure 12C, it can be seen a zoom- in of an exemplary marking 1220 showing “T38”. In some embodiments, a marking 1220 can be a number that is identified by the system using a camera. In some embodiments, a marking 1220 can be, for example, a barcode and / or an RF tag that is identified by the system using a dedicated scanner. In some embodiments, the markings are used to verify the authenticity of the wire gripping tool 1010.

[0223] In some embodiments, each of the two extensions 1006 / 1008 comprise a distal end configured to interact with a wire. In some embodiments, as mentioned above, the distal end comprise one or more grooves 1014 configured to interact with a wire. In some embodiments, a wire gripping tool 1010 is configured to grab a wire so the distal end of the wire is held horizontally 1222 or vertically 1224, as shown for example in Figure 12C. In some embodiments, a same distal end can hold a wire either vertically or horizontally. In some embodiments, a wire is “presented” to the wire gripping tool 1010 already in the desired direction (horizontal / vertical). In some embodiments, the wire gripping tool 1010 is configured to grab a wire, sense its direction, and amend it if necessary by moving the wire gripping tool 1010 accordingly.

[0224] In some embodiments, the distal end can be straight 1226 or “L”-shaped 1228. In some embodiments, the distal ends are configured for holding different diameter of wires, for example, wires having a diameter of from about 0.5mm to about 6.0mm. In some embodiments, different wire gripping tools 1010 are configured to grab different types of wires, for example, a wire gripper tool 1202 for small size wires (for example having a diameter between 0.5mm and 1.0mm); a wire gripper tool 1204 for medium size wires (for example having a diameter between 2.5mm and 4.0mm); a wire gripper tool 1206 for large size wires (for example having a diameter from 6.0mm and higher).

[0225] Exemplary cable gripping tools

[0226] Referring now to Figure 12D showing exemplary interchangeable tools configured to grab technical cables, according to some embodiments of the invention. Figure 12D shows how exemplary USB gripper 1208, RJ45 gripper 1210 and HDMI gripper 1214 grab the relevant technical cables. In some embodiments, the tools are configured to manipulate (for example, grasping and positioning) tubes, pipes, fiber optic elements and any other required object. Exemplary technical tools

[0227] Referring now to Figure 12E showing exemplary technical tools, according to some embodiments of the invention. In some embodiments, the wiring system comprises a dedicated continuity test probe 1216 configured for assessing the correct connection of the wires in the electrical cabinet. In some embodiments, after a certain electrical line has been assembled by the system, the system assesses the wires have been correctly connected by utilizing the continuity test probe 1216. In some embodiments, the wiring system comprises a dedicated USB data transfer tool 1218 which is used, for example, to assess correct functioning of USB ports, to install and / or update software of electronic components in the electrical cabinet, etc. In some embodiments, interchangeable technical tools comprise dedicated power / data transfer connectors 1230 located at the connector of the tool.

[0228] In some embodiments, dedicated tools are designed with special geometry / (ies) that will allow access to hard to reach / tight areas. For example, an offset tool where the wire tip / ferrule location is off-set from the center of the end-effector. Another example is a slim tool may be required for some specific tasks, for example as schematically shown for Figures 9C-9E, to navigate between wires, navigate between components and reach components at certain angles. In some embodiments, optionally, a long tool may be needed to access a connection point adjacent to protruding objects. In some embodiments, optionally, a curved or hooked tool may be used to access behind an obstacle.

[0229] Exemplary dedicated calibration of end effector and interchangeable tools

[0230] In some embodiments, due to the difference (for example) in shape and / or role of specific interchangeable tools, dedicated calibration actions are performed beforehand and / or before use and / or during use of the automated wiring system. In some embodiments, as mentioned above, the end effector comprises one or more sensors configured to monitor, for example, forces applied on the end effector, forces required for the correct positioning of components / wires in the panel and forces applied on the end effector to sense collision (in order to avoid collision of the end effector with components / panel). In some embodiments, the one or more sensors are located on the end effector itself (for example at the base of the end effector above and / or near the adaptor for the interchangeable tools) and are not removed and / or replaced and / or interchanged when an interchangeable tool is changed. Therefore, in some embodiments, since the one or more sensors are fixed on the end effector, dedicated calibrations may be required for and / or in view the exchangeable parts and / or tools. In some embodiments, different interchangeable tools require dedicated monitoring of forces, for example, the forces required to insert a wire into a terminal block are possibly different from the forces required to insert a USB into a USB port. Additionally or alternatively, the length of the different interchangeable tools also influences the monitored forces, even between same roles interchangeable tools (for example, long wire holder and short wire holder). In some embodiments, a potential advantage of performing calibration is that it potentially allows monitoring of moments and torques applied on the tools (for example of the two extensions) during wiring processes. In some embodiments, the moments and torques depend on the geometry and kinematics of the tool, which, in some embodiments, require specific and personalized calibration per tool. In some embodiments, additionally or alternatively, the grasping (pinching / holding) force of the tool also depends on the geometry and kinematics of the tool, which, in some embodiments, require specific and personalized calibration per tool.

[0231] Therefore, in some embodiments, personalized calibrations are performed to each interchangeable tool, in view of its role and its physical characteristics. In some embodiments, the calibrations are performed at the factory. In some embodiments, calibrations are performed before performing a specific wiring process. In some embodiments, calibrations are performed during the wiring process.

[0232] In some embodiments, calibration information is collected by one or more of tests, analysis (for example, with finite element or straight calculations) and by performing simulations.

[0233] Exemplary alternative wire gripper tool

[0234] Referring now to Figures 13A-13B showing schematic representations of an exemplary alternative wire gripper tool, according to some embodiments of the invention. In some embodiments, an exemplary alternative wire gripper tool 1300 comprises a head 1302, similar to the head disclosed above, for example, in Figures 10A-10D. In some embodiments, the exemplary alternative wire gripper tool 1300 comprises a fixed extension 1304, having a proximal end that is connected to the head 1302, and a distal end having a wire housing 1306. In some embodiments, the exemplary alternative wire gripper tool 1300 comprises a mobile extension 1308 configured to move vertically (see arrow 1310) in parallel to the fixed extension 1304. In some embodiments, the mobile extension 1308 comprises a distal end 1312 configured to meet the wire housing 1306 at the distal end of the fixed extension 1304 so as to enclose the wire 1314 within the wire housing 1306. In some embodiments, similar to what was explained in relation to Figures 10B-10D, the amount of distance that the mobile extension 1308 moves corresponds to either an open configuration (as seen for example in Figure 13A), or a closed configuration (as seen for example in Figure 13B), where in the closed configuration the distance can be just to keep the wire 1314 within the wire housing 1306 while allowing to “freely-run” therein, or the distance can be to firmly grab the wire 1314 within the wire housing 1306.

[0235] In some embodiments, the mechanism that moves the mobile extension 1308 is a mechanical mechanism, for example using a pulley mechanism 1316, as schematically shown in Figures 13A-13B. In some embodiments, the mechanism that moves the mobile extension 1308 is an electrical mechanism, for example using one or more electrical motors and gears.

[0236] In some embodiments, a potential advantage of the exemplary alternative wire gripper tool 1300 having a vertical closing mechanism is that the mechanism can potentially assist in the insertion of the distal end of the wire in the electrical connector due to the assistive forces applied in this type of holding. Additionally, this mechanisms can potentially assist in checking that the distal end of the wire has been properly attached to the electrical connector by performing a delicate “pull-push” action to the wire and sensing whether there is resistance, as explained herein elsewhere. Additionally, this configuration potentially assists in placing the wire in the duct because, on one side, can firmly grab the distal end while directing it within the duct, while on the other side, when two arms are used, can allow for the wire to “freely run” within the wire housing 1306, while still providing “directionality” to the wire being pulled.

[0237] Referring now to Figure 14 A, showing another exemplary wiring end-effector having interchangeable tools capabilities, according to some embodiments of the invention. In some embodiments, as disclosed above, an exemplary wiring end-effector comprises a wire holding element / wire holder 1402 and a wire locking element / wire locker 1404.

[0238] In some embodiments, also as explained above, the wire locking element / wire locker 1404 comprises a screwdriver unit 1406 with torque control (not shown) and at least one screwdriver head 1408, configured to actuate screws where necessary during the wiring process.

[0239] Referring now in addition to Figure 14A, also to Figures 14B-14G, showing a wire holding element / wire holder 1402, according to some embodiments of the invention. Figure 14B shows an exemplary wire holding element / wire holder 1402 alone. Figures 14C and 14D, show exemplary parts of the wire holding element / wire holder 1402. Figures 14E, 14F and 14G, show exemplary parts of an exemplary tool 1414. In some embodiments, the wire holding element / wire holder 1402 comprises a multi-axis sensor 1410, configured for monitoring the tridimensional movements of the wiring tools. In some embodiments, the wire holding element / wire holder 1402 comprises a tool changer 1412, configured for allowing the exchange of tools 1414 that are required to perform a wiring process. In some embodiments, the wire holding element / wire holder 1402 comprises one or more sensors 1418 configured for monitoring the performance of one or more parts of the wire holding element / wire holder 1402. In some embodiments, the wire holding element / wire holder 1402 comprises one or more tool actuators 1416 configured for actuating the tools during the wiring process. In some embodiments, the wire holding element / wire holder 1402 comprises a caging actuator 1422 configured for blocking the tool at a certain position, for example, actuator 1416 causes the tool to close and grasp a wire, then caging actuator 1422 keeps the tool in the closed position, thereby potentially avoiding accidental release of the wire. In another example, when the wiring process requires the tool to remain slightly open, but not completely open, for example, when the wiring arm is required to run along a wire without actually grasping it, the actuator 1416 causes the tool to partially close and loosely hold a wire, then the caging actuator 1422 keeps the tool in the partially closed position, thereby potentially avoiding accidental release of the wire while still allowing the wire to stay loose.

[0240] In some embodiments, the wire holding element / wire holder 1402 comprises a tool lock actuator 1424 configured to lock a tool shaft 1420 of a tool 1414 in the wire holding element / wire holder 1402.

[0241] Referring now to Figures 14E, 14F and 14G, showing schematic representation of exemplary mechanism of actuation of exemplary tools 1414, according to some embodiments of the invention. In some embodiments, an exemplary tool is configured to grab a wire using a “scissor-like mechanism”. Figure 14E shows one example of how the “scissor-like mechanism” is enabled. In some embodiments, the “scissor-like mechanism” comprises a spring 1426 in communication with an actuation shaft 1428, ending in a distal end actuator 1430. In some embodiments, at the distal end of the tool 1414 there are two “fingers” 1432a / 1432b interconnected at a pivot 1434. In some embodiments, when the spring 1426 is actuated, it causes the shaft 1428 to move up and / or down, which causes the distal end actuator 1430 to actuate the two “fingers” 1432a / 1432b by moving them in relation to the pivot 1434, which is translated into either the opening or the closing of the two “fingers” 1432a / 1432b. Figures 14F and 14G show another example of how a “scissor-like mechanism” is enabled. In some embodiments, the “scissor-like mechanism” comprises an actuation shaft 1436 (only shown in Figure 14F). In some embodiments, there are two “fingers” 1438a / 1438b interconnected at a pivot 1440; and each comprising a bearing 1446a / 1446b. In some embodiments, optionally, there is guiding pin 1442 configured to keep the movement of the two “fingers” 1438a / 1438b along a predetermined axis. In some embodiments, optionally, there is a spring 1444 (only shown in Figure 14F) located between the two “fingers” 1438a / 1438b configured to provide opening force between the two “fingers” 1438a / 1438b, so when the actuation shaft is not actuated, the “fingers” 1438a / 1438b would be separated by means of the spring 1444. In some embodiments, actuating the actuation shaft 1436 causes the actuation shaft 1436 to either descend or ascend. In some embodiments, when the actuation shaft 1436 descends, it pushes the two bearings 1446a / 1446b to the sides causing the two “fingers” 1438a / 1438b to close (against the force provided by the spring 1444). In some embodiments, when the actuation shaft 1436 ascends, it allows the spring 1444 to push the two “fingers” 1438a / 1438b to the sides thereby opening the tool 1414. In some embodiments, the movement performed by the two “fingers” is an angular and / or circular movement, which is different form a parallel movement.

[0242] Figure 14E shows an exemplary tool 1414 comprising an angled gripping tip 1446, while Figures 14F and 14G show an exemplary tool 1414 comprising a parallel gripping tip 1448.

[0243] Exemplary sensor mechanism

[0244] In some embodiments, the two “fingers” and / or the sensors (for example 1418 and / or 1410) are configured to detect non-scheduled contact between the end-effector and the environment, thereby providing the system with anti-collision means that can potentially avoid damage to the wiring system and or the panel. For example, if and when, during the wiring process, the sensors detect an unscheduled contact of the fingers (or other part of the wiring end effector and / or arm), the system comprises instructions to stop the wiring actions. In some embodiments, optionally, the system comprises instructions to activate another wiring arm to continue the wiring process instead of the arm that was originally used. Another example, if and when, during the wiring process, a wire gets, for example, entangled, the sensors are configured to sense the “unexpected” resistance and stop the wiring process in order to potentially avoid damaging the system and / or the object being wired. In some embodiments, optionally, a tool may be designed to be inserted in between wires and / or to use the two fingers to manipulate the wire and / or to open space between wires. Alternatively, a motion of the end-effector and / or arm are configured to perform one or more movements to cause un-entanglement in the wires. In some embodiments, the system comprises dedicated sensors configured to measure the forces and moments during the un-entanglement process.

[0245] In some embodiments, a dedicated “compliant tool”, for example rubber finger and / or spring finger, etc., are used to perform a test run (or "dry run") of a wiring cycle (for example of accessibility to components, ports and various locations in the process before the actual wiring cycle is performed). In some embodiments, a potential advantage of this is that it potentially allows testing a new panel assembly sequence without damaging the systems and tools.

[0246] Exemplary simulations

[0247] In some embodiments, an analysis is performed, for example by using simulations and / or CAD analysis and / or vision analysis, to determine which tool to use for specific wiring process. Exemplary calibration processes

[0248] In some embodiments, a calibration process is performed for one or more tools in order to calculate the forces and moments that will be applied on them. In some embodiments, external force / moment gauges are used for calibration, in which the calibration can then take into account the tool geometry, sensor parameters and location.

[0249] Exemplary methods

[0250] Referring now to Figure 15, showing a flowchart of an exemplary validation method, according to some embodiments of the invention. In some embodiments, the system receives a new wiring process data 1502. (See an example of a wiring process in Figure 20B). In some embodiments, the system assesses if the received data has been validated 1504. In some embodiments, when the answer is “NO”, then the system begins a validation process 1506. For example, a validation process for the type of tool that is needed to be used, the wire route to be taken, calculation of force applications on the system parts, collision assessment, insertion processes. In some embodiments, the validation process are performed using simulations and / or analysis and / or dry-runs, etc. In some embodiments, when the answer is “YES”, then the system begins performing the first task (i) 1508. In some embodiments, the system chooses the right tool for the task 1510. In some embodiments, the system optionally chooses the right drill bit (when necessary) 1512. In some embodiments, the system takes one end of the wire and inserts it into component A - as stated in task (i) 1514. In some embodiments, the system routes the wire along the device 1516. In some embodiments, the system inserts the second end of the wire and inserts it into component B - as stated in task (i) 1518. In some embodiments, this exemplary process is repeated until all the tasks are performed. In some embodiments, when all tasks have been done then the wiring process ends.

[0251] Optionally, a QA cycle can be performed after all wires have been processed, optionally a QA tool is used for this process.

[0252] Referring now to Figure 16, showing a flowchart of an exemplary method of wiring by an exemplary wiring-end effector module 208 having interchangeable tools, according to some embodiments of the invention. In some embodiments, the system couples 1602 an adequate tool to the wiring-end effector module 208. In some embodiments, an adequate tool is chosen either according to information received from the system and / or from sensed information in real-time, for example, from one or more of a camera and / or a digital sensor, configured to identify the wire that is going to be used. In some embodiments, the elongated extensions grab the wire by applying radial force on the wires 1604. In some embodiments, the force applied on the wire is from about 5N to about 15N, optionally from about 7N to about 20N, optionally from about 8N to about 25N, for example about 8N, about ION, about 12N. In some embodiments, the resolution of any of the above forces are of about IN. In some embodiments, the effector module brings the wire close to the connector by applying axial force 1606. In some embodiments, the force applied on the wire is from about 5N to about 15N, optionally from about 7N to about 20N, optionally from about 8N to about 25N, for example about 8N, about ION, about 12N. In some embodiments, the resolution of any of the above forces are of about IN. In some embodiments, the wire is then inserted in the hole of the connector 1608 of the component. In some embodiments, the system then senses the resistance on the wire by the fact the wire reached the end of the hole in the connector 1610. In some embodiments, the system then secures the wire in the connector (see above ways to secure the wire in the connector) 1612 of the component. In some embodiments, the system then pulls back wire by lightly applying contrary directional axial force, while sensing resistance from gabbing sensors, to evaluate firm connection of wire in the connector 1614. In some embodiments, the system then slightly reduces the radial force on the wire while keeping holding the wire 1616. In some embodiments, when the insertion of the wire was the last wire to be connected to a component in the electrical cabinet, then the method ends. In some embodiments, the system then allows the wire (that is still held by the elongated extensions) to slip in the elongated extensions, without releasing the wire, while moving the mechanical arm away from the connector 1618. In some embodiments, the system then continues with the wiring process, as explained therein elsewhere 1620.

[0253] Referring now to Figure 17A-17B, showing a flowchart of an exemplary method of wiring by an exemplary wiring-end effector module when the wire comprises ferrule, according to some embodiments of the invention. In some embodiments, the system couples 1702 an adequate tool to the wiring-end effector module 208. In some embodiments, an adequate tool is chosen either according to information received from the system and / or from sensed information in real-time, for example, from one or more of a camera and / or a digital sensor, configured to identify the wire that is going to be used. In some embodiments, the extensions grab the wire by applying radial force on the ferrule 1704. In some embodiments, the force applied on the ferrule is from about 3N to about 110N, optionally from about 7N to about 20N, optionally from about 8N to about 25N, for example about 8N, about 10N, about 12N. In some embodiments, the resolution of any of the above forces are of about 0.5N. In some embodiments, the effector module brings the ferrule close to the connector by applying axial force 1706. In some embodiments, the force applied on the wire is from about 3N to about 15N, optionally from about 7N to about 20N, optionally from about 8N to about 25N, for example about 8N, about 10N, about 12N. In some embodiments, the resolution of any of the above forces are of about 0.25N. In some embodiments, the ferrule is then partially inserted in the hole of the connector 1708 of the component. In some embodiments, optionally, the system partially closes the locking mechanism in the electrical terminal connector to hold the ferrule in place 1710. In some embodiments, the wire with the ferrule are held in place 1712. In some embodiments, this is performed by one or more additional elements as disclosed above. In some embodiments, the extensions are actuated to release the ferrule 1714. In some embodiments, then the device is moved backwards in line with the wire 1716. In some embodiments, the extensions re-grab the wire on the wire itself 1718. In some embodiments, optionally, the system opens the previously partially closed locking mechanism of the electrical terminal connector 1720. Flowchart continues in Figure 17B following the letter A. In some embodiments, the system then applies axial force to completely inserting the ferrule into the electrical terminal connector 1722. In some embodiments, the system then senses the resistance on the wire by the fact the wire reached the end of the hole in the connector 1724. In some embodiments, the system then secures the wire in the connector (see above ways to secure the wire in the connector) 1726 of the component. In some embodiments, the system then pulls back wire by lightly applying contrary directional axial force, while sensing resistance from gabbing sensors, to evaluate firm connection of wire in the connector 1728. In some embodiments, the system then slightly reduces the radial force on the wire while keeping holding the wire 1730. In some embodiments, when the insertion of the wire was the last wire to be connected to a component in the electrical panel, then the method ends. In some embodiments, the system then allows the wire (that is still held by the elongated extensions) to slip in the elongated extensions, without releasing the wire, while moving the mechanical arm away from the connector 1732. In some embodiments, the system then continues with the wiring process, as explained therein elsewhere 1734.

[0254] In some embodiments, the parameters sensed by the one or more sensors, either in the extensions, on the gimbal block or anywhere else in the system, for example force, thresholds, motion values relating to the wire and the insertion process are saved in a data base.

[0255] Exemplary management of a wire held by two wiring arm modules optionally each having a wiring end effector module with interchangeable tools

[0256] In some embodiments, when a wire is held by two wiring arm modules, the system comprises instructions to choose a correct tool for the job and to hold the wire in a certain way. For example, a dedicated wire gripping tool for a wire having a certain dimeter to hold a wire in a certain position relative to the electrical cabinet. Another example a wire is held with a certain tension between the two points on the wire using the adequate tools that are being held by the two arms. In some embodiments, a series of instructions are prepared and provided to each of the arm modules during the wiring planning process, including a list of tools to be needed and when to be used. In some embodiments, this is performed to allow the robotic arms to act potentially in an autonomous manner and potentially without causing damages to each other, without causing damages to the electrical cabinet, without causing damage to the wire and / or without causing tangling of the wire during the wiring process. In some embodiments, the tension on the wire is directional. For example, while one mechanical arm holds the wire on one end using an dedicated chosen tool, the other mechanical arm, also having a chosen dedicated tool, holds the other end while keeping tension and in the direction of the location where it will be allocated in the electrical cabinet, optionally above the duct / DIN.

[0257] In some embodiments, the role of holding and tensing the wire is interchangeable between the two mechanical arms, as long as each is provided with the right tools. For example, at the beginning of a wiring action, a first mechanical arm holds the wire and does not move, while a second mechanical moves while sliding the wire towards the location where the wire will be allocated. Once the second arm arrives at the destined location on the electrical cabinet it stops, the first arm then releases the wire and goes to where the second mechanical arm is located to continue the wiring process. At this point the second mechanical arm is the one holding the wire while not moving, while the first one will be the one sliding the wire and moving it towards the location in the electrical cabinet where it will be positioned. In some embodiments, when needed, during the exchange of roles, the mechanical arm can exchange the tool at the wiring-end effector module 208.

[0258] In some embodiments, during the wiring process, one of the two arms slides over the wire when laying it on a duct / DIN. For example, as explained above when describing when the wiringend effector module 208 reduces the radial force on the wire and allows the wire to slip while the mechanical arm moves (see Figures 5B-5F and Figure 15), as also explained regarding the Figures 10B-10D.

[0259] In some embodiments, the distance between the two wiring arms is maintained. In some embodiments, optionally, the distance is adjusted during the placing of a cable in relation to the route of the cable in the duct(s). In some embodiments, optionally, the distance between the arms provide clearance from the components located on the board. In some embodiments, the motion of the arms is slowed down or stopped if the tension is above certain threshold, for example, 15% more than the desired tension and / or the predetermined threshold. In some embodiments, thresholds are set according to the wiring arm capabilities, the type of wire and any combination thereof. In some embodiments, the system monitors the distance between the arms and keeps a certain distance between the wiring arms. In some embodiments, if the distance between the arms exceeds a certain predetermined distance, the motion of the arms is adjusted or stopped.

[0260] In some embodiments, when the system senses that a level of tension in the wire and / or a distance between the arms is out of tolerance and / or above or below a predetermined value, for example, ±20% of the predetermined value / tolerance value, the wiring end effector releases the wire to avoid possible damage to the arms and / or the panel / component.

[0261] In some embodiments, before placing the wire in a duct, a vision system is used to validate the process.

[0262] In some embodiments, operation of two wiring arms for the wiring of a cabinet requires high levels of synchronization and precision in the operation of the arms, the different tools used in the arms, and in a plurality of levels, for example (not an exhaustive list), the operation of one arm with respect to the other, operation of the arms with respect to the cabinet, operation of the arm with respect to the wire, operation of the arms with respect to the wire and the wiring routing plan of the wire in the panel, and each of the abovementioned in relation to dedicated interchangeable tools used during the wiring process.

[0263] In some embodiments, an example of dual arm coordination during wire routing operation comprises that during the routing a first arm will lead the way, meaning the arm that will insert the end of the wire to the relevant terminal connector in the component, while a second arm will follow and support the first arm during the routing process. In some embodiments, a lead wiring arm can become a support arm during the wiring process, and vice versa. In some embodiments, during the wiring process the support arm keeps the wire at certain tension in relation to the lead wire arm by maintaining a certain force on the wire (e.g. 2N, 4N, 8N). In some embodiments, during the wiring process the support arm keeps part of the wire in tension, for example the part of the wire held between the two wiring arms, while other part is left without tension (the wire slacks and / or dangles behind the wiring-end effector). In some embodiments, the length of the slack is from about 10% to about 30% of the total length of the wire being wired. Optionally from about 5% to about 40% of the total length of the wire being wired. Optionally from about 1% to about 50% of the total length of the wire being wired. For example 15%, 20% or 25% of the total length of the wire being wired). In some embodiments, during the wiring process, the slacked wire is held above (when the wiring is performed from above on a panel arranged in an horizontal direction, see for example Figure 4) and / or distanced (when the wiring is performed from the side on a panel arranged in a vertical direction, see for example Figure 3) from the plane where the components of the panel are located. In some embodiments, as the leading arm moves towards the insertion point, leading the wire along the planned path on the panel, the second arm is kept at a certain distance behind the first arm. In some embodiments, as the leading arm moves towards the insertion point, leading the wire along the planned path on the panel, the second arm is kept at a location that is in relation to the next point where the wire needs to be inserted, for example, if a wire needs to be inserted through a hole in a duct, the first arm will insert the end of the wire into the hole, while the second arm will be waiting on the other side of the hole to catch the end of the wire, thereby, additionally, becoming the lead wiring arm. In some embodiments, since sometimes the wire is placed in a duct or go through clips, the location of the second arm is set to be in relation to the duct path and the direction of the wiring. In some embodiments, when the duct is straight, the second arm can be positioned at the distant location of the duct relative to the component being wired. In some embodiments, the second arm is used to facilitate twisting of the wire, for example, in order to facilitate turns of the wire inside the panel. In some embodiments, optionally, when a turn in the duct path is expected, the second arm is positioned above this location to facilitate the twisting of the wire. In some embodiments, while positioning a wire in a location where there is change in the direction of the wire, for example a corner in a duct, excess in wire is purposely left after the point of change of direction of the wire and before positioning the wire. In some embodiments, a potential advantage of doing this before positioning the wire is that it provides enough wire to allow proper positioning of the wire without pulling the wire and / or causing distortions in the wire while being changed direction in the required point in the path.

[0264] In some embodiments, the wiring process comprises inserting a first end of a wire into a terminal connector in a component in the cabinet and then taking the cable along a planned path inside the cabinet, towards a second component inside the cabinet where the other end of the wire will be connected to a second terminal connector in the second component. In some embodiments, once the first end of the wire has been inserted into the first component, for example, by the first arm, then the second arm will become the leading arm, taking the wire towards the second component, while the first arm will become the support arm.

[0265] In some embodiments, the support arm performs one or more of the following actions: securing the wire in the duct (optionally with other tools, for example a passive finger a stapler, a gluer and / or a latching element; or may be used to place a plastic holding strip (“a bridge”) clearing the way to the leading arm; validating routing process using one or more sensors, for example, a camera, a force sensor, a laser line sensor and / or a proximity sensor). In some embodiments, a safe zone is defined, for example, above component level (when the wiring is performed from above on a panel arranged in an horizontal direction, see for example Figure 16) and / or distanced (when the wiring is performed from the side on a panel arranged in a vertical direction, see for example Figure 3) from the plane where the components of the panel are located, and the support arm with the wire are manipulated in the safe zone. In some embodiments, the panel is divided into multiple local safe zones, optionally having different safety heights. In some embodiments, as mentioned above, optionally, the wiring arms comprise wire adhesive elements (e.g. glue, adhesive tape, staples) actuated by one or more dedicated devices, thereby providing means to secure and / or attach the wire to certain location in the panel and / or duct. In some embodiments, as also mentioned herein elsewhere, while the lead arm takes the distal end of the wire to the next point in the panel, the supporting arm slides along the wire to position the wire in place along the path on the panel.

[0266] In some embodiment where multiple wires are placed in same duct, the position of the manipulated wire that is being held, is in relation to the already placed wire, for example, if the center of the duct is occupied by other wires, the support arm will place and / or will nudge the wire being currently placed to one side of the duct. In some embodiments, the software takes into account the load on the ducts and can, optionally, add to the wire length to compensate for added distance required due to wire loads in the ducts, for example adding 1%, 2% or 5% to wire length.

[0267] Exemplary optimization features for automated wiring processes

[0268] In some embodiments, the system comprises one or more features configured to optimize the automated wiring process performed by an exemplary horizontal / vertical automated wiring system.

[0269] Cartridge for lose wire during wiring process

[0270] In some embodiments, as explained above, while the lead wiring arm is positioning the wire along the planned path in the cabinet, the support wiring arm provides support to the actions performed by the lead wiring arm. In some embodiments, one of those support actions is to hold the rest of the wire that the lead wiring arm is “dragging” while moving the end of the wire through the wiring path. In some embodiments, the wiring arms optionally comprise a dedicated cartridge where lose wire is rolled and / or kept, when a specific wire arm acts as support wiring arm. In some embodiments, since the roles of lead and support might change during the wiring process, both arm optionally comprise the dedicated cartridge. In some embodiments, the wire that is kept in the dedicated cartridge is released when necessary during the wiring process, for example, when a motion of an arm requires more lose wire, while considering ducts and / or obstacles in wiring path. In some embodiments, a potential advantage of having the dedicated cartridge is that long wires are kept contained during the wiring process thereby potentially avoiding the lose wire to cause damage or get entangled during the wiring process. Exemplary clearing of obstacles by the support wiring arm

[0271] In some embodiments, if and when during a wiring process, there is a possibility that the wire, being positioned in the cabinet by the lead wiring arm, might get entangled and / or could not be correctly positioned in the destined place along the path, the system is configured to activate the support wiring arm to perform actions to solve these problems. For example, the support wiring arm will move the obstacle (for example other wires already positioned in the cabinet) away from the wire being positioned, optionally using a dedicated tool that allows interaction with other wires without damaging them (for example a tweezer, an elongated rod). In some embodiments, optionally, during the clearing of obstructions, the support wiring arm does not hold the wire being positioned. In some embodiments, optionally, the wire is routed with the two arms around an obstacle. In some embodiments, alternatively, a new path is calculated to provide a detour around the obstacle.

[0272] Use of one wiring arm when possible

[0273] In some embodiments, the system is not obligated to use two wiring arms for the wiring process. In some embodiments, for example when wiring short wires (e.g. having 1cm, 2cm, 5cm length), the system is configured to allow one wiring arm to do the whole wiring process, leaving the second arm to perform other tasks related to the overall wiring process of the cabinet. In some embodiments, optionally for a short wire, the wiring arm secures one end of the wire in the object / component and then slides along the wire (while possibly “feeling” the sliding motion) to the other end and then insert it in the required position. In some embodiments, optionally, after the 1stinsertion, the arm releases the wire and re-grabs it at the other end optionally with aid of sensors for example a vision camera.

[0274] Use of grip and slip for wiring process

[0275] In some embodiments, the system utilizes its ‘grip and slip’ capabilities for the allocation of the wires on the planned path. For example, wiring arm can hold the wire on top of the surface where it is needed to be positioned, and slowly moving along the wire (the ‘slip’ component of the ‘grip and slip’ capabilities) while positioning the wire in the destined path.

[0276] Exemplary actuation of circuit breakers

[0277] In some embodiments, the wire end effectors are configured to actuate, for example, moving upwards / downwards and / or pushing, circuit breakers in the panel using dedicated interchangeable tools. In some embodiments, the actuation is performed using the extensions. In some embodiments, actuation is performed using a dedicated actuation device. In some embodiments upon switching on / off a component certain tests are performed, for example, continuity test, load test, logical test (of circuit logic).

[0278] Use of complex wires

[0279] In some embodiments, the system is configured to manipulate not only single wire wires, but also wires comprising one or more splits in the wire, providing a multi-wire wire and / or harnesses. In some embodiments, for example, wires with a T-like harness having three ends, the supporting arm holds the location on the wire where the split in the wire is located while the leading arm inserts one end of the wire to a component and then a second end of the wire to a second component.

[0280] Example using the system to wire harness in a cabinet

[0281] In some embodiments, as disclosed above, the tools of the end-effector are configured to hold a wire head that needs to be inserted into a component. For example, a network cable comprises a dedicated wire head (also known as RJ45 connector). In this example, the extensions of the end-effector are configured to hold the RJ45 connector of a network cable and connect it to a dedicated component in the cabinet. In some embodiments, the system comprises information about the sensory feedback that will be recorded when connecting these types of wire heads, for example, force, torque and visual feedback. In some embodiments, sensory feedbacks are used to validate proper insertion of the wire head in place. In some embodiments, after insertion of the wire head in place, the locking actuator is used to secure the wire head in place, for example by tightening the screws of the connector in the component. In some embodiments, a dual push action is used (i.e. pushing releasing and re-grabbing) to insert the wire head.

[0282] Optional division of tasks in a timeline

[0283] In some embodiments, the system is configured to perform a part of a task, stop, perform a different task, and then pick up the previous task and finish it. For example, connecting one end of a wire to one connector and positioning the wire along the planned path, release the wire, perform different tasks and then return to the wire previously left and continue with the positioning and / or connection to a connector. In some embodiments, re-grabbing a wire is done using vision system and / or by going to a known position (a component a clip a comer) and slipping along the wire to its end. Exemplary provision of multiple degrees of freedom to the wire end effectors

[0284] In some embodiments, the wire end effectors are provided with multiple degrees of freedom (DOF) to allow overcoming of obstacles and / or wire overcrowding. In some embodiments, the wire end effectors or the manipulating arms are provided with 6 degrees of freedom: three rotations and three translations about each perpendicular axis. In some embodiments, the wire end effectors are provided with 7 or more degrees of freedom. In some embodiments, a potential advantage of providing more than 6 degrees of freedom is that, while it may cause redundancy (or overredundancy) problems in the software, it may also potentially allow the solving of wire manipulation to overcome obstacles and / or when positioning a wire during a wire overcrowding situation.

[0285] Exemplary method of wiring by wiring arms module 206

[0286] Referring now to Figure 18, showing a flowchart of an exemplary method of wiring by the wiring arms module 206, according to some embodiments of the invention. In some embodiments, the system receives the information about the wire that is needed to be used, the length of the wire and the type of wire end required 1802. In some embodiments, optionally, a wire preparation module prepares the wire, in other embodiments, ready to be used wires are provided 1804. In some embodiments, a dedicated tool is coupled to the end effector 1806. In some embodiments, the dedicated tools is chosen according to the wire / cable that is needed to be wired. In some embodiments, the first end of the wire is picked up by the wiring arms module 1808. In some embodiments, the first end of the wire is manipulated to the location in the electrical cabinet 1810. In some embodiments, the wiring arms module 206 inserts the first end of the wire into the terminal connector of a first component, locks the wire in the terminal block and performs a validation 1712, for example by slightly pulling the wire back and “feeling” slippage of the elongated extensions 1006 / 1008 rather than increased force. In some embodiments, the second end of the wire is picked up by the wiring arms module 1814. In some embodiments, the second end of the wire is manipulated to the location in the electrical cabinet 1816. In some embodiments, manipulation of the second end of the wire includes routing the wire from the location where the first end of the wire was inserted through wire channels / tracks until the second end of the wire reaches its location. In some embodiments, the two wire arm modules work in cooperation in the insertion of the wire through the channels / tracks, similar to the work that a human would do while performing the same work. For example, when inserting the wire in an angled channel / track, one arm holds the wire in a certain location while the other arm places the wire inside / through the channel / track, or for example, when needing to pass the wire through an orifice, one arm holds the wire on one side of the orifice, passes the end of the wire through the orifice and the other arm picks the end of the wire from the other side of the orifice. It should be understood that the examples above are just examples and should not limit the invention in any way.

[0287] In some embodiments, the wiring arms module 206 inserts the second end of the wire into the connector of a second component, locks the wire in the terminal block and performs a validation 1818. In some embodiments, the system then assesses if there are any other wires needed for that job 1820. In some embodiments, if the answer is “YES”, then the method starts for the beginning. In some embodiments, if the answer is “NO”, then the system generates a report and ends the job 1822.

[0288] Exemplary data flow and operation

[0289] Referring now to Figure 19, showing a schematic representation of an exemplary data flow and operation of an automated wiring system, according to some embodiments of the invention. In some embodiments, the user begins by virtually planning an electrical cabinet 1902. In some embodiments, the user runs a simulation in a dedicated software 1904. In some embodiments, the planning is optionally optimized in view of the results of the simulation 1906. In some embodiments, further simulations are run until the best plan is achieved. In some embodiments, before continuing the system performs a final assessment to see if the planning stage is over 1908. In some embodiments, if the answer is “NO”, then the system returns to the planning stage. In some embodiments, if the answer is “YES”, then the system generates an electrical schematic plan adapted also to be shared in other platforms, the system generates a mechanical drawing of the electrical panel adapted also to be shared in other platforms and the system generates a bill of materials (BOM) for the assembly of the electrical cabinet 1910.

[0290] In some embodiments, at this point, the system generates a sequence of routing of wires based on the electrical schematic and the mechanical drawing 1911. In some embodiments, as explained herein elsewhere, the generation of a sequence of routing of wires comprises the virtual generation of a series of possible sequences of inserting the wires in the electrical cabinet, the changes in the tools used during the wiring process and evaluating possible problems that could occur during the actual wiring of the electrical cabinet. In some embodiments, optionally, the system performs simulations to optimize the sequence of routing the wires, optionally according to determined parameters.

[0291] In some embodiments, the abovementioned actions comprises a continuous exchange of data between the computer of the user planning the electrical and the server 1912. In some embodiments, once all is ready for assembly, the electrical cabinet is assembled in the automated electrical wiring unit / system 106 according to the final version of the plan 1914. In some embodiments, during the assembly, the automated electrical wiring unit / system 106 is in communication with the server for continuing monitoring of performance 1916.

[0292] Exemplary one arm system

[0293] In some embodiments, the system comprises one mechanical arm configured to perform all automated action of the wiring process. For example, pre-made wires ready to be wired are held on one side by the mechanical arm, while the other side is revolved into a winch and the wire is released as needed. In some embodiments, the winch with the wire is provided to the mechanical arm directly from the wire preparation module.

[0294] Various embodiments and aspects of the present invention as delineated hereinabove and as claimed in the claims section below find experimental support in the following Exemplary Embodiments.

[0295] EXEMPLARY EMBODIMENTS

[0296] Reference is now made to the following Exemplary Embodiments, which together with the above descriptions illustrate some embodiments of the invention in a non-limiting fashion.

[0297] Referring now to Figures 20A-B, showing schematic illustrations of a wiring process by two automated mechanical arms, according to some embodiments of the invention.

[0298] Figure 20A shows a schematic representation of two automated mechanical arms 2002 / 2004. For the following explanations one automated mechanical arm will be called arm one 2002 and another will be called arm two 2004. Also shown in Figure 20A is a schematic representation of an electrical panel 2006 in need to be wired. Figure 20B shows a schematic representation of the electrical panel 2006 in more detail. The exemplary electrical panel 2006 comprises 5 ducts 2008-1 / 5. The exemplary electrical panel further comprises a plurality of components, and for the present example, Component A and Component B require a wire to connect between them.

[0299] On Figure 20B, are also marked reference points, circled 1 through 8 for the explanations that will follow.

[0300] As stated above, in the following example a wire needs to be placed between Component A and Component B. For the matters of this example, it was decided that the chosen path from Component A to Component B will be by extending the wire from reference point 1, which is the wire connected to Component A, to reference point 2, into duct 2008-3 following reference point 3. Then the wire will need to be turned to be then extended inside duct 2008-3 towards reference point 4 and into duct 2008-5. Then the wire will need to make a turn into duct 2008-5 towards reference point 5. Then the wire will need to make a turn into duct 2008-4 towards reference point 6. Then the wire will exit duct 2008-4 at reference point 7, and will be inserted into Component B following reference point 8. The following table summarizes the actions of arm one 2002 and arm two 2004 during the placement of the wire from reference point 1 to reference point 8.

[0301] Referring now to Figure 21, showing a graph describing the exemplary phases of the insertion of a wire into an electrical terminal connector of a component as identified by the sensors in the gripper, according to some embodiments of the invention. In some embodiments, the system is configured to identify the different phases of the insertion of the wire into the electrical terminal connector of a component, as further disclosed above. The graph in Figure 21 shows the force sensed by the sensors on the finger-like extensions 910a-b in the gripper 1308 in relation to the held wire. In some embodiments, the phases are: Phase A: movement forward towards the electrical terminal connector of a component. In some embodiments, at this phase, the wire is held by the gripper 1308 and the gripper 1308 is moving forward towards the electrical terminal connector of the component. In some embodiments, at the beginning the sensed force is the same as the wire has not met any obstruction. In some embodiments, at some point, the wire meets the electrical terminal connector of the component, and the sensors begin to sense an increase in the sensed force. Once reached a certain peak, the system will move to the next phase. In some embodiments, the peak may depend and optionally set based on type of wire and / or the type of electrical terminal connector. In some embodiments, the relation between the type of wire, the type of connector of the component and the “sensed” forces is learned by the system and stored in a dedicated database. In some embodiments, an Al algorithm is used to generate these peak values based on learned data.

[0302] Phase B: movement backwards from the electrical terminal connector of the component. In some embodiments, once a certain peak has been reached, the gripper 1308 will begin moving backwards while still holding the wire but without actually pulling the wire with it. In some embodiments, as shown in the graph, the sensed forces decrease drastically, as the gripper loosens the grip.

[0303] Phase C: movement backwards from the electrical terminal connector of the component while pulling the wire. In some embodiments, in order to assess correct connection between the wire and the electrical terminal connector of the component, the gripper gently holds the wire while continuing moving backwards from the electrical terminal connector of the component. In some embodiments, at this point, two possible things can happen: 1. the wire is correctly connected and will not move causing the gripper to slip over the connected wire; or 2. the wire is not connected correctly and will be pulled out the electrical terminal connector. In some embodiments, as mentioned above, the values are learned and / or adjusted after each attempt.

[0304] In some embodiments, different types of electrical terminal connectors and different types of wires will be characterized with different forces, which will be characterized by different forces sensed by the gripper. In some embodiments, the system comprises a database in which the different combinations of different types of electrical terminal connectors and different types of wires are kept, and according to the input provided by the user, the system will actuate the gripper accordingly.

[0305] Referring now to Figures 22A-C, showing three different examples of sensed forces by the gripper in three different scenarios, according to some embodiments of the invention. Figure 22A shows an example of what the sensors sense during the movement backwards of the gripper and the wire did not connect at all with the electrical terminal connector of the component. In this case, there is no increase of the sensed force since the wire does not resist the pulling of the gripper.

[0306] Figure 22B shows an example of what the sensors sense during the movement backwards of the gripper and the wire did not connect correctly with the electrical terminal connector of the component. In this case, at the beginning, the gripper begins to move backwards until the wire resists the pulling, which is translated to an increase in the sensed force. At some point, because the wire is not properly connected, it will detach from the electrical terminal connector of the component, which is evidenced by the sudden decrease in the sensed force, and then return to the same levels as in the beginning.

[0307] Figure 22C shows an example of what the sensors sense during the movement backwards of the gripper and the wire did connect correctly with the electrical terminal connector of the component. In this case, at the beginning, the gripper begins to move backwards until the wire resists the pulling, which is translated to an increase in the sensed force. At some point, because the wire is properly connected, the gripper will begin slipping over the wire, which is evidenced by the reduction of the sensed force on the gripper at the end of the graph.

[0308] Referring now to Figure 23, showing a plurality of test experiments for the characterization of exemplary scenarios, according to some embodiments of the invention. As previously disclosed, at the beginning there is movement of the gripper without resistance from the wire, therefore the input from the force sensor stays stable. Then, once the wire enters the electrical terminal connector of the component, there is spike in the input from the sensors due to the resistance between the wire and the connector. Then, the device begins to pull the wire backwards in order to assess the connection between the wire and the electrical terminal connector of the component. This part is characterized by a sudden decrease in the input received from the sensor, as seen in Figure 23. Then, according to the outcome of the connection between the wire and the electrical terminal connector, different inputs are received from the sensor. In Test 1, the wire missed the connector, as can be seen by the unchanged graph. In Test 2, the wire disconnected from the connector during the pulling backwards of the wire. In test 3, the wire connected perfectly to the connector, and the gripper slipped over the wire during the backwards movement. In Test 4 the wire disconnected from the connector during the pulling backwards of the wire. The abovementioned graphs are exemplary experiments provided to allow a person having skills in the art to understand the invention and should not be limiting in any way.

[0309] As used herein with reference to quantity or value, the term “about” means “within ± 20 % The terms “comprises”, “comprising”, “includes”, “including”, “has”, “having” and their conjugates mean “including but not limited to”.

[0310] The term “consisting of’ means “including and limited to”.

[0311] The term “consisting essentially of’ means that the composition, method or structure may include additional ingredients, steps and / or parts, but only if the additional ingredients, steps and / or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.

[0312] As used herein, the singular forms “a”, “an” and “the” include plural references unless the context clearly dictates otherwise. For example, the term “a compound” or “at least one compound” may include a plurality of compounds, including mixtures thereof.

[0313] Throughout this application, embodiments of this invention may be presented with reference to a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as “from 1 to 6” should be considered to have specifically disclosed subranges such as “from 1 to 3”, “from 1 to 4”, “from 1 to 5”, “from 2 to 4”, “from 2 to 6”, “from 3 to 6”, etc.; as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range.

[0314] Whenever a numerical range is indicated herein (for example “10-15”, “10 to 15”, or any pair of numbers linked by these another such range indication), it is meant to include any number (fractional or integral) within the indicated range limits, including the range limits, unless the context clearly dictates otherwise. The phrases “range / ranging / ranges between” a first indicate number and a second indicate number and “range / ranging / ranges from” a first indicate number “to”, “up to”, “until” or “through” (or another such range-indicating term) a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numbers therebetween.

[0315] Unless otherwise indicated, numbers used herein and any number ranges based thereon are approximations within the accuracy of reasonable measurement and rounding errors as understood by persons skilled in the art

[0316] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

[0317] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

[0318] It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is / are hereby incorporated herein by reference in its / their entirety.

Claims

WHAT IS CLAIMED IS:

1. An end effector for a robotic wiring system, comprising a wire holder comprising a first type of exchangeable tool.

2. The end effector according to claim 1, wherein said wire holder comprises a first adaptor configured for allowing exchanging of said first type of exchangeable tool.

3. The end effector according to claim 1 or claim 2, wherein said first type of exchangeable tool are one or more of a wire grasping tool, a USB gripper, a RJ45 gripper, a HDMI gripper, a continuity test probe and a USB data transfer tool.

4. The end effector according to any one of claims 1-3, wherein said first type of exchangeable tool comprises two elongated finger- like extensions.

5. The end effector according to claim 4, wherein said two elongated finger- like extensions are actuated using a “scissor-like” mechanism.

6. The end effector according to claim 5, wherein said “scissor-like” mechanism provides said two elongated finger-like extensions with an angular movement.

7. The end effector according to claim 4, wherein said two elongated finger- like extensions are characterized by one or more of the following actuation states comprising an open stated, a semi-closed state and a closed state.

8. The end effector according to any one of claims 1-7, wherein said wire holder comprises a caging actuator configured for holding an actuation state of said first type of exchangeable tool while using said end effector.

9. The end effector according to claim 4, wherein said two elongated finger-like extensions are characterized by having a distance between said two elongated finger-like extensions of from about 2mm to about 7mm.

10. The end effector according to claim 4, wherein said two elongated finger-like extensions are characterized by having a distance between said two elongated finger-like extensions configured for holding a required object.

11. The end effector according to claim 4, wherein said two elongated finger- like extensions are configured to apply a force of from about IN to about 20N.

12. The end effector according to claim 4, wherein said two elongated finger-like extensions are configured for grasping wires having a diameter of from about 0.5mm to about 6.0mm and higher diameter.

13. The end effector according to claim 4, wherein each of said two elongated finger-like extensions comprise a distal end configured to hold one or more of a wire, a connector, USB connector, a RJ45 connector, a HDMI connector, a cable, a tube, a fiber optic cable and a fiber optic tube.

14. The end effector according to claim 4, wherein said wire holder comprises one or more of first sensors configured to monitor actions performed by said wire holder.

15. The end effector according to claim 14, wherein one of said one or more of first sensors is at least one force sensor for measuring forces from one or more axis.

16. The end effector according to claim 14, wherein at least one sensor from said one or more of first sensors are positioned on said end effector and additionally are configured for monitoring said first type of exchangeable tool.

17. The end effector according to claim 14, wherein said end effector comprises dedicated calibration information used by said one or more sensors for each type of said first type of exchangeable tool.

18. The end effector according to claim 14, wherein one or more of said one or more of first sensors are positioned on said first type of exchangeable tool.

19. The end effector according to any one of claims 1-18, wherein said wire holder comprises one or more of first motors for moving said wire holder in one or more directions.

20. The end effector according to claim 19, wherein said wire holder comprises one or more of second sensors for monitoring the moving actions of said wire holder.

21. The end effector according to claim 20, wherein one of said one or more of second sensors is at least one anti-collision sensor for monitoring external forces applied on one or more parts of said end effector while being used.

22. The end effector according to any one of claims 1-21, wherein said wire holder comprises an exchangeable tool locker configured for locking said first type of exchangeable tool in place.

23. The end effector according to any one of claims 1-22, wherein said first type of exchangeable tool comprises at least one identification marking.

24. The end effector according to any one of claims 1-23, wherein said first type of exchangeable tool comprises a distal end configured to hold a component at a certain angle in relation to an axis of said first type of exchangeable tool.

25. The end effector according to claim 24, wherein said angle of from about 0° to about 180°.

26. The end effector according to claim 2, wherein a distance from a distal end of said first type of exchangeable tool to said adaptor is from about 10mm to about 300mm.

27. The end effector according to any one of claims 1-26, wherein said first type of exchangeable tool comprises a total width of from about 1mm to about 10mm.

28. The end effector according to any one of claims 1-27, wherein said end effector exchanges said first type of exchangeable tool from a plurality of first type of exchangeable tools located in a dedicated stand for first type of exchangeable tools.

29. The end effector according to any one of claims 1-28, further comprising a wire locker comprising a second type of exchangeable tool.

30. The end effector according to claim 29, wherein said second type of exchangeable tool is a motorized screwdriver configured to receive one or more interchangeable screwdriver bits.

31. The end effector according to claim 30, wherein said motorized screwdriver comprises a second adaptor configured for allowing exchanging of said one or more interchangeable screwdriver bits.

32. The end effector according to claim 29, wherein said second type of exchangeable tool is a motorized pusher configured for pushing locking mechanism in electrical connector terminals.

33. The end effector according to claim 29, wherein said wire locker comprises one or more of third sensors configured to monitor locking actions of said wire locker.

34. The end effector according to claim 33, wherein one of said one or more of third sensors is a torque sensor configured to monitor torque related to locking mechanisms of electrical terminal connectors.

35. The end effector according to claim 29, wherein said wire locker comprises one or more of second motors for moving said wire locker in one or more directions.

36. The end effector according to any one of claims 1-35, wherein said first type of exchangeable tool is configured to perform tasks related to an automated wiring process.

37. The end effector according to claim 29, wherein said second type of exchangeable tool is configured to perform tasks related to an automated wiring process.

38. The end effector according to claim 36 or claim 37, wherein said tasks are one or more of grasping a wire, grasping a tube, grasping a cable, locking a wire, testing continuity and delivering data.

39. The end effector according to any one of claims 1-38, wherein said first type of exchangeable tool is configured to fit in a tight spot.

40. The end effector according to claim 29, wherein said second type of exchangeable tool is configured to fit in a tight spot.

41. The end effector according to any one of claims 1-40, wherein said first type of exchangeable tool is configured to be used in a validation process.

42. The end effector according to claim 29, wherein said second type of exchangeable tool is configured to be used in a validation process.

43. The end effector according to any one of claims 1-42, wherein said first type of exchangeable tool is configured to be used in a quality assurance (QA) process.

44. The end effector according to claim 29, wherein said second type of exchangeable tool is configured to be used in a quality assurance (QA) process.

45. The end effector according to any one of claims 1-44, wherein said end effector comprises a single multi- sensor configured for monitoring the processes of all parts of said end effector.

46. The end effector according to claim 16, wherein said calibration information is generated by one or more of tests, analysis and simulations.

47. A robotic wiring system comprising: a. at least one robotic arm comprising an end effector according to claim 1 ; and b. a tool stand comprising a plurality of tools.

48. A method of performing a wiring process by an automated wiring machine, comprising: a. receiving wiring information data comprising a plurality of tasks; b. picking up, by said automated wiring machine, a dedicated tool for a task from said plurality of tasks according to said wiring information data;c. performing said task from said plurality of tasks according to said wiring information data; wherein said method comprises interchanging tools when a specific task from said plurality of tasks requires a different tool from said picked up tool.

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