Wire laying and positioning system and method

Abstract

The present invention relates to an automated robotic wiring system configured to perform a wiring process including wiring one or more wires to an electrical panel, comprising one or more first robotic units configured to insert the ends of wires into electrical components, and one or more second robotic units configured to position the wires along a path within the electrical panel, wherein the first and second robotic units cooperate with each other during the wiring process.

Description

Technical Field

[0001] Related Applications This application claims priority to U.S. Provisional Patent Application No. 63 / 458,966, filed Apr. 13, 2023; U.S. Provisional Patent Application No. 63 / 530,501, filed Aug. 3, 2023; U.S. Provisional Patent Application No. 63 / 591,452, filed Oct. 19, 2023; and U.S. Provisional Patent Application No. 63 / 623,821, filed Jan. 23, 2024, the contents of which are hereby incorporated by reference in their entirety.

Background Art

[0002] Some embodiments of the present invention relate to systems for laying and positioning wires, and more particularly, but not limited to, robotic systems for laying and positioning wires in automated wiring robotic systems.

[0003] Furthermore, as background art, U.S. Pat. No. 10,099,371 discloses a robot that can accommodate dynamic exchange of end effectors and reads and executes software for operating the end effectors without changing the main control program. When a corresponding end effector is detected, the driver is dynamically linked and executed during program execution. Typically, a robot controller or system controller holds a library of drivers and loads an appropriate driver when a new end effector is detected.

[0004] U.S. Patent Application Publication No. 20190054634 discloses an end effector unit that can be locked and unlocked by relative movement of a robot and can use a plurality of end effectors in the end effector unit. Furthermore, a corresponding method for automatically exchanging end effectors is disclosed.

[0005] U.S. Patent Application Publication No. 20220193925 discloses a tool changing system for an industrial robot, comprising: a tool; a base member for holding the tool for positioning the operating mechanism of the industrial robot; a tool storage unit for holding the tool when released from the base member; a holding device for applying force to the tool toward the base member in any orientation of the base member when the tool is held by the base member; and a tool storage unit force application device for applying force to the tool toward the tool storage unit in any orientation of the tool storage unit when the tool is held by the tool storage unit. A method for handling a tool by an industrial robot is also disclosed. [Overview of the Initiative]

[0006] The following is a non-exclusive list containing some examples of embodiments of the present invention. The present invention also includes embodiments that have fewer features than all of the examples, and embodiments that use features from multiple examples, even if not explicitly listed below.

[0007] Example 1 An automated robotic wiring system configured to perform a wiring process that includes wiring one or more wires to an electrical panel, a. One or more first robot units configured to insert the ends of wires into electrical components, b. comprising one or more second robot units configured to position the wire along a path within the electrical panel, The first robot unit and the second robot unit cooperate with each other during the wiring process. system.

[0008] Example 2 The automated robot wiring system is configured to pass a portion of the one or more wires from the one or more first robot units to the one or more second robot units and vice versa during the wiring process, as in Example 1.

[0009] Example 3: The system according to Example 1, wherein the one or more first robot units are positioned in front of the electric panel.

[0010] Example 4: The system according to Example 1, wherein the one or more second robot units are located on the same side as the one or more first robot units.

[0011] Example 5: The system according to Example 1, wherein the one or more second robot units are located behind the electrical panel.

[0012] Example 6 The system according to Example 1, further comprising at least two second robot units, the first of the at least two second robot units being located in front of the electrical panel, and the second of the at least two second robot units being located behind the electrical panel.

[0013] Example 7 The system according to any one of Examples 1 to 6, wherein the first robot unit is a robot arm.

[0014] Example 8: The system according to Example 7, wherein the robot arm comprises an end effector configured to engage with the wire.

[0015] Example 9 The system according to any one of Examples 1 to 8, wherein the second robot unit is a wire laying and positioning robot unit.

[0016] Example 10 The wire laying and positioning robot unit is, a. A robotic manipulator configured to provide motion in one or more directions to a positioning head, b. A positioning head comprising one or more wire operating mechanisms, The system described in Example 9.

[0017] Example 11. The system according to Example 10, wherein one of the one or more wire operating mechanisms comprises a positioning neck having one or more wire moving mechanisms.

[0018] Example 12. The system according to Example 11, wherein the one or more wire moving mechanisms are one or more belts.

[0019] Example 13. The system according to Example 11, wherein the one or more wire moving mechanisms are one or more rollers.

[0020] Example 14. The system according to any one of Examples 10 to 13, wherein the positioning head comprises an inclination mechanism configured to incline the positioning head.

[0021] Example 15. The system according to Example 14, wherein the inclination mechanism inclines the positioning head at an angle within a range of 0 degrees to 90 degrees.

[0022] Example 16. The system according to any one of Examples 10 to 15, wherein the positioning head comprises a rotation mechanism configured to rotate the positioning head.

[0023] Example 17. The system according to any one of Examples 10 to 16, wherein the robot manipulator is one or more of a robot arm and a gantry robot.

[0024] Example 18. The system according to any one of Examples 10 to 17, wherein the one or more directions provided by the robot manipulator are selected from the group consisting of left - right, front - back, and up - down.

[0025] Example 19. The system according to any one of Examples 10 to 18, further comprising one or more sensors configured to monitor the movement of the wire within the positioning head.

[0026] The system according to any one of Examples 10 to 19, further comprising a wire fixing actuator configured to control the speed at which the wire is released.

[0027] The system according to any one of Examples 1 to 20, further comprising an encoder configured to measure how much the wire has been released.

[0028] The system according to any one of Examples 10 to 21, further comprising a wire channel configured to accommodate the wire while the wire is being released.

[0029] The system according to Example 11, wherein the positioning neck has a closed configuration and an open configuration, and in the open configuration, the robot unit can access and engage the wire located within the positioning neck.

[0030] The system according to any one of Examples 1 to 8, wherein the second robot unit is a wire operating robot unit disposed behind the electrical panel.

[0031] The system according to Example 24, wherein the wire operating robot unit comprises two or more grippers each configured to operate the tip of a wire.

[0032] The system according to Example 25, wherein each of the two or more grippers rotates along the vertical axis of the gripper.

[0033] The system according to Example 25, wherein each of the two or more grippers moves along a Cartesian coordinate system (in a Cartesian manner).

[0034] The system according to Example 25, wherein each of the two or more grippers moves independently of the other grippers.

[0035] Example 29 The system according to Example 25, wherein each of the two or more grippers moves up and down relative to the electric panel.

[0036] Example 30 The system according to Example 25, wherein each of the two or more grippers moves from the rear side of the electric panel to the front side of the electric panel.

[0037] Example 31: The system according to Example 25, wherein each of the two or more grippers interacts with at least one of the one or more first robot units.

[0038] Example 32: The system according to Example 25, wherein each of the two or more grippers interacts with at least one of the one or more second robotic units located in front of the electric panel.

[0039] Example 33 The system according to any one example of Examples 1 to 32, further comprising a wire preparation unit configured to prepare one or more wires used in the wiring process.

[0040] Example 34 The system according to any one example from Examples 1 to 33, further comprising an openable and closable loading platform configured to receive the electric panel.

[0041] Example 35: The system according to any one example of Examples 1 to 34, further comprising one or more sensors configured to monitor the wiring process.

[0042] Example 36: A method for performing the wiring process of an electrical panel using an automated robotic wiring system, a. The step of inserting the first end of the wire into the first electrical component using one or more first robot units, b. The step of positioning the wire along the path using one or more second robot units, c. The step of inserting the second end of the wire into the second electrical component by one or more first robot units, method.

[0043] Example 37 The method according to Example 36, further comprising the step of positioning the wire within the one or more second robot units before the step of inserting the first end of the wire.

[0044] Example 38 The method according to Example 37, further comprising the step of positioning the wire within one or more second robot units, followed by the step of having one or more first robot units pick up the first end of the wire from the tip of one or more second robot units.

[0045] Example 39 The method according to Example 36, further comprising the step of positioning the wire along the path, followed by the step of having one or more first robot units pick up the second end of the wire from the tip of one or more second robot units.

[0046] Example 40 The method according to Example 38 or 39, further comprising the step of tilting a portion of the one or more second robot units to facilitate the picking step.

[0047] Example 41 a. The one or more first robot units and the one or more second robot units receive wiring information data which includes a plurality of tasks to be performed during the wiring process, b. The step of performing the plurality of tasks according to the wiring information data, further including The aforementioned tasks are characterized by instructing the one or more first robot units and the one or more second robot units to cooperate with each other during the wiring process. The method described in any one of Examples 36 to 40.

[0048] Example 42 The method according to Example 41, further comprising the step of having one or more first robot units pick up a dedicated tool for one of the multiple tasks according to the wiring information data.

[0049] Example 43 The method of Example 42, further comprising the step of exchanging tools if a particular task among the multiple tasks requires a different tool than the picked-up tool.

[0050] Example 44 The method according to any one example from Examples 36 to 43, wherein the step of positioning the wire along the path includes the step of releasing the wire behind the electrical panel.

[0051] Example 45 The method according to any one example of Examples 36 to 43, further comprising the step of passing one or both ends of a wire from one side of the electrical panel to the other side of the electrical panel.

[0052] Example 46 a. A robotic manipulator configured to provide motion in one or more directions to a positioning head, b. A positioning head comprising one or more wire operating mechanisms, Wire laying and positioning robot unit.

[0053] Example 47 The wire laying and positioning robot unit according to Example 46, wherein one of the one or more wire operating mechanisms comprises a positioning neck having one or more wire moving mechanisms.

[0054] Example 48: The wire laying and positioning robot unit according to Example 46 or 47, wherein the one or more wire moving mechanisms are one or more belts.

[0055] Example 49 A wire laying and positioning robot unit according to any one example of Examples 46 to 48, wherein the one or more wire moving mechanisms are one or more rollers.

[0056] Example 50 A wire laying and positioning robot unit according to any one example of Examples 46 to 49, wherein the positioning head is equipped with a tilting mechanism configured to tilt the positioning head.

[0057] Example 51 The wire laying and positioning robot unit according to any one example of Examples 46 to 50, wherein the tilting mechanism tilts the positioning head to an angle in the range of 0 to 90 degrees.

[0058] Example 52: A wire laying and positioning robot unit according to any one example of Examples 46 to 51, wherein the positioning head is equipped with a rotating mechanism configured to rotate the positioning head.

[0059] Example 53 A wire-laying and positioning robot unit according to any one example of Examples 46 to 52, wherein the robot manipulator is one or more of a robot arm and a gantry robot.

[0060] Example 54 A wire laying and positioning robot unit according to any one example of Examples 46 to 53, wherein the one or more directions provided by the robot manipulator are selected from the group consisting of left and right, front and back, and up and down.

[0061] Example 55 A wire laying and positioning robot unit according to any one example of Examples 43 to 54, further comprising one or more sensors configured to monitor the movement of a wire in the positioning head.

[0062] Example 56 A wire laying and positioning robot unit according to any one example from Examples 43 to 55, further comprising a wire fixing actuator configured to control the speed at which the wire is released.

[0063] Example 57 A wire laying and positioning robot unit according to any one example from Examples 43 to 56, further comprising an encoder configured to measure how much of the wire has been released.

[0064] Example 58 A wire laying and positioning robot unit according to any one example of Examples 43 to 57, further comprising a wire channel configured for housing the wire while the wire is released.

[0065] Example 59 A wire laying and positioning robot unit according to any one example of Examples 46 to 58, wherein the positioning neck comprises a closed configuration and an open configuration, the open configuration allowing a robot unit to access and engage a wire located within the positioning neck.

[0066] Example 60 An automated robotic wiring system configured to perform a wiring process that includes wiring one or more wires to an electrical panel, a. One or more first robot units configured to insert the ends of wires into electrical components, b. comprising one or more second robot units configured to position the wire along a path within the electrical panel, The first robot unit and the second robot unit cooperate with each other during the wiring process. system.

[0067] Example 61 The system according to Example 60, wherein the first robot unit is a robot arm.

[0068] Example 62 The system according to Example 60 or 61, wherein the robot arm comprises an end effector configured to engage with the wire.

[0069] Example 63 The system according to any one of Examples 60 to 62, wherein the second robot unit is the wire laying and positioning robot unit described in Example 46.

[0070] Example 64 The system according to any one example of Examples 60 to 63, further comprising a wire preparation unit configured to prepare one or more wires used in the wiring process.

[0071] Example 65: The system according to any one example of Examples 60 to 64, further comprising an openable and closable loading platform configured to receive the electric panel.

[0072] Example 66: The system according to any one example of Examples 60 to 65, further comprising one or more sensors configured to monitor the wiring process.

[0073] Example 67 A wire holder adapter, a. Base and, b. comprising a first body extending perpendicularly from the base and a second body extending perpendicularly from the base, each having a tip that curves inward toward a first vertical axis passing through the center of the base, At the position through which the first vertical axis passes, the tip of the first body and the tip of the second body are in near contact and slightly separated from each other. The first body and the second body define a wire holding enclosure region where the tip of the first body and the tip of the second body are in near contact and slightly separated, with an exit at that position. The aforementioned wire holder adapter further, c. A wire holder adapter comprising at least two projections extending from the top of each of the first and second bodies, wherein the at least two projections are configured to be engaged by a robotic unit, thereby further separating the tip of the first body and the tip of the second body, allowing the wire to enter the wire holding enclosure area.

[0074] Example 68: The wire holder adapter according to Example 67, wherein when the robot unit disengages the engagement of the at least two protrusions, the tip of the first body and the tip of the second body return to their previous state of engagement.

[0075] Example 69: A wire holder adapter as described in Example 67 or 68, wherein the return to the previous state is passive.

[0076] Example 70 A wire holder adapter according to any one example from Examples 67 to 69, further comprising one or more separator holders.

[0077] Example 71: A wire holder adapter according to any one example of Examples 67 to 70, further comprising one or more separators.

[0078] Example 72 A wire holder adapter according to any one example of Examples 67 to 71, further comprising one or more channels defined by one or more bodies extending perpendicularly from the base within the wire holding enclosure area.

[0079] Example 73 The wire holder adapter according to any one example of Examples 67 to 72, comprising a third body and a fourth body extending from the base, the third body and the fourth body each having tips that curve inward toward a second longitudinal axis passing through the base, and if the wire holder adapter comprises the third body and the fourth body, the first longitudinal axis does not pass through the center of the base.

[0080] Example 74 A wire holder adapter according to any one example of Examples 67 to 73, wherein the base comprises an engagement mechanism configured to engage with the surface of an electrical panel.

[0081] Example 75 A wire holder adapter according to any one example of Examples 67 to 74, wherein the base comprises an engagement mechanism configured to engage with an electrical duct of an electrical panel.

[0082] Example 76 A method for performing a wiring process using the automated robotic wiring system described in Example 60,

[0083] a. The step of inserting the first end of the wire into the first electrical component using one or more first robot units, b. The step of positioning the wire along the path using one or more second robot units, c. The step of inserting the second end of the wire into the second electrical component by one or more first robot units, method.

[0084] Example 77 The method of Example 76, further comprising the step of positioning the wire within the one or more second robot units before the step of inserting the first end of the wire.

[0085] Example 78 The method according to Example 76 or 77, further comprising the step of positioning the wire within one or more second robot units, followed by the step of having one or more first robot units pick up the first end of the wire from the tip of one or more second robot units.

[0086] Example 79 The method according to any one example of Examples 76 to 78, further comprising the step of positioning the wire along the path, followed by the step of having one or more first robot units pick up the second end of the wire from the tip of one or more second robot units.

[0087] Example 80 The method according to any one example of Examples 76 to 79, further comprising the step of tilting a portion of the one or more second robot units to facilitate the picking step.

[0088] Example 81 a. A step of receiving wiring information data including multiple tasks of the one or more first robot units and the one or more second robot units, b. The step of performing the plurality of tasks according to the wiring information data, wherein the plurality of tasks are i. The step of inserting the end of a wire into an electrical component using one or more first robot units, ii. The process includes one or more steps of positioning the wire along a path within the electrical panel by one or more second robot units, The aforementioned multiple tasks are characterized by instructing the one or more first robot units and the one or more second robot units to cooperate with each other during the execution of the wiring process. method.

[0089] Example 82 The method according to Example 81, further comprising the step of having one or more first robot units pick up a dedicated tool for one of the multiple tasks according to the wiring information data.

[0090] Example 83 A wire holder equipped with a first type of interchangeable tool, End effector for robot wiring systems.

[0091] Example 84: The end effector according to Example 83, wherein the wire holder comprises a first adapter configured to allow the replacement of the first type of interchangeable tool.

[0092] Example 85 The end effector described in Example 83 or 84, wherein the first type of interchangeable tool is one or more of the following: wire gripping tool, USB gripper, RJ45 gripper, HDMI® gripper, continuity test probe, and USB data transfer tool.

[0093] Example 86 The first type of interchangeable tool is an end effector according to any one example of Examples 83 to 85, comprising two elongated finger-like extensions.

[0094] Example 87: An end effector according to any one of Examples 83 to 86, wherein the two elongated finger-like extensions are driven using a "scissor-like" mechanism.

[0095] Example 88 The “scissors-type” mechanism provides angular motion to the two elongated finger-like extensions, as described in any one example of Examples 83 to 87.

[0096] Example 89: An end effector according to any one example of Examples 83 to 88, wherein the two elongated finger-like extensions are characterized by one or more operating states, including an open state, a semi-closed state, and a closed state.

[0097] Example 90: An end effector according to any one example of Examples 83 to 89, wherein the wire holder comprises a cagering actuator configured to maintain the working state of the first type of interchangeable tool while the end effector is in use.

[0098] Example 91 The end effector according to any one example of Examples 83 to 90, characterized in that the distance between the two elongated finger-like extensions is approximately 2 mm to approximately 7 mm.

[0099] Example 92 The end effector according to any one example of Examples 83 to 91, characterized in that the two elongated finger-like extensions are configured such that the distance between the two elongated finger-like extensions is such that the required object is held.

[0100] Example 93: An end effector according to any one example of Examples 83 to 92, wherein the two elongated finger-like extensions are configured to apply a force of approximately 1 N to approximately 20 N.

[0101] Example 94: An end effector according to any one example of Examples 83 to 95, wherein the two elongated finger-like extensions are configured to grip wires with a diameter of approximately 0.5 mm to approximately 6.0 mm and larger diameter wires.

[0102] Example 95 An end effector according to any one example of Examples 83 to 94, wherein each of the two elongated finger-like extensions has a distal end configured to hold one or more wires, connectors, USB connectors, RJ45 connectors, HDMI connectors, cables, tubes, fiber optic cables, and fiber optic tubes.

[0103] Example 96: An end effector according to any one example of Examples 83 to 95, wherein the wire holder comprises one or more first sensors configured to monitor the operation performed by the wire holder.

[0104] Example 97: An end effector according to any one example of Examples 83 to 96, wherein one of the one or more first sensors is at least one force sensor that measures force from one or more axes.

[0105] Example 98 The end effector according to any one example of Examples 83 to 97, wherein the end effector includes dedicated calibration information used by the one or more first sensors for each type of the first type of interchangeable tool.

[0106] Example 99 An end effector according to any one example of Examples 83 to 98, wherein at least one of the one or more first sensors is positioned on the end effector and configured to additionally monitor the first type of replaceable tool.

[0107] Example 100: An end effector according to any one example of Examples 83 to 99, wherein one or more of the one or more first sensors are positioned on the first type of interchangeable tool.

[0108] Example 101: An end effector according to any one example of Examples 83 to 100, wherein the wire holder comprises one or more first motors for moving the wire holder in one or more directions.

[0109] Example 102 The end effector according to any one example of Examples 83 to 101, wherein the wire holder comprises one or more second sensors for monitoring the movement of the wire holder.

[0110] Example 103 The end effector according to any one example of Examples 83 to 102, wherein one of the one or more second sensors is at least one collision prevention sensor for monitoring an external force applied to one or more components of the end effector in use.

[0111] Example 104 The end effector according to any one example of Examples 83 to 103, wherein the wire holder comprises an interchangeable tool locking portion for locking the first type of interchangeable tool in place.

[0112] Example 105 The first type of interchangeable tool is an end effector as described in any one example of Examples 83 to 104, having at least one identification mark.

[0113] Example 106 An end effector according to any one example of Examples 83 to 105, wherein the first type of interchangeable tool has a distal end that holds a component at an angle with respect to the axis of the first type of interchangeable tool.

[0114] Example 107: An end effector as described in any one example from Examples 83 to 106, wherein the angle is in the range of approximately 0° to approximately 180°.

[0115] Example 108: An end effector according to any one example from Examples 83 to 107, wherein the distance from the distal end of the first type of interchangeable tool to the first adapter is approximately 10 mm to approximately 300 mm.

[0116] Example 109 The first type of interchangeable tool is an end effector as described in any one example from Examples 83 to 108, having a total width of approximately 1 mm to approximately 10 mm.

[0117] Example 110 The end effector is an end effector according to any one example of Examples 83 to 109, wherein the end effector replaces a plurality of the first type of interchangeable tools, which are arranged on a dedicated stand for the first type of interchangeable tools.

[0118] Example 111: An end effector according to any one example of Examples 83 to 110, further comprising a wire locking section having a second type of interchangeable tool.

[0119] Example 112 The robotic wiring system according to any one example of Examples 83 to 111, wherein the second type of interchangeable tool is an electric screwdriver configured to accept one or more interchangeable screwdriver bits.

[0120] Example 113: An end effector according to any one example of Examples 83 to 112, wherein the electric screwdriver comprises a second adapter configured to allow the replacement of one or more interchangeable screwdriver bits.

[0121] Example 114 The end effector according to any one example of Examples 83 to 113, wherein the second type of replaceable tool is a motorized press configured to press a locking mechanism within an electrical connector terminal.

[0122] Example 115: An end effector according to any one example of Examples 83 to 114, wherein the wire locking portion comprises one or more third sensors for monitoring the locking operation of the wire locking portion.

[0123] Example 116: An end effector according to any one example of Examples 83 to 115, wherein one of the one or more third sensors is a torque sensor configured to monitor torque relating to the locking mechanism of an electrical terminal connector.

[0124] Example 117: An end effector according to any one example of Examples 83 to 116, wherein the wire locking portion comprises one or more second motors for moving the wire locking portion in one or more directions.

[0125] Example 118 The first type of interchangeable tool is configured to perform work related to an automated wiring process, as described in any one example from Examples 83 to 117, an end effector.

[0126] Example 119 The second type of interchangeable tool is configured to perform work related to an automated wiring process, as described in any one example from Examples 83 to 118, an end effector.

[0127] Example 120 An end effector as described in any one example from Examples 83 to 119, wherein the operation is one or more of the following: grasping a wire, grasping a tube, grasping a cable, locking a wire, testing for continuity, and transmitting data.

[0128] Example 121 The first type of interchangeable tool is an end effector as described in any one example from Examples 83 to 120, configured to fit into a confined space.

[0129] Example 122 The second type of interchangeable tool is an end effector as described in any one example from Examples 83 to 121, configured to fit into a confined space.

[0130] Example 123 The first type of interchangeable tool described above is an end effector as described in any one example from Examples 83 to 122, configured for use in a verification process.

[0131] Example 124 The second type of interchangeable tool described above is an end effector as described in any one example from Examples 83 to 123, configured for use in the verification process.

[0132] Example 125 The first type of interchangeable tool is an end effector as described in any one example from Examples 83 to 124, configured for use in a quality assurance (QA) process.

[0133] Example 126 The second type of interchangeable tool is an end effector as described in any one example from Examples 83 to 125, configured for use in a quality assurance (QA) process.

[0134] Example 127: An end effector according to any one example of Examples 83 to 125, comprising a single multisensor configured to monitor the processes of all components of the end effector.

[0135] Example 128 The calibration information is generated by one or more tests, analyses, and simulations, as described in any one example from Examples 83 to 127 of the end effector.

[0136] Example 129 a. At least one robotic arm having an end effector as described in Example 83, b. A tool stand equipped with multiple tools, A robotic wiring system equipped with the following features.

[0137] Example 130 A method for performing a wiring process using an automatic wiring machine, a. Receiving wiring information data that includes multiple operations, and b. Picking up the dedicated tool for each of the multiple tasks using the automatic wiring machine according to the wiring information data, c. Performing the aforementioned task among the plurality of tasks according to the wiring information data, The method includes exchanging tools when a particular task among the plurality of tasks requires a tool different from the tool that was picked up. method.

[0138] Example 131 An automated robotic wiring system configured to perform a wiring process of wiring one or more wires to an electrical panel, a, one or more first robot units configured to insert the end of a wire into an opening in the electrical panel, b. comprising one or more second robot units configured to pick up the end of the wire after the end of the wire has passed through the opening of the electrical panel, system.

[0139] Example 132 The automated robot wiring system according to Example 131, wherein the one or more first robot units and the one or more second robot units are configured to work in coordination with each other while the ends of the wires pass through the openings.

[0140] Example 133 An automated robotic wiring system according to any one example of Examples 131 to 132, wherein one or more first robotic units or one or more second robotic units are configured to insert the ends of the wires into electrical components.

[0141] Example 134 An automated robotic wiring system according to any one example of Examples 131 to 133, further comprising one or more third robotic units configured to position the wires along a path within the electrical panel.

[0142] Example 135 An automated robotic wiring system according to any one example of Examples 131 to 134, wherein the one or more first robotic units and / or the one or more second robotic units are robotic arms having end effectors configured to manipulate the wires.

[0143] Example 136 The system according to any one example of Examples 131 to 135, wherein the one or more third robot units are the wire laying and positioning robot units described in Example 46.

[0144] Example 137 An automated robotic wiring system according to any one example of Examples 131 to 136, further comprising a wire preparation unit configured to prepare one or more wires used in the wiring process.

[0145] Example 138 An automated robotic wiring system according to any one example of Examples 131 to 137, further comprising an openable and closable loading platform configured to receive the electrical panel.

[0146] Example 139 An automated robot wiring system according to any one example of Examples 131 to 138, wherein one or more of the first robot units or one or more of the second robot units are located below the openable and closable loading platform.

[0147] Example 140 An automated robot wiring system according to any one example of Examples 131 to 139, wherein at least one of the one or more first robot units and the one or more second robot units is located in front of the electrical panel and the other is located behind the electrical panel.

[0148] Example 141 An automated robot wiring system according to any one example of Examples 131 to 140, wherein the one or more first robot units and the one or more second robot units are one or more of a manipulator, a cartesian gantry system, and a multi-axis platform.

[0149] Example 142 An automated robot wiring system according to any one example of Examples 131 to 141, further comprising one or more sensors configured to monitor the wire as it is passed from one or more first robot units to one or more second robot units.

[0150] Example 143 An automated robotic wiring system according to any one example of Examples 131 to 142, further comprising one or more cameras configured to monitor the wire as it is passed from one or more first robotic units to one or more second robotic units.

[0151] Example 144 A method for performing a wiring process using the automated robotic wiring system described in Example 131, a. The step of inserting the first end of the wire into the opening using one or more of the first robot units, b. The step of picking up the first end of the wire after it has passed through the opening by one or more second robot units, method.

[0152] Example 145 A method for performing a wiring process using the automated robotic wiring system described in Example 131, a. The step of accessing the first side of the electrical panel by one or more first robot units, b. The step of accessing the second side of the electrical panel by one or more second robot units, c. The step of passing at least a portion of the wire from one or more first robot units to one or more second robot units, or vice versa, method.

[0153] Example 146 a. Operating arm and, b. An end effector configured to hold a wire, c. A system comprising at least one sensor, The aforementioned system, d. Identify the object, e. Search for openings in the object, f. The wire is configured to be inserted into the opening of the object using the motion trajectory based on the feedback from the sensor. system.

[0154] Example 147 A method for inserting a wire through an object, a. The step of identifying the object, b. A step of searching for an opening in the object, c. Inserting the wire into the opening of the object using the motion trajectory based on sensor feedback, method.

[0155] Example 148 The system and method described in Examples 146 and 147, wherein the object is a wiring duct.

[0156] Example 149 The system and method described in Examples 146 and 147, wherein the object is a clip.

[0157] Example 150: A system comprising an operating arm and a wire release mechanism that releases a wire through a gap from one side of a panel to the other.

[0158] Example 151 The system according to Example 150, wherein the wire has a minimum speed that ensures the wire moves from one side to the other.

[0159] Example 152 The release mechanism is incorporated into the end effector, as in the system described in Example 150 or 151.

[0160] Example 153 A method for transporting a wire from one side to the other through a gap, wherein the wire is released from the mechanism at a suitable speed to ensure that it moves from one side to the other.

[0161] Example 154: A system for automatically wiring small electrical panels, comprising an assembly module and a wiring module.

[0162] Example 155 The release mechanism is incorporated into the end effector, and the release mechanism includes one or more mechanical units (e.g., grippers) that present a wire from one side of an object to the other, and the object may be, for example, a panel, as in the system described in Example 154.

[0163] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention pertains. Similar or equivalent methods and materials may be used to implement or test embodiments of the present invention, but exemplary methods and / or materials are described below. In case of any conflict, the patent specification, including definitions, shall prevail. Furthermore, the materials, methods, and examples are merely examples and are not necessarily intended to limit the scope of the invention.

[0164] As those skilled in the art will understand, some embodiments of the present invention may be embodied as systems, methods, or computer program products. Accordingly, some embodiments of the present invention may take the form of entirely hardware embodiments, entirely software embodiments (including firmware, resident software, microcode, etc.), or embodiments combining software and hardware aspects, which may be commonly referred herein as “circuits,” “modules,” or “systems.” Furthermore, some embodiments of the present invention may take the form of computer program products embodied in one or more computer-readable media in which computer-readable program code is embodied. Implementation of some embodiments of the present invention methods and / or systems may involve performing and / or carrying out selected tasks manually, automatically, or in combination thereof. Furthermore, according to the actual instrumentation and installation of some embodiments of the methods and / or systems of the present invention, some selected tasks may be carried out by hardware, software, or firmware, and / or in combination thereof, for example, using an operating system.

[0165] For example, hardware for performing selected tasks according to some embodiments of the present invention may be implemented as a chip or circuit. As software, selected tasks according to some embodiments of the present invention may be implemented as a set of software instructions executed by a computer using any suitable operating system. In exemplary embodiments of the present invention, one or more tasks according to some exemplary embodiments of the method and / or system described herein are performed by a data processor, such as a computing platform, for executing a set of instructions. Optionally, the data processor includes volatile memory for storing instructions and / or data, and / or non-volatile storage for storing instructions and / or data, such as a magnetic hard disk and / or removable media. Optionally, network connectivity is also provided. A display and / or user input devices such as a keyboard or mouse are also provided as options.

[0166] Some embodiments of the present invention may utilize any combination of one or more computer-readable media. A computer-readable media may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any preferred combination thereof. More specific examples of computer-readable storage media include electrical connections having one or more communication lines, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any preferred combination thereof. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain or store programs for use by, or in connection with, an instruction execution system, apparatus, or device.

[0167] A computer-readable signal medium may include, for example, a propagating data signal in which computer-readable program code is embodied, either in the baseband or as part of a carrier wave. Such propagating signals may take any of various forms, including but not limited to electromagnetic, optical, or any combination thereof. A computer-readable signal medium may not be a computer-readable storage medium, but any computer-readable medium capable of communicating, propagating, or carrying a program for use by, or in connection with, an instruction execution system, apparatus, or device.

[0168] Program code and / or data used thereby, as embodied on a computer-readable medium, may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, or any suitable combination thereof.

[0169] Computer program code for performing operations for some embodiments of the present invention may be written in any combination of one or more programming languages, including, for example, object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as, for example, the C programming language or a similar programming language. The program code can run as a standalone software package, entirely on the user's computer, partially on the user's computer, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, via the Internet using an Internet Service Provider).

[0170] Some embodiments of the present invention are described below with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It will be understood that each block in a flowchart and / or block diagram, and combinations of blocks in a flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to create a machine such that instructions executed via the processor of the computer or other programmable data processing device create means for performing functions / actions specified in blocks or combinations of blocks in a flowchart and / or block diagram.

[0171] Furthermore, these computer program instructions may be stored in a computer-readable medium that can instruct a computer, other programmable data processing device, or other device to function in a particular way, thereby manufacturing a product which includes instructions that perform functions / actions specified in a block or a series of block flowcharts and / or block diagrams.

[0172] Computer program instructions may be loaded onto a computer, other programmable data processing device, or other device to create a computer implementation process, such that the instructions executed on the computer or other programmable device perform a series of operational steps, providing a process for carrying out functions / actions specified in a block or multi-block flowchart and / or block diagram.

[0173] Some of the methods described herein are generally designed for computer use only and may not be suitable or practical for human experts to perform entirely manually. Human experts who wish to perform similar tasks manually are likely to employ entirely different methods, such as methods that leverage their expertise and / or methods that leverage the human brain's pattern recognition capabilities, which should be far more efficient than manually performing the steps of the methods described herein.

[0174] Several embodiments of the present invention will be described herein, merely as examples, with reference to the accompanying drawings. While the drawings will be given in detail, it is emphasized that the illustrated details are for illustrative purposes only, illustrating the embodiments of the present invention. In this regard, the description with reference to the drawings will make it clear to those skilled in the art how embodiments of the present invention may be carried out. [Brief explanation of the drawing]

[0175] [Figure 1a] These are schematic diagrams from different viewpoints illustrating exemplary robotic electrical cabinet wiring systems according to several embodiments of the present invention. [Figure 1b] These are schematic diagrams from different viewpoints illustrating exemplary robotic electrical cabinet wiring systems according to several embodiments of the present invention. [Figure 1c] These are schematic diagrams from different viewpoints illustrating exemplary robotic electrical cabinet wiring systems according to several embodiments of the present invention. [Figure 1d] This is a schematic diagram of an exemplary electrical cabinet and its main components according to several embodiments of the present invention. [Figure 1e] This is a schematic diagram of an exemplary electrical cabinet and its main components according to several embodiments of the present invention. [Figure 1f] This is a schematic diagram of a two-step electric panel preparation process according to some embodiments of the present invention. [Figure 2a] This is a schematic diagram of the interior of an exemplary robotic electrical cabinet wiring system according to several embodiments of the present invention. [Figure 2b] This is a schematic top view of an exemplary robotic electrical cabinet wiring system according to several embodiments of the present invention. [Figure 3a] This is a schematic diagram illustrating the operation of an exemplary cabinet stacking platform according to several embodiments of the present invention. [Figure 3b] This is a schematic diagram illustrating the operation of an exemplary cabinet stacking platform according to several embodiments of the present invention. [Figure 4a] This is a schematic diagram of an exemplary wire preparation section according to several embodiments of the present invention. [Figure 4b] This is a schematic diagram of an exemplary wire stand according to several embodiments of the present invention. [Figure 4c] This is a schematic diagram of an exemplary wire presentation module and its internal mechanism according to several embodiments of the present invention. [Figure 4d] This is a schematic diagram of an exemplary wire presentation module and its internal mechanism according to several embodiments of the present invention. [Figure 4e] This is a schematic diagram of an exemplary wire presentation module and its internal mechanism according to several embodiments of the present invention. [Figure 4f] This is a schematic diagram of an exemplary wire presentation module and its internal mechanism according to several embodiments of the present invention. [Figure 4g] This is a schematic diagram of an exemplary wire presentation module and its internal mechanism according to several embodiments of the present invention. [Figure 4h] This is a schematic diagram of an exemplary wire presentation module and its internal mechanism according to several embodiments of the present invention. [Figure 4i] This is a schematic diagram of an exemplary wire end connector mounting module according to several embodiments of the present invention. [Figure 4j] This is a schematic diagram of an exemplary wire end connector mounting module according to several embodiments of the present invention. [Figure 4k] This is a schematic diagram of an exemplary wire manipulator according to several embodiments of the present invention. [Figure 4l] This is a schematic diagram of an exemplary wire manipulator according to several embodiments of the present invention. [Figure 4m] This is a schematic diagram of an exemplary wire manipulator according to several embodiments of the present invention. [Figure 4n] This is a schematic diagram of additional components of a wire preparation section according to some embodiments of the present invention. [Figure 4o] This is a flowchart illustrating an exemplary method of wire preparation according to several embodiments of the present invention. [Figure 5a] This is a schematic diagram of an exemplary robotic arm according to several embodiments of the present invention. [Figure 5b] This is a schematic diagram of an exemplary robotic arm according to several embodiments of the present invention. [Figure 5c] This is a schematic diagram of an exemplary robotic arm according to several embodiments of the present invention. [Figure 5d]This is a schematic diagram of an exemplary wiring end effector according to several embodiments of the present invention. [Figure 5e] This is a schematic diagram showing components of a wire retaining element / wire holder according to several embodiments of the present invention. [Figure 5f] This is a schematic diagram of a sensor provided on an elongated extension according to several embodiments of the present invention. [Figure 5g] This is a schematic diagram of an exemplary gimbal block with connected extensions according to some embodiments of the present invention. [Figure 5h] This is a schematic diagram of an exemplary gimbal block with an extended portion connected, according to some embodiments of the present invention. [Figure 5i] This is a schematic diagram illustrating an exemplary wire locking element / wire locking portion according to several embodiments of the present invention. [Figure 5j] This schematic diagram illustrates several exemplary interactions that a wiring end effector module, according to some embodiments of the present invention, can have with various types of terminal blocks (components) having various locking mechanisms. [Figure 6a] This is a schematic diagram showing a ferrule according to several embodiments of the present invention. [Figure 6b] This is a schematic diagram showing a ferrule according to several embodiments of the present invention. [Figure 7a] This is a schematic diagram showing an exemplary wiring end effector module with interchangeable tools according to several embodiments of the present invention. [Figure 7b] This is a schematic diagram illustrating an exemplary locking mechanism for an interchangeable tool according to several embodiments of the present invention. [Figure 7c] This is a schematic diagram illustrating an exemplary locking mechanism for an interchangeable tool according to several embodiments of the present invention. [Figure 7d] This is a schematic diagram illustrating an exemplary end-effector interchangeable tool and its characteristics according to several embodiments of the present invention. [Figure 7e] This is a schematic diagram illustrating an exemplary end-effector interchangeable tool and its characteristics according to several embodiments of the present invention. [Figure 7f] This is a schematic diagram illustrating an exemplary end-effector interchangeable tool and its characteristics according to several embodiments of the present invention. [Figure 7g] This is a schematic diagram illustrating an exemplary end-effector interchangeable tool and its characteristics according to several embodiments of the present invention. [Figure 7h] This is a schematic diagram illustrating an exemplary end-effector interchangeable tool and its characteristics according to several embodiments of the present invention. [Figure 7i] This is a schematic diagram illustrating an exemplary end-effector interchangeable tool and its characteristics according to several embodiments of the present invention. [Figure 7j] This is a schematic diagram illustrating an exemplary end-effector interchangeable tool and its characteristics according to several embodiments of the present invention. [Figure 7k] This is a schematic diagram of system 770 according to several embodiments of the present invention. [Figure 7l] This is an exemplary method of wiring according to several embodiments of the present invention. [Figure 7m] This is an exemplary force graph during the process of locating the position of a duct according to some embodiments of the present invention. [Figure 7n] This is an exemplary force graph during the process of locating the position of a duct according to some embodiments of the present invention. [Figure 7o] This is an exemplary force graph during the process of locating the position of a duct according to some embodiments of the present invention. [Figure 8a] This is a schematic diagram of an exemplary dedicated stand comprising multiple different interchangeable tools and / or multiple different interchangeable driver bits, according to some embodiments of the present invention. [Figure 8b] This is a schematic diagram of an exemplary stand for various interchangeable tools according to some embodiments of the present invention. [Figure 8c] This is a schematic diagram of an exemplary stand for various interchangeable tools according to some embodiments of the present invention. [Figure 8d]This is a schematic diagram of an exemplary interchangeable wire gripping tool according to some embodiments of the present invention. [Figure 8e] This is a schematic diagram of an exemplary interchangeable tool configured to grip a technical cable, according to some embodiments of the present invention. [Figure 8f] This is a schematic diagram illustrating exemplary technical tools according to several embodiments of the present invention. [Figure 9a] This is a schematic diagram illustrating an exemplary alternative wire gripper tool according to several embodiments of the present invention. [Figure 9b] This is a schematic diagram illustrating an exemplary alternative wire gripper tool according to several embodiments of the present invention. [Figure 10a] The following are other exemplary wiring end effectors with interchangeable tool capabilities according to some embodiments of the present invention. [Figure 10B] This is a schematic diagram showing an exemplary wire retaining element / wire holder according to several embodiments of the present invention. [Figure 10C] This is a schematic diagram showing an exemplary wire retaining element / wire holder according to several embodiments of the present invention. [Figure 10D] This is a schematic diagram showing an exemplary wire retaining element / wire holder according to several embodiments of the present invention. [Figure 10E] This is a schematic diagram showing an exemplary wire retaining element / wire holder according to several embodiments of the present invention. [Figure 10F] This is a schematic diagram showing an exemplary wire retaining element / wire holder according to several embodiments of the present invention. [Figure 10G] This is a schematic diagram showing an exemplary wire retaining element / wire holder according to several embodiments of the present invention. [Figure 11] This flowchart shows exemplary verification methods according to several embodiments of the present invention. [Figure 12] This flowchart shows an exemplary wiring method using exemplary wiring end effectors with interchangeable tools, according to some embodiments of the present invention. [Figure 13A] This flowchart shows an exemplary wiring method using an exemplary wiring end effector module when the wire has a ferrule, according to some embodiments of the present invention. [Figure 13B] This flowchart shows an exemplary wiring method using an exemplary wiring end effector module when the wire has a ferrule, according to some embodiments of the present invention. [Figure 14a] This is a schematic diagram illustrating exemplary grip and slip processes when performed by humans. [Figure 14b] This is a schematic diagram illustrating exemplary grip and slip processes when performed by humans. [Figure 14c] This is a schematic diagram illustrating exemplary grip and slip processes when performed by humans. [Figure 14d] This is a schematic diagram illustrating exemplary grip and slip processes when performed by humans. [Figure 14e] This is a schematic diagram illustrating exemplary grip and slip processes when performed by humans. [Figure 15] This is a flowchart illustrating an exemplary method of wiring by a robotic arm according to several embodiments of the present invention. [Figure 16a] This is a schematic diagram of an exemplary wire laying and positioning robot unit according to some embodiments of the present invention. [Figure 16b] This is a schematic diagram of an exemplary wire laying and positioning robot unit according to some embodiments of the present invention. [Figure 16c] This is a schematic diagram of an exemplary wire laying and positioning robot unit according to some embodiments of the present invention. [Figure 16d] This is a schematic diagram of an exemplary positioning head according to some embodiments of the present invention. [Figure 16e] This is a schematic diagram illustrating exemplary tilting motion of a positioning head according to several embodiments of the present invention. [Figure 16f]This is a schematic diagram illustrating exemplary tilting motion of a positioning head according to several embodiments of the present invention. [Figure 16g] This is a schematic diagram illustrating exemplary tilting motion of a positioning head according to several embodiments of the present invention. [Figure 17a] This is a flowchart illustrating an exemplary method of wiring using a robot arm and a wire laying and positioning robot unit in combination, according to some embodiments of the present invention. [Figure 17b] This is a flowchart illustrating an exemplary method of wiring using a robot arm and a wire laying and positioning robot unit in combination, according to some embodiments of the present invention. [Figure 17c] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17d] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17e] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17f] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17g] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17h] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17i] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17j] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17k] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17l] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17m]Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17n] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 17o] Figures 17a and 17b are schematic diagrams illustrating exemplary actions disclosed by flowcharts. [Figure 18a] This is a schematic diagram illustrating exemplary separators and their applications according to several embodiments of the present invention. [Figure 18b] This is a schematic diagram illustrating exemplary separators and their applications according to several embodiments of the present invention. [Figure 18c] This is a schematic diagram illustrating exemplary separators and their applications according to several embodiments of the present invention. [Figure 18d] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18e] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18f] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18g] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18h] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18i] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18j] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18k] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18l]This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18m] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18n] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18o] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18p] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18q] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18r] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18s] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18t] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 18u] This is a schematic diagram illustrating an exemplary wire holder adapter and its technical features according to several embodiments of the present invention. [Figure 19a] This is a schematic diagram of an exemplary robotic electrical cabinet wiring system configured to allow wires to pass through openings, according to some embodiments of the present invention. [Figure 19b] This is a schematic diagram of an exemplary robotic electrical cabinet wiring system configured to allow access to the electrical cabinet and / or its frame from both sides, according to some embodiments of the present invention. [Figure 19c] A schematic diagram of an exemplary system, according to some embodiments of the present invention, configured to pass a wire from one side to the other, is shown. [Figure 19d] A schematic diagram of an exemplary system, according to some embodiments of the present invention, configured to pass a wire from one side to the other, is shown. [Figure 19e] A schematic diagram of an exemplary wire transport mechanism in two operating configurations according to several embodiments of the present invention is shown. [Figure 19f] A schematic diagram of an exemplary wire transport mechanism in two operating configurations according to several embodiments of the present invention is shown. [Figure 19g] A schematic diagram of an exemplary wire transport mechanism, according to some embodiments of the present invention, is shown, ready for routing wires from one side to the other. [Figure 19h] A schematic diagram of an extended wire transport mechanism according to several embodiments of the present invention is shown. [Figure 19i] Two images show a wire transport mechanism for transporting wire between two rows, according to some embodiments of the present invention. [Figure 19j] This is a schematic diagram of a wire transport mechanism and a part thereof according to several embodiments of the present invention. [Figure 19k] This is a schematic diagram of an exemplary wire processing and arrangement unit according to some embodiments of the present invention. [Figure 19l] This is a schematic diagram of an exemplary wire processing and arrangement unit according to several embodiments of the present invention. [Figure 19m] This is a schematic diagram of an exemplary wire processing and arrangement unit according to some embodiments of the present invention. [Figure 19n] This is a flowchart illustrating an exemplary method for transporting a wire from one side to another, according to some embodiments of the present invention. [Figure 20] This is a schematic diagram illustrating the exemplary data flow and operation of an automated wiring system according to several embodiments of the present invention. [Figure 21a] This is a schematic diagram illustrating a wiring process using two automated mechanical arms according to several embodiments of the present invention. [Figure 21b]This is a schematic diagram illustrating a wiring process using two automated mechanical arms according to several embodiments of the present invention. [Figure 22] This graph illustrates an exemplary phase of wire insertion into an electrical terminal connector of a sensor-identified component in a gripper, according to several embodiments of the present invention. [Figure 23a] This figure shows three different examples of force detected by a gripper in three different scenarios according to several embodiments of the present invention. [Figure 23b] This figure shows three different examples of force detected by a gripper in three different scenarios according to several embodiments of the present invention. [Figure 23c] This figure shows three different examples of force detected by a gripper in three different scenarios according to several embodiments of the present invention. [Figure 24] This graph shows multiple test experiments illustrating the characteristics of exemplary scenarios according to several embodiments of the present invention. [Figure 25a] This is a schematic diagram of an exemplary automated assembly and wiring system for small panels and its modules, according to several embodiments of the present invention. [Figure 25b] This is a schematic diagram of an exemplary automated assembly and wiring system for small panels and its modules, according to several embodiments of the present invention. [Figure 25c] This is a schematic diagram of an exemplary automated assembly and wiring system for small panels and its modules, according to several embodiments of the present invention. [Figure 25d] This is a schematic diagram of an exemplary automated assembly and wiring system for small panels and its modules, according to several embodiments of the present invention. [Figure 26a] This is a schematic diagram of an exemplary system for operating wires under an electrical panel, according to several embodiments of the present invention. [Figure 26b] This is a schematic diagram of an exemplary system for operating wires under an electrical panel, according to several embodiments of the present invention. [Modes for carrying out the invention]

[0176] Some embodiments of the present invention relate to a system for laying and positioning wires, and more particularly, but not limited to, a robotic system for laying and positioning wires in an automated wiring robotic system.

[0177] Overview One aspect of several embodiments of the present invention relates to automatically positioning one or more wires using a dedicated wire laying and positioning robot system (or unit or manipulator) as part of a robotic wiring system. In some embodiments, the dedicated wire laying and positioning robot system comprises a plurality of mechanical elements configured to manipulate and position the wires at and / or along dedicated positions within an electrical panel. In some embodiments, the wires are positioned and fixed to the electrical panel. In some embodiments, the wire laying and positioning robot system utilizes a Cartesian mechanism, such as a gantry robot, which provides two degrees of freedom (e.g., left-right and forward-backward movement) for laying the wires on the panel. In some embodiments, additional degrees of freedom (DOF), such as vertical movement, are provided to the wire laying and positioning robot system. In some embodiments, the laying and positioning robot system lays and releases the wires while moving at a constant speed. In some embodiments, the wire release speed is the same as the speed at which the wire laying and positioning robot system moves. In some embodiments, a potential advantage of releasing the wire at the same speed as movement is that the wire is positioned in an orderly manner without concern for the possibility of entanglement or the creation of tensile / pushing forces on the wire. In some embodiments, the wire release speed is faster than the movement speed of the wire laying and positioning robot system. In some embodiments, a potential advantage of releasing the wire at a speed faster than the system's movement speed is to provide a “spare” loose wire to fit into uneven surfaces, which may help position the wire in situations where multiple wires are already in place and those wires physically interfere with the positioning of the new wire.In some embodiments, during the same process of positioning the same wire, the system is configured to modify one or more of the wire's moving speed and wire's release speed according to wire positioning requirements (requirements known in advance (e.g., during the design process) and / or requirements based on information received in real time, e.g., by one or more sensors, during the process itself). In some embodiments, the robotic wiring system comprises one or more additional robotic units configured to position one or more electrical components within an electrical cabinet. In some embodiments, the robotic wiring system comprises one or more additional robotic units configured to insert one or more ends of a wire into electrical components located within the electrical cabinet. In some embodiments, positioning a wire within an electrical cabinet includes inserting one end of the wire into an electrical component by a first robotic unit, then laying and positioning the wire within the electrical cabinet by a wire laying and positioning robotic system, and inserting the other end of the wire into an additional electrical component by either the first robotic unit or an additional robotic unit, or leaving the other end of the wire free for later use by an electrician when installing the electrical cabinet in a planned position.

[0178] One aspect of several embodiments of the present invention relates to an automated robotic wiring system comprising a plurality of robotic units having different roles in a wiring process. In some embodiments, during the wiring process, a wire positioned within an electrical panel is transferred ("passed") from one robotic unit to another. In some embodiments, the transfer of the wire is characterized by transferring the end of the wire, or a portion of the wire that is not the end of the wire. In some embodiments, the different robotic units include dedicated mechanisms to assist in the transfer of the wire, e.g., tilting mechanisms, rotating mechanisms, gripping mechanisms, holding mechanisms, and one or more sensors configured to monitor the wire before, during, and / or after the transfer process. In some embodiments, the operation of the different robotic units is pre-adjusted in the design process according to the needs of a particular wiring process (e.g., the type of wire, the length of the wire, the path the wire needs to travel from one component to another within the electrical panel, etc.). In some embodiments, the operation of the different robotic units is modified during the wiring process in response to real-time needs and / or problems that may arise during the wiring process, e.g., real-time information received from one or more sensors monitoring the wiring process. In some embodiments, the wire is passed from a first side (e.g., the rear) to a second side (e.g., the front) of the electrical cabinet. In some embodiments, the wire is passed on the same side (e.g., the front) of the electrical panel. A potential advantage of passing the wire from the first side to the second side of the electrical cabinet in some embodiments is that one end of the wire can be left on the desired side of the electrical cabinet while the other end of the wire can be laid, positioned, and connected to the other side. In some embodiments, the end of the wire is left on the rear side of the electrical cabinet so that the electrical cabinet can be connected to the location where it will be installed. In some embodiments, a mechanism similar to the one for passing the wire from one side to the other is also used in other parts of the electrical cabinet, such as the door of the electrical cabinet where dedicated electrical components (e.g., circuit breakers, lighting, digital displays, etc.) are mounted.Another potential advantage of allowing front and back access to the electrical cabinet during the wiring process in some embodiments is that the robotic unit can access the wires from either the front or the back, optionally reroute the wires, and avoid electrical components, circuit breakers, protective covers, ducts, etc. used within the electrical cabinet. In some embodiments, the system is configured to manage wires of any length, from very short wires (e.g., a length of a few centimeters) to very long wires (e.g., a length exceeding 30 centimeters, a length exceeding 1 meter, etc.), and "manage" includes one or more of wire preparation (including one or more of "selection of the appropriate wire", "cutting the wire to the required length", "adding a dedicated connector to the end of the wire", "marking the wire", etc.), movement of wires between different robotic units, connection of the ends of the wires to specific components, positioning of the wires along a predetermined path within the electrical panel, and fixing of the wires after positioning.

[0179] One aspect of several embodiments of the present invention relates to a dedicated wire retaining adapter located within an electrical panel and optionally within an electrical duct, configured to hold one or more wires and assist in organizing multiple wires positioned within the same electrical panel. In some embodiments, the wire retaining adapter is operated by one or more robotic units. In some embodiments, one or more robotic units are configured to pick up a particular wire retaining adapter and position it within the electrical panel. In some embodiments, during the wiring positioning process, one or more robotic units are configured to interact with the wire retaining adapter to position the wires within the wire retaining adapter, thus ensuring that the wires do not move from their designed positions. Therefore, in some embodiments, the wire retaining adapter has a dedicated structure to assist in the interaction between the wire retaining adapter and one or more robotic units. In some embodiments, the wire retaining adapter has one or more regions that allow for the division of groups of wires within the wire retaining adapter. In some embodiments, different groups of wires may be organized horizontally and / or vertically within the same wire retaining adapter. In some embodiments, optionally, separators are used to assist in the separation of groups of wires within the same wire retaining adapter (each "group" may contain one or more wires). In some embodiments, the wire retaining adapter includes an engagement mechanism that allows the wire retaining adapter to be attached to an electrical panel and, optionally, to an electrical duct.

[0180] One aspect of several embodiments of the present invention relates to manipulating wires through electrical components and / or electrical accessories and / or accessories used in electrical cabinets. In some embodiments, wires are used to wire electrical panels, and in some embodiments, one or more wires are laid inside ducts and / or dedicated clips. In some embodiments, an automated robotic system, optionally equipped with dedicated end effectors, manipulates the wires during the electrical cabinet wiring process. In some embodiments, sensors are used to identify one or more of the ducts, clips, and other objects within the electrical cabinet. For example, one or more sensors such as optical sensors, force sensors, torque sensors, and moment measuring sensors are used. In some embodiments, one or more sensors are used to receive feedback about contact between the wires and their surroundings, for example, between the wires and objects (e.g., ducts or clips).

[0181] One aspect of several embodiments of the present invention relates to an automated wiring system comprising two different wire manipulators. In some embodiments, the first wire manipulator comprises a gripper configured to perform precise actions such as manipulating the end of a wire and connecting the end to a component. In some embodiments, the second wire manipulator comprises a dedicated mechanism configured to facilitate the positioning of the wire within an electrical cabinet when extending the wire within the electrical cabinet. In some embodiments, the two wire manipulators work in coordination during the wiring process. In some embodiments, the first wire manipulator is positioned on one side of the electrical panel, and the second wire manipulator is positioned on the same side or on the other side of the electrical panel. In some embodiments, when the second wire manipulator is positioned on the other side of the electrical panel, the wire is passed through a gap in the electrical panel.

[0182] Before describing in detail at least one embodiment of the present invention, it should be understood that the present invention is not necessarily limited to the details of configuration and arrangement of components and / or methods shown in the following description and / or drawings and / or examples. Other embodiments of the present invention are possible and can be carried out or implemented in various ways.

[0183] Exemplary robotic electrical cabinet wiring system Schematic diagrams from different viewpoints of exemplary robotic electrical cabinet wiring systems according to several embodiments of the present invention are shown in Figures 1a to 1c.

[0184] In some embodiments, the exemplary robotic electrical cabinet wiring system 100 comprises a plurality of mechanical, electrical, and robotic components configured to cooperate in performing an automated robotic wiring process on an electrical cabinet, for example. In the following paragraphs, an electrical panel is used as an example to illustrate the invention. It will be understood that the system disclosed herein can also be used for wiring to other devices, etc.

[0185] In some embodiments, the automated robot wiring process includes one or more of the following actions (but is not a complete list): 1. Configuration of a specific electrical panel design Optionally, a virtual design is provided: design the number and types of components required within the electrical panel, the specific location of each component, and the number, types, and lengths of wires required for the complete wiring of the electrical panel (according to the plan). 2. Wire preparation This includes one or more of the following: selecting the type of wire, cutting the wire to the required length, adding the required connectors to the ends of the wire, marking the wire, and optionally, testing the wire before use on a specific electrical panel. 3. Wire transfer between robot units During the wiring process (which may include wire preparation), the wires are transferred between one or more robotic units. 4. Connection of the wire end to an electrical componentDuring the wiring process, the ends of the wires are connected to electrical components, and the wires themselves are positioned between the electrical components along a dedicated path within the electrical panel. 5. Positioning of wires within an electrical panel The wiring process includes connecting one end of a wire to a first electrical component, and then positioning the wire along a dedicated path within the electrical panel until it reaches a second electrical component. 6. test In some embodiments, optionally, one or more tests are performed during and / or after the wiring operation to evaluate the correct wiring of the electrical panel. In some embodiments, the tests may include one or more of the following: testing the wire itself (e.g., applying appropriate tensile force to ensure that the terminals are properly crimped), testing the physical connection between the wire and the electrical component, testing that the force pulling the wire from the component exceeds a predetermined threshold, and testing the correct positioning and / or mounting of the wire in a predetermined path. In some embodiments, the tests and / or monitoring are performed by one or more sensors.

[0186] The actions described above are merely general in nature and are provided to those skilled in the art to understand the context of the following description of automated robotic wiring systems and methods.

[0187] In some embodiments, the robotic electrical cabinet wiring system 100 comprises an enclosure 102 used to house all elements of the system (e.g., one or more robotic units). In some embodiments, the enclosure 102 is configured to provide a protected environment for one or more robotic units to perform the robotic wiring process, and to provide safety for human users.

[0188] In some embodiments, the robotic electrical cabinet wiring system 100 includes a graphical unit interface (GUI) 104 configured to allow a human user to interact with the system, and the GUI may be, for example, a touch panel.

[0189] In some embodiments, the robotic electrical cabinet wiring system 100 includes a wire stand 106, which has multiple wires used during the wiring process, either integrally mounted or as an accessory unit, as schematically shown in Figures 1b-c.

[0190] In some embodiments, the robotic electrical cabinet wiring system 100 includes a cabinet loading platform 108 configured to open and close (see Figures 3a-3b) to allow the loading and unloading of components to be wired, such as electrical cabinets.

[0191] Figure 1c shows the exemplary dimensions of the exemplary robotic electrical cabinet wiring system 100. In some embodiments, the exemplary robotic electrical cabinet wiring system 100 has a height of about 2.5 meters (m), for example, about 2 m to about 4 m, and optionally about 2 m to about 5 m. In some embodiments, the exemplary robotic electrical cabinet wiring system 100 has a width of about 3.4 m, for example, about 3 m to about 5 m, and optionally about 2 m to about 10 m. In some embodiments, the exemplary robotic electrical cabinet wiring system 100 has a depth of about 2.5 m, for example, about 2 m to about 4 m, and optionally about 2 m to about 5 m. In some embodiments, the exemplary robotic electrical cabinet wiring system 100 has a depth of about 2.5 m, for example, about 2 m to about 4 m, and optionally about 2 m to about 5 m. In some embodiments, the dimensions of the robotic electrical cabinet wiring system 100 are modified according to the components that need to be wired, for example, electrical cabinets of different sizes.

[0192] Figure 1d shows a schematic diagram of an exemplary electrical cabinet according to several embodiments of the present invention. The following paragraphs disclose exemplary electrical cabinets. The following is a general description for those skilled in the art to understand the present invention, and it will be understood that other configurations are also within the scope of the present invention. In some embodiments, the wire cabinet comprises a body or cabinet 110, typically having a door 112. In some embodiments, the body 110 comprises one or more electrical panels 114 (typically mounted on one or more racks or rails (also known as DIN rails) 118) on which one or more electrical components 116 are mounted. In some embodiments, one or more electrical panels 114 further comprises one or more ducts 120 (e.g., also shown in Figure 18c) configured to receive one or more electrical wires (hereinafter simply referred to as wires) that connect different electrical components within the electrical cabinet. In some embodiments, the electrical cabinet includes other electrical components, such as switches, lighting, and digital displays (indicated as number 122 in the figures). These electrical components typically have an external portion accessible and / or visible to the user, and an internal portion that allows connections between these electrical components located on the door and electrical components inside the cabinet. In some embodiments, the electrical cabinet has one or more openings 124 on the rear of the cabinet that allow wires to pass from the outside of the electrical cabinet to the inside of the electrical cabinet. In some embodiments, the electrical cabinet may have any number of openings of any size, in any position.

[0193] Referring to FIG. 1e, a schematic diagram of an exemplary electric cabinet including a frame and a detachable cover according to some embodiments of the present invention is shown. In some embodiments, by way of example, the electric cabinet is composed of wall / covers 128a - 128d that can be attached to the frame 126. In some embodiments, the DIN rail is attached to the frame 126 (schematically illustrated in FIG. 1d) such that it is accessible from both sides. In some embodiments, the covers 128b - 128d and the door 128a are attached after the wiring process. A potential advantage of using this type of electric cabinet is that it facilitates access from both sides during the wiring process, thereby enabling access to locations within the electric cabinet where access from one side is difficult or impossible.

[0194] FIG. 1f shows a schematic diagram of a two - stage electrical panel preparation process according to some embodiments of the present invention. In some embodiments, the electric cabinet is attached to a dedicated mounting unit. In some embodiments, the mounting unit is similar to the robot unit shown in FIGS. 1a - 1c, but differs in that it is configured to attach one or more electrical components within the electric cabinet using, for example, one or more robot units. In some embodiments, when the electrical components are attached to the electric cabinet, the electric cabinet is transferred to a wiring unit and wired, as shown in FIGS. 1a - 1c for example. In some embodiments, the mounting unit and the wiring unit are located close to each other and the transfer is performed by an automated means. In some embodiments, the mounting unit and the wiring unit are one and the same.

[0195] In some embodiments, the mounting unit can attach components for two wiring units in order to balance the workload (for example, it takes 10 minutes to attach parts and 25 minutes to wire), so that one mounting unit can "serve" two wiring systems.

[0196] Figure 2a shows a schematic internal view of an exemplary robotic electrical cabinet wiring system according to several embodiments of the present invention. Referring to Figure 2b, a schematic top view of an exemplary robotic electrical cabinet wiring system 100 according to several embodiments of the present invention is shown.

[0197] In all figures, identical elements are assigned the same reference number.

[0198] In some embodiments, the enclosure 102 is held by a dedicated chassis 202 configured to hold the cover panel of the enclosure 102 and to serve as a base for other units of the system. Figure 2a also shows a graphics unit interface (GUI) 104, a wire stand 106, and a cabinet loading platform 108, as shown in Figures 1a-1b.

[0199] In some embodiments, the exemplary robotic electrical cabinet wiring system 100 comprises one or more robotic units, such as robotic arms 204, configured to manipulate wires during the robotic wiring process. A detailed description of the exemplary robotic arm 204 is provided in U.S. Patent Application No. 63 / 447076 and is also described in part below. In some embodiments, the exemplary robotic arm 204 optionally comprises an end effector 206 having an optional interchangeable tool at its tip. In some embodiments, the exemplary interchangeable tool may be tweezers, a wire holder, a screwdriver, a data port, a cable holder, etc. In some embodiments, the exemplary robotic electrical cabinet wiring system 100 comprises a dedicated stand having interchangeable tools 208 accessible by one or more robotic arms 204.

[0200] In the following paragraphs, the present invention will be explained using a robotic arm 204 as an example for those skilled in the art to understand. It should be understood that other robotic units configured for wire manipulation can also be used and are also included within the scope of the present invention.

[0201] In some embodiments, the exemplary robotic electrical cabinet wiring system 100 includes an automated robotic wire preparation unit 210 configured to prepare wires to be used during the robotic wiring process (a detailed description of the wire preparation unit 210 is provided below). In some embodiments, the wire preparation unit 210 includes a wire end preparation module 214 configured to attach end connectors to wires (see, for example, Figure 2b and further description below).

[0202] In some embodiments, the exemplary robotic electrical cabinet wiring system 100 includes a wire laying and positioning robot unit 212 configured to position and lay wires during the robotic wiring process (see below for a further description of the wire laying and positioning robot unit 212). In some embodiments, the wire laying and positioning robot unit 212 is configured to move in three dimensions (left / right, front / back, and up / down). In some embodiments, this movement is provided by a robotic unit such as a robotic arm or gantry. In the following description, a gantry 216 is used as an example. Whenever a gantry is disclosed, it also refers to other robotic units capable of providing the same function, such as a robotic arm. In some embodiments, the wire laying and positioning robot unit 212 is mounted on a dedicated gantry 216 configured to allow free movement in two directions (left / right and front / back) and optionally three directions (left / right, front / back, and up / down) on the electrical cabinet 218 being wired.

[0203] As schematically shown in Figure 2b, one or more robot arms 204 are configured to reach, for example, a wire preparation unit 210, a dedicated stand 208 with interchangeable tools, and any position within the electrical panel 218 to be wired. In some embodiments, the gantry 216 of the wire laying and positioning robot unit 212 provides degrees of freedom to reach any position on the electrical panel 218 to be wired. In some embodiments, alternatively or additionally, different robot arrangements, e.g., two, three, or four robot arms, two or more gantries (e.g., one used for wire insertion and others for wire laying / routing) are used to automatically wire the panel.

[0204] Figures 3a and 3b show schematic diagrams of the operation of an exemplary cabinet loading platform 108 according to several embodiments of the present invention. Figure 3a shows an exemplary cabinet loading platform 108 in a closed configuration. In some embodiments, the cabinet loading platform 108 is movable forward and backward, as indicated by arrow 302 in Figure 3b, for mounting to an electrical panel 218 (not shown) and for allowing a human user to work on the electrical panel 218 while the cabinet loading platform 108 is open. In some embodiments, when the cabinet loading platform 108 is closed, all relevant units of the exemplary robotic electrical cabinet wiring system 100 can reach any part of the electrical panel 218. In some embodiments, an additional robotic system is optionally integrated into the cabinet loading platform 108 for loading / unloading panels (not shown).

[0205] Refer to Figures 4a to 4n, which show schematic diagrams of exemplary wire preparation sections 210 according to several embodiments of the present invention.

[0206] Figure 4a shows a schematic diagram of an exemplary wire preparation unit 210 according to several embodiments of the present invention. In some embodiments, a wire stand 106 is located near the wire preparation unit 210. Figure 4b shows a schematic diagram of an exemplary wire stand 106 according to several embodiments of the present invention. In some embodiments, the exemplary wire stand 106 can hold 10 to 20 turns of wire, and optionally about 5 to 30 turns of wire, and optionally more than 30 turns of wire. In some embodiments, the wire winders may be the same size or of different sizes. In some embodiments, the exemplary wire stand 106 is equipped with wheels to facilitate movement of the wire stand 106. In some embodiments, the wire stand may be pre-set for a specific task and attached to the system when performing that task. In some embodiments, the operation of the winder in the wire stand 106 is manual or passive, meaning that the winder rotates by pulling the wire from the winder. In some embodiments, the operation of the wire stand is mechanical or active, meaning that the wire stand 106 is equipped with a dedicated motor to actively operate the winder in order to move the wire from the winder.

[0207] In some embodiments, the exemplary wire preparation unit 210 includes a wire presentation module 402 configured to hold and present a plurality of wires received from a wire stand 106 (see also Figure 4e). In some embodiments, a human user supplies the wires from the wire stand 106 to the wire presentation module 402. In some embodiments, a dedicated robotic arm or robotic unit (not shown) supplies the wires from the wire stand 106 to the wire presentation module 402. In some embodiments, the wires in the wire presentation module 402 are held until a specific type of wire present within the wire presentation module 402 is needed, and then released to be operated 404 by another robotic unit. This is further described below.

[0208] In some embodiments, the exemplary wire preparation unit 210 includes a dedicated wire printer 406 for printing on the prepared wires. In some embodiments, a potential advantage of printing on the wires is that it makes it easier for a human user to later identify the relevant wire from among several wires. In some embodiments, additionally or alternatively, the wires can be labeled by attaching labels to the wires using a labeling machine. In some embodiments, a labeling sleeve is inserted into the wire at this stage.

[0209] In some embodiments, the exemplary wire preparation unit 210 includes a dedicated wire end connector mounting module 408 configured to attach an end connector to the end of a wire. In some embodiments, the wire end connector mounting module 408 is configured to receive the end of a wire, automatically strip the wire, and attach a connector / wire head (for example, known as a ferrule). The wire connector / wire head is a known type and may be one or more of, for example, a ring connector, a spade connector, and a blade connector.

[0210] In some embodiments, the exemplary wire preparation unit 210 includes a dedicated wire manipulator 410 configured to perform manipulative operations 404 on the wire during the preparation process and optionally present the prepared wire to one or more robotic arms 204. In some embodiments, the wire manipulator 410 grasps the first end of the wire from the wire presentation module 402 and brings it to the wire end connector mounting module 408. In some embodiments, after processing the first end of the wire, the wire is pulled out from the winding via the wire presentation module 402 to the required length, then cut to produce a second end of the wire (before or after labeling the wire), which is grasped by the wire manipulator 410 and transported to the wire end connector mounting module 408, where an end connector is also attached to the second end. In some embodiments, at this point the wire is ready for use in the wiring process.

[0211] Figures 4c, 4d, 4e, and 4f show schematic diagrams of exemplary wire presentation modules 402 and their internal mechanisms according to several embodiments of the present invention. Figure 4c shows an example in which an exemplary wire stand 106 is positioned in front of the exemplary wire presentation module 402, and Figure 4d shows the wire presentation module 402 in an exemplary position within a wire preparation unit 210. In some embodiments, the wire preparation unit 210 optionally includes a dedicated camera (or one or more sensors) 412 as part of a wire identification system of a robotic electrical cabinet wiring system 100, configured to identify characteristics such as wire color and wire diameter. In some embodiments, the wire presentation module 402 is mounted on a dedicated rail 414 configured to allow horizontal movement of the wire presentation module 402 in order to bring a specific wire within the wire presentation module 402 in front of a wire manipulator 410.

[0212] Figure 4e shows a schematic diagram of an exemplary wire presentation module 402 according to several embodiments of the present invention. In some embodiments, the wire presentation module 402 comprises a plurality of wire inlets 416 into which wires are inserted from a wire stand 106. In some embodiments, each wire is then inserted into a protective bushing 418. In some embodiments, the protective bushing 418 comprises a wire locking mechanism 420. In some embodiments, for example, the wire locking mechanism 420 is a piston-operated wire locking mechanism and optionally comprises a sensor 422 (schematically shown outside the wire locking mechanism in Figure 4e). In some embodiments, the protective bushing 418 comprises a plurality of wire outlets 424 through which the ends of the wires exit and are presented to a wire manipulator 410 (from which the name “wire presentation module” originates). Arrows 426 schematically show the wire path from the wire inlet 416 into the protective bushing 418 and out of the wire outlet 424.

[0213] Figure 4f shows a schematic diagram of a locking mechanism having a protective bushing 418 according to several embodiments of the present invention. Figure 4f shows a side view of the middle section of the locking mechanism within the protective bushing 418. In some embodiments, each protective bushing comprises one or more tubes 428 having a base end 430 and a tip end 432. In some embodiments, the base end receives a wire coming out of a wire inlet 416. In some embodiments, the tip is covered by a wire outlet 424, and the locking mechanism 434 is configured to fix the wire in place. In Figure 4f, the locking mechanism 434 comprises a pin configured to move up and down and press the wire inside the tube 428, thereby locking the wire in place. In some embodiments, the wire outlet 424 is configured to move horizontally to conceal the end of the wire as shown in Figure 4g, or to present the wire by exposing the end of the wire as shown in Figure 4h. In some embodiments, depending on the distance the wire outlet 424 moves, the end of the wire is exposed by approximately 15 mm to 25 mm, optionally 10 mm to 30 mm, and optionally 5 mm to 50 mm, for example, 20 mm, 35 mm, or 40 mm. In some embodiments, this length is used to provide space for cutting the wire at the desired position while leaving the rest of the wire inserted within the wire presentation module 402.

[0214] Figures 4i to 4j show schematic diagrams of exemplary wire end connector mounting modules 408 according to several embodiments of the present invention. Figure 4i shows an exemplary location of the wire end connector mounting module 408 in a robotic electrical cabinet wiring system 100, and Figure 4j shows an example of the appearance of the wire end connector mounting module 408. As described above, the wire end connector mounting module 408 includes dedicated hardware configured to strip the ends of wires from their plastic coatings and prepares the wires for connection to electrical components by mounting dedicated connectors.

[0215] As shown in Figures 4k, 4l, and 4m, schematic diagrams of exemplary wire manipulators 410 according to several embodiments of the present invention are provided. Figure 4k shows the relative position of the exemplary wire manipulator 410 within a robotic electrical cabinet wiring system 100, and Figure 4l shows a simplified diagram of the exemplary wire manipulator 410. In some embodiments, the exemplary wire manipulator 410 is mounted on a dedicated rail 436 that allows for horizontal movement of the wire manipulator 410 (as schematically indicated by arrow 438). In some embodiments, the wire manipulator 410 includes a motor (see also Figure 4m) that provides the wire manipulator 410 with lateral movement perpendicular to the aforementioned horizontal movement, as schematically indicated by arrow 440. Figure 4m shows a schematic detail diagram of an exemplary wire manipulator 410 according to several embodiments of the present invention. In some embodiments, the exemplary wire manipulator 410 includes a gripper 442 configured to hold / grasp the end of a wire (the end of the wire presented to the wire manipulator 410 at the wire outlet 424 by the wire presentation module 402) and performs wire preparation operations by moving the end of the wire from one point to another within the wire preparation unit 210 (see exemplary methods of wire preparation below). In some embodiments, the gripper 442 includes a tension sensor 444 configured to provide feedback to the system about the behavior of the wire being moved by the wire manipulator 410 (e.g., determining whether the wire is entangled in something). In some embodiments, as described above, the gripper 442 includes a motor 446 that provides lateral movement to the gripper 442.

[0216] In some embodiments, the wire manipulator 410 may be a robot unit with a different mode of motion, such as an additional robotic arm configured to move in any direction without requiring the rails 436.

[0217] Figure 4n shows a schematic diagram of additional components of the wire preparation unit 210 according to some embodiments of the present invention. In some embodiments, as described above, the wire preparation unit 210 includes a wire printer 406 for marking the wire coming out of the wire presentation module 402. In some embodiments, the wire preparation unit 210 includes a wire cutter 448 configured to cut the wire when it reaches a desired length, thereby producing the other end of the wire. In some embodiments, optionally, the wire cutter 448 is configured to move vertically (up and down), as schematically indicated by the arrow 450. In some embodiments, the wire cutter 448 is located within the wire manipulator 410.

[0218] Referring to Figure 4o, a flowchart shows an exemplary method of wire preparation according to several embodiments of the present invention. In some embodiments, the method includes one or more of the following actions: 1. Pull the wire from the winding of the wire stand 104 and insert it into the wire presentation module 402 (452). In some embodiments, this can be done manually by a human user or mechanically by a robotic unit, as described above. 2. Mark the first end of the wire by printing with a wire printer 406 or by labeling with a labeling machine (454). 3. The wire manipulator 410 grasps the first end of the wire and brings the first end of the wire into the wire end connector mounting module 408 (456). 4. Pull out the wire to the required length (458). 5. Cut the wire (460) to create a second end of the wire. 6. Mark the second end of the wire by printing with a wire printer 406 or by labeling with a labeling machine (462). 7. The wire manipulator 410 grasps the second end of the wire and brings the second end of the wire into the wire end connector mounting module 408 (464). 8. Place the wires in the standby station for prepared wires (466). In some embodiments, alternatively, the wires are moved directly to an additional robotic unit for wiring to an electrical panel.

[0219] In some embodiments, the wire preparation unit 210 includes one or more monitoring elements and / or actions configured to monitor the final quality of prepared wires to ensure, for example, that the correct wires are being used (e.g., using a camera 412), to verify that connectors are properly attached to the wire ends, to determine if the prepared wire waiting station is empty or if more wires need to be prepared, and to determine the condition of consumables (e.g., connectors, ink in a printer, etc.).

[0220] In some embodiments, the wire stand 106 has a set of wires that have been pre-cut and prepared for a particular panel. In some embodiments, a wire manipulator 410 takes wires from the wire stand and presents them to the system. In some embodiments, a potential advantage of this configuration is its ability to provide an interface between the system disclosed herein and existing automated wire preparation solutions and / or manually prepared wires. In some embodiments, when used with pre-prepared wires, the wire stand 106 is in the form of a jig in which the ends of the wires are fixed in known positions so that the wire manipulator 410 can access and grasp the wires. In some embodiments, the wire stand 106 with pre-prepared wires may include a manipulator or robot that hands the wires to the system via the wire manipulator 410 or directly. In some embodiments, the prepared wires are presented to the robotic electrical cabinet wiring system 100 by the wire preparation unit 210, or directly by any other automated system, or manually by the user.

[0221] In some embodiments, the exemplary time required to prepare one wire is approximately 20 to 30 seconds, optionally approximately 15 to 40 seconds, and optionally approximately 15 to 90 seconds.

[0222] Figures 5a to 5c show schematic diagrams of exemplary robotic arms 204 according to several embodiments of the present invention. Figure 5a schematically shows the relative positions of exemplary robotic arms 204 in a robotic electrical cabinet wiring system 100, and Figures 5b and 5c show a chassis 202 with a dedicated rail 502 on which the robotic arms 204 are mounted. In some embodiments, the rail 502 provides horizontal movement as schematically indicated by arrows 504.

[0223] An example of robot arm 204 In some embodiments, the robotic electrical cabinet wiring system 100 comprises one or more robotic arms 204, each robotic arm 204 comprising an end effector 206 configured for the automatic exchange of dedicated wiring tools. In some embodiments, the robotic arm 204 comprises a connector for reversibly connecting one or more tools to the robotic arm 204. In some embodiments, the connection of the tools to the robotic arm 204 includes mechanical and / or electrical connections. In some embodiments, the robotic arm 204 may be one or more of a manipulator, a Cartesian gantry system, and a multi-axis platform. In some embodiments, the connector comprises an actuation mechanism for the tool. In some embodiments, the tool itself comprises an actuation mechanism necessary for its operation. In some embodiments, the tool is configured to be suitable for wiring operations. In some embodiments, the tool is configured to hold any kind of hardware necessary for complete wiring of a device. For example, the tool is configured to hold and / or manipulate one or more of electrical components, electrical wires, connectors, ferrules, and cables.

[0224] In some embodiments, the robotic electrical cabinet wiring system 100 is configured to allow for easy tool replacement for wiring operations. In some embodiments, a set of dedicated tools are located close to the wiring area, more specifically, within reach of one or more robotic arms.

[0225] In some embodiments, the robotic electrical cabinet wiring system 100 includes multiple tools so that the automated system can hold any type of wire and ferrule, and also hold tubular pipes, fiber optic cables, connectors, and cables. A potential advantage of the system is that new tools can be easily designed as needed. In some embodiments, the tools include one or more sensors to provide feedback on force and / or torque sensed through the tool. In some embodiments, the tools are designed to be slender so that they can access narrow and / or confined components and ducts within the electrical cabinet. In some embodiments, the robotic electrical cabinet wiring system 100 is configured to use technical tools for, for example, quality assurance tasks (e.g., continuity and data transfer). In some embodiments, different tools may include one or more marks that the system uses to identify different tools and can be used to potentially prevent the system from using non-genuine parts.

[0226] In some embodiments, the robotic electrical cabinet wiring system 100 includes one or more sensors to monitor the wiring process and, if necessary, automatically replace tools in the end effector to continue and complete the wiring process. In some embodiments, the system receives in advance the order in which the replaceable tools will be used. In some embodiments, when the system detects a problem using one or more sensors, it is configured to evaluate the problem, select an appropriate tool to address the problem, perform the tool replacement, resolve the problem, and continue the wiring process as previously programmed. In some embodiments, the problem is resolved using one or two robotic arms. In some embodiments, if two robotic arms are used, the two robotic arms cooperate to resolve the problem.

[0227] An example of a wiring end effector 206 Figure 5d shows a schematic diagram of an exemplary wiring end effector 206 according to several embodiments of the present invention. In some embodiments, the wiring end effector 206 comprises one or more components of a wire retaining element / wire holder 506 (or wire holder) and a wire locking element 508 (or wire locking portion). Referring now to Figure 5e, a schematic diagram of the components of the wire retaining element / wire holder 506 according to several embodiments of the present invention is shown. In some embodiments, the wire retaining element / wire holder 506 comprises one or more bases 510 including wire clamping elements 512. In some embodiments, the wire clamping elements 512 comprises two extensions 514a and 514b, optionally two elongated finger-like extensions, which are connected, for example, by an electrical mechanism 516 and / or a pneumatic mechanism. In some embodiments, the lengths of the two extensions 514a and 514b, measured from the base to the ends of the two extensions 514a and 514b, are approximately 20 mm to approximately 200 mm, optionally approximately 15 mm to approximately 250 mm, and optionally approximately 10 mm to approximately 300 mm. In some embodiments, a potential advantage of having two extensions 514a and 514b with a length of approximately 200 mm is that this configuration may provide sufficient distance between the end effector and the surface of the panel being routed, so that the distal ends of the two extensions 514a and 514b can reach the panel being routed without colliding with the end effector and any protruding elements in the panel. In some embodiments, the width of the two extensions 514a and 514b is approximately 6 mm, for example, approximately 3 mm to approximately 6 mm, optionally approximately 2 mm to approximately 8 mm, and optionally approximately 1 mm to approximately 10 mm. In some embodiments, a potential advantage of the narrow width of the two extensions 514a and 514b is that they may be able to be inserted into narrow and / or crowded spaces. In some embodiments, the wire clamping element 512 includes a gimbal block 518 (Figure 5g) connecting the two extensions 514a and 514b (see further description of the gimbal block 518 below).In some embodiments, the base 510 includes a motor 520 that enables horizontal movement of the wire retaining element / wire holder 506 in the direction schematically indicated by arrow 522. In some embodiments, alternatively, or further, a wiring arm module provides movement along schematic arrow 522. In some embodiments, the horizontal movement indicated by arrow 522 is in the direction toward the electrical terminal connector along the axis of the wire. In some embodiments, the base 510 includes one or more motors configured to move the retaining element / wire holder 506 in one or more directions. In some embodiments, the movement is along the wire terminal port, which may be at an angle of 30, 45, or 90 degrees (or any angle in between) from the plane of the panel.

[0228] Referring here to Figure 5f, a schematic diagram of sensors located on elongated extensions 514a and 514b according to several embodiments of the present invention is shown. In some embodiments, one or more of the elongated extensions 514a and 514b include one or more sensors 524 configured to monitor the force applied to the wire 526 by the elongated extensions 514a and 514b. In some embodiments, the sensors are embedded in the finger portion or body of the end effector. In some embodiments, these sensors enable the measurement of axial and radial forces, as described above, and provide the system with a high level of dexterity and perceptual ability to perform wiring operations similar to those performed by humans. In some embodiments, the sensors are based on, for example, strain gauges, load cells, and / or other such things. In some embodiments, further or alternatively, a mechanism capable of sensing force or moment (i.e., a sensor) is located on a component connecting the extensions to the device, such as a gimbal block (see 518 in Figure 5g), as shown and described below in Figures 5g and 5h.

[0229] In some embodiments, the wire holding element / wire holder 506 holds the wire when it receives the wire from the wire manipulator of the wire preparation unit 210, or when it picks up the wire directly from the wire stand.

[0230] In some embodiments, the elongated extensions 514a and 514b can be automatically and / or manually replaced to accommodate different wire gauges (see below).

[0231] In some embodiments, the electrical mechanism 516 includes a collision prevention mechanism to protect the finger.

[0232] In some embodiments, the electrical mechanism 516 includes a sensor capable of measuring the moment applied by the elongated extensions 514a and 514b during insertion, for example, a moment with a value of about 0.01 NM to about 0.1 NM.

[0233] Referring here to Figures 5g-5h, schematic diagrams of exemplary gimbal blocks to which extensions are connected are shown according to several embodiments of the present invention. In some embodiments, the gimbal block 518 comprises several components that enable monitoring of forces applied to extensions 514a and 514b. In some embodiments, the several components are one or more gimbals that are mounted overlapping each other but have different axes of motion. For the sake of ease of explanation, we will describe two axes of motion. It should be understood that by using more gimbals, it is possible to provide three or more axes of motion that can be monitored. These are also part of the scope of the present invention. Returning to Figure 5g, the gimbal block 518 comprises a top block 528 that connects the gimbal block 518 to the rest of the device. In some embodiments, a top connector 530 is located below the top block 528 and is connected to the top block 528 by a screw 552, etc. In some embodiments, one or more damping springs 532 communicating with one or more button axis load cells 534 are housed between the top block 528 and the top connector 530. In some embodiments, the load cell calibration is performed by acting on a damping force calibration set screw 536. In some embodiments, a central block 538 is located below the top connector 530. In some embodiments, a first gimbal axis 540 is inserted into the top side of the central block 538, providing a horizontal axis of motion perpendicular to the pin of the first gimbal axis 540 (see the description below for the motion of the gimbal block). In some embodiments, a second gimbal axis 542 is inserted into the bottom side of the central block 538 (indicated by the insertion position). In some embodiments, the second gimbal axis 542 is perpendicular to the first gimbal axis 540. In some embodiments, the second gimbal axis 542 provides a horizontal axis of motion perpendicular to the pin of the second gimbal axis 542 (see the description below for the motion of the gimbal block). In some embodiments, a bottom connector 544 is located below the central block 538, connected to the central block 538 at the top and to the bottom block 546 at the bottom.In some embodiments, although not shown in Figure 5g, one or more damping springs from another set relating to / interfacing with one or more button axis load cells from another set are housed between the bottom connector 544 and the bottom block 546. In some embodiments, extensions 514a and 514b are connected to the bottom block 546.

[0234] In some embodiments, the device comprises a single gimbal block 518 connecting both extensions 514a and 514b. In some embodiments, the device comprises two gimbal blocks 518, with one gimbal block 518 for each extension, as shown, for example, in Figure 5h.

[0235] Referring here to Figure 5h, exemplary motion of a gimbal block 518 and a schematic diagram of an exemplary embodiment of a device comprising two gimbal blocks according to several embodiments of the present invention. In some embodiments, as described above, the gimbal block 518 comprises a first gimbal axis 540 that gives motion of the gimbal block 518 on a first axis, and a second gimbal axis 542 that gives motion of the gimbal block 518 on a second axis. Figure 5h shows a side view of the gimbal block 518, showing motion enabled by the first gimbal axis 540 (arrow 548). Furthermore, Figure 5h shows a front view of the gimbal block 518, showing motion enabled by the second gimbal axis (arrow 550). In some embodiments, the first gimbal axis 540 and the second gimbal axis 542 provide the gimbal block 518 with two axes of rotation at different positions. In some embodiments, these axes of rotation are used in conjunction with a single-axis load cell to measure the moment and force applied to the extension. In some embodiments, as shown in Figure 5h, the two extensions are each separately connected to the gimbal block 518, allowing for the measurement of different forces acting on each extension. In some embodiments, when the gimbal mechanism reaches its rotational (motion) limit, which optionally implicitly allows access to forces applied to the extensions (e.g., during a possible collision between the device and an electrical panel), the system may stop the wire insertion operation and / or perform a corrective action (movement of the device).

[0236] Referring here to Figure 5i, a schematic diagram of an exemplary wire locking element / wire locking portion 508 according to several embodiments of the present invention is shown. In some embodiments, the wire locking element / wire locking portion is configured to interact with the wire locking mechanism of the component after the wire has been inserted into the respective electrical terminal block of that component in the wire cabinet. In some embodiments, the components used in the cabinet may include different types of locking mechanisms within the connector, such as screw terminals, push buttons, and / or push-in locking mechanisms. In some embodiments, if a component is used that has an electrical terminal connector including a push-in locking mechanism, the wire locking element / wire locking portion 508 is not needed and is therefore not used. In some embodiments, screw terminals or screw terminal blocks (components) secure the wire to a conductor in the terminal block (component) by tightening a screw to close the clamp. In some embodiments, push-button terminal blocks secure the wire to a conductor by a spring clamp that opens when the button is pressed. In some embodiments, when the button is released, the spring tightens on the wire with the clamp. In some embodiments, a push-in terminal block, similar to a push button with a spring clamp, allows wires to be pressed directly into the housing without the need for a push button to release the spring. In some embodiments, depending on the type of locking mechanism within the terminal block (component), the wire locking element / wire locking portion 508 is provided with a dedicated actuator 554. For example, in Figure 5i, the wire locking element / wire locking portion 508 is provided with a flathead screwdriver 554 used to secure the screw terminal block. In some embodiments, the head of the actuator and / or drill bit 554 can be replaced manually or, optionally, automatically (for example, by using vertical motion 556 to move the device toward a replacement rack that replaces the head of the actuator 554). Referring now to Figure 5j, schematic diagrams are shown of several possible interactions between the wiring end effector module 208 and various types of terminal blocks (components) having different locking mechanisms for wires within the connectors of the components.

[0237] Returning to Figure 5i, in some embodiments, the wire locking element / wire locking section 508 includes a motor 558 configured to actuate a dedicated actuator 554. In some embodiments, the motor 558 and the dedicated actuator 554 are held by a base 560, which is further connected to a second motor 562, which performs a vertical movement, schematically shown by arrow 556, necessary for inserting the dedicated actuator 554 into the terminal block. In some embodiments, although not shown in Figure 5i, multiple motors are used to provide the wire locking element / wire locking section 508 with multiple directions of motion. In some embodiments, the wire locking element / wire locking section 508 is configured to move in the vertical, lateral, and longitudinal directions. In some embodiments, a potential advantage of giving the locking element 508 such freedom of motion is that multiple electrical terminal connectors and devices, each having different positions for accessing the wire locking mechanism, can interact with each other.

[0238] In some embodiments, the wire locking element / wire locking section 508 includes a torque sensor, which is configured to monitor the torque force applied by the actuator to the locking mechanism of the electrical terminal connector within the component. In some embodiments, the system includes a database in which specific torque forces associated with a particular locking mechanism of the electrical terminal connector are stored. In some embodiments, the system includes commands for operating the actuator according to specific parameters, which are specifically matched to the torque requirements of a particular locking mechanism of a particular electrical terminal connector and a particular wire gauge.

[0239] Examples of using wires with end terminals (wire heads) ferrules.

[0240] Referring here to Figures 6a-6b, schematic diagrams of ferrules according to several embodiments of the present invention are shown. In some embodiments, the wire used in an automatic wiring system is a wire with a built-in ferrule at its distal end (ferrule wire head). The ferrule is a ring or cap 602, optionally having a metal distal end 604, which is used to enclose the exposed distal end of the wire, facilitating the handling of the distal end of the wire and its connection to the electrical terminal connector of the component. In some embodiments, the ferrule is rigid. In some embodiments, the ferrule is rigider than the wire itself. In some embodiments, the ferrule is about 2 to 10 times rigider than the wire. In some embodiments, the ferrule can have different dimensions, as shown, for example, in Figure 6a. In some embodiments, the ferrule can have a metal part 602 of different shapes at its distal end, as shown, for example, in Figure 6b. In some embodiments, because the ferrule is equipped with a cap 602 that is rigider than the wire itself, the wiring end effector module 208 clamps the cap 602 instead of directly clamping the wire. In some embodiments, a potential advantage of sandwiching the cap 602 is that it facilitates the handling of the wire while inserting it into the electrical terminal connector of the component. Because the wire is flexible, if the wire bends during insertion, the head of the wire that needs to be inserted into the electrical terminal connector may be deflected. Sanding the cap 602 may help avoid this. In some embodiments, the ferrule is configured to be fully inserted into the electrical terminal connector of the component, which means that for a proper connection to be made, the cap 602 must be fully inserted inside the electrical terminal connector of the component. In some embodiments, the method for inserting the wire into the electrical terminal connector of the component while using the wire with the ferrule includes additional steps, as further disclosed below.In some embodiments, additional actions that may need to be performed during the insertion of a wire including a ferrule include one or more of the following: partial insertion of the ferrule into the electrical terminal connector of the component, release or partial release of the ferrule, moving the device backward, re-clamping the wire at a distal position relative to the ferrule, and completion of the insertion of the wire and ferrule into the electrical terminal connector of the component. In some embodiments, before releasing 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 prevent the ferrule from coming out of the electrical terminal connector. In some embodiments, after the wire has been re-clamped and before further insertion of the wire into the electrical terminal connector, the system releases the locking mechanism of the electrical terminal connector to allow further insertion of the wire into the electrical terminal connector. In some embodiments, the wiring end effector module 208 includes an additional element configured to hold the wire in place while the extension moves to a more distal position on the wire. In some embodiments, the additional element may be a third extension configured to extend as needed and hold the wire in place.

[0241] In some embodiments, the extension / end effector can accommodate ferrules with complex shapes, such as fork-shaped or ring-shaped ferrules, into the connector.

[0242] Examples of interchangeable end effectors In some embodiments, as described above, the wiring end effector 206 comprises one or more of the wire retaining elements / wire holders 506 and wire locking elements / wire locking portions 508. In some embodiments, the automated wiring system is configured to replace one or more components of each wire retaining element / wire holder 506 and each wire locking element / wire locking portion 508 to perform different operations in the automated wiring process. In some embodiments, the component to be replaced is a tool.

[0243] Refer to Figure 7a, which shows a schematic diagram of a wiring end effector module 700 configured for a replaceable tool according to some embodiments of the present invention. In some embodiments, as described above, the wiring end effector module 700 comprises a wire retaining element / wire holder 702 and a wire locking element / wire locking portion 704.

[0244] In some embodiments, the wire holding element / wire holder 702 comprises one or more of the following: a force sensor 706 configured to detect forces from three different axes; and a gripping actuator 708 configured to actuate a replaceable tool 710 (e.g., a wire holder having two extensions for gripping at least one wire 712, a cable holder, a continuity probe, a USB data transfer tool, etc., as disclosed above) held in a tool holder 714 (e.g., a snap-in tool holder).

[0245] In some embodiments, the wire locking element / wire locking section 704 comprises one or more mechanical driver motors 716 configured to rotate at least one interchangeable driver bit 718. In some embodiments, the wire locking element / wire locking section 704 comprises one or more actuators configured to move the wire locking element / wire locking section 704 in one or more directions. For example, Figure 7a shows a wire locking element / wire locking section 704 with two motors: a first motor 720 configured to provide controlled vertical movement of the wire locking element / wire locking section 704 (arrow 722) and a second motor 724 configured to provide controlled horizontal movement of the wire locking element / wire locking section 704 (arrow 726). In some embodiments, the motors are configured to move different parts in one or more different directions, depending on the wiring requirements.

[0246] Example of a locking mechanism for interchangeable tools Refer to Figures 7b and 7c, which show schematic diagrams illustrating exemplary locking mechanisms for interchangeable tools according to several embodiments of the present invention. In some embodiments, the wire retaining element / wire holder 702 comprises one or more locking mechanisms 728 configured to lock an interchangeable tool inserted into a dedicated tool holder 714 in place. For example, the locking mechanism 728 comprises a mechanical actuator 730 configured to move a locking pin 732 back and forth. Figure 7b shows, for example, the locking pin 732 of the locking mechanism 728 locking the interchangeable tool in place, and Figure 7c shows, for example, the locking pin 732 of the locking mechanism 728 retracting to release the interchangeable tool. In some embodiments, the locking mechanism 728 is further used to provide electrical connections for conductive connection tools (see below).

[0247] Examples of interchangeable tool characteristics Refer to Figures 7d-7j, which show schematic diagrams of interchangeable end effector tools and their characteristics according to several embodiments of the present invention. In some embodiments, interchangeable tools configured to grip wires / components are manufactured to potentially overcome difficulties related to automated wiring systems.

[0248] For example, in some embodiments, as shown in FIG. 7d, the replaceable tool for gripping the wire has a width small enough to pass through the space within the exemplary duct through which the wire extends. In FIG. 7d, a replaceable tool 734 for gripping the wire 736 and positioning it along the duct 738 is shown. In some embodiments, at some point, for example, in order to reach the terminal block 740, the wire needs to exit the duct 738. In some embodiments, the exemplary duct 738 is periodically open, and the opening has a width W2 through which the wire 736 can enter and exit the duct 738. In some embodiments, the replaceable tool 734 for gripping the wire 736 has an overall width W1 that is smaller than the width W2 of the opening of the duct 738 (W1 < W2). In some embodiments, the overall width W1 of the replaceable tool 734 is about 6 mm, for example, about 3 mm to about 6 mm, optionally about 2 mm to about 8 mm, and optionally about 1 mm to about 10 mm.

[0249] In other examples, as shown in Figure 7e, in some embodiments, the interchangeable tool has sufficient length to reach exemplary components while avoiding the risk of collision between the end effector and the components of the panel. As disclosed in several embodiments described herein, in some embodiments, the exemplary end effector comprises multiple parts which together provide an end effector of a certain size. In some embodiments, the size of the end effector may limit the movement and / or distance that the end effector can approach the panel. In some embodiments, the tool is characterized by having a length that reaches the panel while maintaining a safe distance from the panel and / or components within the panel. Figure 7e shows a panel 742 comprising several components 744a to 744f, each component having a different height (height being the distance a component protrudes from the surface of the panel). Also shown are several interchangeable tools 734, whose lengths are shown to allow them to reach components while maintaining the volume portion 746 of the end effector at a distance or spaced apart from the components and / or panel. In some embodiments, the length of the extended portion of the interchangeable tool 734 is approximately 20 mm to approximately 200 mm, optionally approximately 15 mm to approximately 250 mm, and optionally approximately 10 mm to approximately 300 mm.

[0250] Because the size of the end effector can potentially limit movement, in some embodiments, the distal end of the interchangeable tool 734 configured to grip a wire may have a dedicated gripping end to allow the wire to be gripped at a specific angle. For example, as shown in Figure 7f, the interchangeable tool 734 has a distal end that grips the wire at an angle of approximately 45° with respect to the axis of the extension of the interchangeable tool 734. In some embodiments, the angle is approximately 0° to approximately 180°, for example, 0° (perfectly aligned with the axis, with the wire at the distal end pointing completely downward along the axis of the extension of the interchangeable tool 734), 30°, 45°, 70°, or 90° (perpendicular to the axis of the extension of the interchangeable tool 734). In some embodiments, a potential advantage of gripping the wire at a specific angle is that the wire can be positioned at the optimal angle to the location where insertion is required without having to manipulate the entire end effector relative to the panel / component.

[0251] Example of a wire gripping mechanism Refer to Figures 7g-7j, which illustrate exemplary wiring gripping mechanisms of several embodiments of the present invention. In some embodiments, as described above, the automatic wiring system comprises two extensions (e.g., 514a and 514b in Figure 5e) configured to interact with the wire during the wiring process. In some embodiments, the two extensions act like “fingers” that grip the wire. In some embodiments, a mechanism 708 that acts to move (open and close) the two extensions is located outside and / or separately from the extensions themselves in order to make a replaceable tool available in the wire retaining element / wire holder 702, so that the tool can be replaced using a single actuation mechanism. In some embodiments, the actuation mechanism 708 comprises two pressing parts 748 / 750 configured to apply a controlled force (see arrows in Figure 7g) to the extensions 752 / 754 of the tool 756, thereby providing the wire retaining element / wire holder 702 with a controlled grip of the wire 758. In some embodiments, each extension 752 / 754 is connected at its proximal end to the head 762 of the tool 756. In some embodiments, when two extensions 752 / 754 are actuated, their movement relative to each other is arcuate (indicated by arrows), for example, because the proximal ends of the two extensions 752 / 754 are connected to the head 762 and only their distal ends are free to move, and is similar to the movement when tweezers are actuated.

[0252] Refer to Figures 7h to 7j, which show three exemplary operating states of an exemplary wire gripping tool according to several embodiments of the present invention.

[0253] In some embodiments, when the actuation mechanism 708 is inactive, the two extensions 752 / 754 of the tool 756 have a distance D1 between them, for example, as shown in Figure 7h. In some embodiments, the distance between the two extensions 752 / 754 when inactive is about 3 mm to about 4 mm, optionally about 2.5 mm to about 4.5 mm, optionally about 2 mm to about 5 mm, for example 3 mm, 4 mm, 4.7 mm and any number in between. In some embodiments, optionally, the opening distance between the two extensions 752 / 754 is determined by a wire gauge, and the added gap allows the gripped object to be easily released.

[0254] In some embodiments, when the actuation mechanism 708 (not shown) is actuated, the distance between the two extensions 752 / 754 of the tool 756 is reduced to a distance D2, for example, as shown in Figure 7i. In some embodiments, when the two extensions 752 / 754 are actuated (i.e., in a closed configuration), the distance is approximately 1 mm to approximately 2 mm, optionally approximately 1.5 mm to approximately 2.5 mm, optionally approximately 2 mm to approximately 3 mm, for example, 2 mm, 2.7 mm, 3 mm, and any number in between. In some embodiments, when the two extensions 752 / 754 are in a closed configuration, they are configured to reliably hold the gripped object with minimal friction between them. In some embodiments, the distance between the two extensions 752 / 754 of the tool 756 is reduced by applying a constant force F1 to one or more extensions 752 / 754. In some embodiments, exemplary amounts of force applied are approximately 4N to approximately 10N, optionally approximately 2N to approximately 15N, and optionally approximately 1N to approximately 20N. In some embodiments, when the two extensions 752 / 754 of tool 756 are operated to have a distance D1 between them, the automatic wiring system optionally utilizes a wire retaining element / wire holder 702 to route the wire along the electrical cabinet. This is because the distance D1 is configured to hold the wire in the distal grooves 760 of the two extensions 752 / 754 without actually gripping it, so that the wire is not lost during the process and can be "let run free" between the grooves 760.

[0255] In some embodiments, when the actuation mechanism 708 (not shown) is further activated, the distance between the two extensions 752 / 754 of the tool 756 is further reduced to a distance D3, for example, as shown in Figure 7j. In some embodiments, the distance between the two extensions 752 / 754 when not actuated is about 3 mm to about 4 mm, optionally about 2.5 mm to about 4.5 mm, optionally about 2 mm to about 5 mm, e.g., 3 mm, 4 mm, 4.7 mm and any number in between. In some embodiments, optionally, the opening distance of the two extensions 752 / 754 is determined by a wire gauge, and the added gap allows the gripped object to be easily released. In some embodiments, the distance between the two extensions 752 / 754 of the tool 756 is further reduced by applying a constant force F2 to one or more extensions 752 / 754. In some embodiments, exemplary amounts of the applied force are approximately 4N to approximately 10N, optionally approximately 2N to approximately 15N, and optionally approximately 1N to approximately 20N. In some embodiments, when the two extensions 1006 / 1008 of tool 756 are operated to have a distance D2 between the two extensions 752 / 754 of tool 756, the automatic wiring system utilizes the wire retaining element / wire holder 702 to grip the wire (gripping mode). This is because the distance D2 is configured to securely grip the wire in the distal grooves 760 of the two extensions 752 / 754. In some embodiments, for example, insertion of the distal end of a wire into an electrical connector is performed in this mode.

[0256] In some embodiments, D1 > D2 > D3.

[0257] Examples of wire operating systems and methods In some embodiments, as broadly disclosed herein, an automated wiring system is used to wire to an electrical panel by performing a number of operations, including, for example, positioning wires inside ducts and / or clips and / or other objects, and connecting the ends of the wires to electrical components. In some embodiments, the wire operations are performed by one or more end effectors. In some embodiments, as described above, one or more sensors are used to identify objects within the electrical cabinet, such as ducts, clips, or other objects. In some embodiments, for example, one or more sensors are one or more of optical sensors, force sensors, torque sensors, and moment measuring sensors. In some embodiments, one or more sensors are used to receive feedback on the state of the wire and the state of the surroundings of the wire. For example, the sensor feedback indicates contact between the wire and an object (e.g., a duct).

[0258] In some embodiments, further movement of the end effector is performed perpendicular to the vertical axis of the sensed object, for example, when it is lightly touching the object (sensing a small vertical force). In some embodiments, the movement is oblique, for example, vertical and lateral, with the lateral movement being increments of a few millimeters, e.g., 8mm, 5mm, 3mm, 2mm, 1mm, and the vertical movement being increments of the same or different sizes of a few millimeters, e.g., 4mm or 6mm. In some embodiments, by sensing vertical and lateral forces, the position and movement of the end effector are adjusted to enable wire manipulation, for example, inserting a wire into a slot (see Figure 7d or Figures 18e-18h) or into a connector (see Figure 18q).

[0259] In some embodiments, a rod is inserted into the object instead of a wire, as shown in Figures 18a to 18c below.

[0260] In some embodiments, an object (e.g., a clip, duct, or component) is being manipulated while the wire is stationary. In this case, the relative forces and motion produce similar behavior regardless of the moving object.

[0261] In some embodiments, positioning a single wire during the wiring process may involve multiple actions, including moving the wire through various objects such as ducts, panel openings (see Figures 19a-19b), openings in metal opening sheets, and brackets.

[0262] In some embodiments, accessories are specially designed (e.g., clips) to facilitate process automation, and dedicated feedback parameters such as sensing (e.g., force to be sensed) and image acquisition are used to assist the insertion process. In some embodiments, standard accessories are used, so no special or dedicated accessories are required. In some embodiments, for these accessories, the insertion operation may be a complex 3D trajectory that allows the clip to be "opened" by applying a predetermined force to the clip, for example.

[0263] In some embodiments, as referred elsewhere herein, the system uses a learning algorithm to improve the insertion process for new duct designs, for example, and one of deep learning, reinforcement learning, etc. may be used. In some embodiments, data is collected from multiple trials (e.g., laboratory and / or field trials) and used to improve the process. In some embodiments, when a new object is presented to the system, the system "investigates" the object by using multiple sensors to identify holes and slots and overall dimensions. In some embodiments, trial and error for insertion may be used as the first attempt for insertion with learning improvements.

[0264] Figure 7k shows a schematic diagram of a system 770 according to several embodiments of the present invention. In some embodiments, an exemplary system 700 comprises a widely described automated wiring system 100 and is configured to process a panel comprising ducts and tools 772. In some embodiments, the system is optionally connected to a remote and / or local technical office 774 via a cloud line 776.

[0265] Figure 7l shows an exemplary wiring method according to several embodiments of the present invention. In some embodiments, the method includes one or more of the following operations. Identify objects to be passed through (778) Determine whether the object is a wire duct or not (780) If it is not a wire duct, the system determines whether the object is known (for example, by checking an internal library) or whether to generate a new routing routine for the object (782). If the object is a wire duct, a pre-learned process is executed. Use touch / force sensors or vision to locate the duct (784). Once the object's location (height and, if possible, position) is found, a search is initiated to find a slot for the wire to pass through (786). In some embodiments, the search may include force sensing feedback, visual feedback, and other sensors. Once the slot entrance is found, the system inserts the wire into the slot, for example, by moving the wire to indicate the slot boundary (788). Once the wire passes through the slot, the system can proceed to the next step on the other side of the duct (790).

[0266] Refer to Figures 7m-7o, which show exemplary force graphs during the process of finding the duct location according to some embodiments of the present invention. In some embodiments, finding the duct location, e.g., the duct height, involves slowly moving the end effector downward in that direction (Z direction) until a force is detected, e.g., in the Z direction, as shown in Figure 7m. For example, a force change greater than 1N, greater than 2N, greater than 3N. In some embodiments, once the end effector finds the duct, it performs a lateral movement with a small displacement in the Z vertical axis direction, as shown in Figures 7n and 7o. For example, the movement in the Z direction may be 0.5 mm or 1-2 mm, and the lateral movement (Y direction) may be, for example, 4 mm, 6 mm, or 8 mm. In some embodiments, the movement is diagonal and the system evaluates the force in the Y direction. In some embodiments, the system performs a change in the Y direction (moving the diagonal to the opposite side). In some embodiments, the system reduces the amplitude and moves downward. In some embodiments, the end effector makes contact with two sides to adjust the amplitude. In some embodiments, when a lateral opposing force is detected, the end effector begins to move downward, modifying its lateral movement in the Y direction using, for example, the following logic: Y movement step i = DeltaYi Y movement step i+1 = -(DeltaYi) × X% Here, X is less than 1, indicating a conversion coefficient, and "-" indicates left-right movement of the head.

[0267] Alternatively, the end effector moves until the lateral sensed force reaches a value greater than a setpoint, for example, greater than 1N or 2N. In some embodiments, once a certain force is reached (and possibly remains unchanged), the position is recorded, the direction of movement is reversed, and the opposite side is found using the two lateral forces, and the position is recorded. In some embodiments, the center of the slot is calculated and used for wire insertion. In some embodiments, as can be understood from the above description, this algorithm can be used to find holes or other openings with the necessary adjustments.

[0268] Example of interchangeable tool 802 In some embodiments, the automatic wiring system includes a dedicated stand 208 equipped with multiple different interchangeable tools 802 and / or multiple different interchangeable driver bits 804, as shown in Figure 8a, for example.

[0269] Refer to Figures 8b and 8c, which show exemplary stands for different interchangeable tools 802 in several embodiments of the present invention. In some embodiments, the automated wiring system is configured to change tools as needed. In some embodiments, the exemplary interchangeable tools can be divided into three main types: wire gripping tools, cable gripping tools, and technical tools. In some embodiments, the exemplary interchangeable tool 802 comprises one or more tools from among wire grippers 806 for small wires (e.g., 0.5 mm to 1.0 mm in diameter), wire grippers 808 for medium wires (e.g., 2.5 mm to 4.0 mm in diameter), wire grippers 810 for large wires (e.g., 6.0 mm or larger in diameter), USB grippers 812 / 814, RJ45 grippers 816, HDMI grippers 818, continuity test probes 820, and USB data transfer tools 822. In some embodiments, multiple exemplary interchangeable tools 802 are held in a stand near a wiring end effector 206 configured to move during the wiring process.

[0270] Examples of wire gripping tools Refer to Figure 8d, which shows an exemplary interchangeable wire gripping tool of several embodiments of the present invention. In some embodiments, as described above, the wire gripping tool comprises three main components: a head and two extensions. In some embodiments, the head is configured to be inserted into the retaining element of a wire retaining element / wire holder element. In some embodiments, optionally, the head is provided with a mark 824 so that the user and / or system can identify the type of tool. For example, Figure 8d shows a close-up of an exemplary mark 824, labeled "T38". In some embodiments, the mark 824 may be a number identified by the system using a camera. In some embodiments, the mark 824 may be a barcode and / or RF tag identified by the system using a dedicated scanner, for example. In some embodiments, the mark is used to verify the authenticity of the wire gripping tool 756.

[0271] In some embodiments, each of the two extensions 752 / 754 has a distal end configured to interact with the wire. In some embodiments, as described above, the distal end has one or more grooves 760 configured to interact with the wire. In some embodiments, the wire gripping tool 752 is configured to grip the wire so as to hold the distal end of the wire horizontally (826) or vertically (828), as shown, for example, in Figure 8d. In some embodiments, the same distal end can hold the wire both vertically and horizontally. In some embodiments, the wire gripping tool 756 is already “presented” with the wire in a desired direction (horizontal / vertical). In some embodiments, the wire gripping tool 756 is configured to grip the wire, detect its direction, and correct the direction by moving the wire gripping tool 756 as appropriate, if necessary.

[0272] In some embodiments, the distal end can be straight 830 or "L" shaped 832. In some embodiments, the distal end is configured to hold wires, for example, with a diameter of about 0.5 mm to about 6.0 mm. In some embodiments, different wire gripping tools 756 are configured to grip, for example, a wire gripper tool 806 for small wires (e.g., with a diameter of 0.5 mm to 1.0 mm), a wire gripper tool 808 for medium wires (e.g., with a diameter of 2.5 mm to 4.0 mm), and a wire gripper tool 810 for large wires (e.g., with a diameter of 6.0 mm or more).

[0273] Examples of cable gripping tools Refer to Figure 8e, which shows exemplary interchangeable tools configured to grip technical cables according to some embodiments of the present invention. Figure 8e shows how exemplary USB grippers 812, RJ45 grippers 816, and HDMI grippers 818 grip the relevant technical cables. In some embodiments, the tools are configured to manipulate (e.g., grip and position) tubes, pipes, optical fiber elements, and any other required objects.

[0274] Examples of technical tools Refer to Figure 8f, which shows exemplary technical tools of several embodiments of the present invention. In some embodiments, the wiring system includes a dedicated continuity test probe 820 configured to determine whether wires in an electrical cabinet are properly connected. In some embodiments, after a particular electrical line has been assembled by the system, the system uses the continuity test probe 820 to determine whether the wires are properly connected. In some embodiments, the wiring system includes a dedicated USB data transfer tool 822, which is used, for example, to determine whether a USB port is functioning correctly, or to install and / or update software on electronic components in an electrical cabinet. In some embodiments, the replaceable technical tool includes a dedicated power / data transfer connector 834 located at the connector of the tool.

[0275] In some embodiments, specialized tools are designed to have special geometric shapes to access hard-to-reach / narrow areas. For example, an offset tool where the wire tip / ferrule is positioned off-center from the end effector. Other examples include slim tools required for specific tasks such as moving between wires, between components, and reaching components at specific angles, as shown in Figures 7d-7f. In some embodiments, an elongated tool may be optionally required to access connection points adjacent to protrusions. In some embodiments, a curved or hooked tool may be optionally used to access behind obstacles.

[0276] Examples of dedicated calibration for end effectors and interchangeable tools In some embodiments, due to the different shapes and / or roles of specific interchangeable tools, a dedicated calibration operation is performed in advance and / or before use of the automated wiring system and / or during use of the automated wiring system. In some embodiments, as described above, the end effector comprises one or more sensors configured to monitor, for example, the forces applied to the end effector, the forces required for the correct positioning of components / wires within the panel, and the forces applied to the end effector to detect collisions between the end effector and components / panels. In some embodiments, one or more sensors are located on the end effector itself (e.g., above and / or near the base of the end effector of the adapter for the interchangeable tool) and are not removed, and / or replaced, and / or replaced when the interchangeable tool is replaced. Therefore, in some embodiments, because one or more sensors are fixed to the end effector, a dedicated calibration is required for and / or taking into account the interchangeable parts and / or tools. In some embodiments, different interchangeable tools require force monitoring because, for example, the force required to insert a wire into a terminal block may differ from the force required to insert a USB into a USB port. Additionally or alternatively, the length of different interchangeable tools also affects the force being monitored, even if they are interchangeable tools performing the same function (e.g., long wire holder and short wire holder). In some embodiments, a potential benefit of performing calibration is that it allows monitoring of the moment and torque applied to the tool (e.g., two extended parts) during the wiring process. In some embodiments, the moment and torque depend on the geometry and kinematics of the tool, and in some embodiments, specific and personalized calibration is required for each tool. In some embodiments, additional or alternatively, the gripping (pinch / holding) force of the tool also depends on the geometry and kinematics of the tool, and in some embodiments, specific and personalized calibration is required for each tool.

[0277] Therefore, in some embodiments, personalized calibration is performed taking into account the role and physical characteristics of the interchangeable tools. In some embodiments, calibration is performed at the factory. In some embodiments, calibration is performed before carrying out a particular wiring process. In some embodiments, calibration is performed during the wiring process.

[0278] In some embodiments, calibration information is collected by performing one or more tests, analyses (e.g., finite element or linear calculations), and simulations.

[0279] Examples of alternative wire gripper tools Refer to Figures 9a and 9b, which show schematic diagrams of exemplary alternative wire gripper tools according to some embodiments of the present invention. In some embodiments, the exemplary alternative wire gripper tool 900 comprises a head 902 similar to the head shown in Figures 7g-7j, for example. In some embodiments, the exemplary alternative wire gripper tool 900 comprises a fixed extension 904 having a proximal end connected to the head 902 and a distal end having a wire housing 906. In some embodiments, the exemplary alternative wire gripper tool 900 comprises a movable extension 908 configured to move up and down parallel to the fixed extension 904 (see arrow 910). In some embodiments, the movable extension 908 comprises a distal end 912 configured to merge with the wire housing 906 at the distal end of the fixed extension 904 and surround a wire 914 within the wire housing 906. In some embodiments, as described in Figures 7h to 7j, the distance the movable extension 908 moves corresponds to an open configuration (for example, the configuration shown in Figure 9a) or a closed configuration (the configuration shown in Figure 9b). In the closed configuration, the distance can be such that the wire 914 is contained within the wire housing 906 while allowing it to "travel freely" within the wire housing 906, or it can be such that the wire 914 is firmly held within the wire housing 906.

[0280] In some embodiments, the mechanism for moving the movable extension 908 is a mechanical mechanism, such as a pulley mechanism 916, as schematically shown in Figures 9a and 9b. In some embodiments, the mechanism for moving the movable extension 908 is an electrical mechanism, such as one or more electric motors and gears.

[0281] In some embodiments, a potential advantage of the exemplary alternative wire gripper tool 900 having a vertical closing mechanism is that the assisting force applied by such a grip allows the mechanism to assist in inserting the distal end of the wire into an electrical connector. Also, as described elsewhere in this specification, the mechanism can assist in verifying that the distal end of the wire is properly attached to the electrical connector by performing a delicate "pulling / pressing" action on the wire and detecting any resistance. This configuration also potentially assists in positioning the wire within a duct, as it allows the wire to be guided into the duct while firmly gripping the distal end, and, if two arms are used, allows the wire to "travel freely" within the wire housing 906 while still providing "direction" to the wire being pulled.

[0282] Refer to Figure 10a, which shows other exemplary wiring end effectors having interchangeable tool performance according to some embodiments of the present invention. In some embodiments, as described above, the exemplary wiring end effector comprises a wire retaining element / wire holder 1002 and a wire locking element / wire locking portion 1004.

[0283] Furthermore, in some embodiments, as described above, the wire locking element / wire locking section 1004 comprises a driver unit 1006 with torque control (not shown) and at least one driver head 1008 to drive screws as needed during the wiring process.

[0284] Refer to Figures 10a and 10B-10G, which show wire retaining element / wire holder 1002 of several embodiments of the present invention. Figure 10B shows an exemplary wire retaining element / wire holder 1002 alone. Figures 10C and 10D show exemplary portions of the wire retaining element / wire holder 1002. Figures 10E, 10F and 10G show exemplary portions of an exemplary tool 1014. In some embodiments, the wire retaining element / wire holder 1002 includes a multi-axis sensor 1010 configured to monitor the three-dimensional movement of the wiring tool. In some embodiments, the wire retaining element / wire holder 1002 includes a tool changer 1012 configured to allow the exchange of the tool 1014 required to carry out the wiring process. In some embodiments, the wire retaining element / wire holder 1002 includes one or more sensors 1018 configured to monitor the operation of one or more portions of the wire retaining element / wire holder 1002. In some embodiments, the wire holding element / wire holder 1002 comprises one or more tool actuators 1016 configured to operate the tool during the wiring process. In some embodiments, the wire holding element / wire holder 1002 comprises a restraining actuator 1022 configured to block the tool in a certain position. For example, after the actuator 1016 closes the tool and grips the wire, the restraining actuator 1022 can hold the tool in the closed position to prevent accidental release of the wire. In another example, if the wiring process requires the tool to be kept slightly open but not completely open (for example, if it needs to run along the wire without actually gripping it), the actuator 1016 can partially close the tool to loosely hold the wire, and then the restraining actuator 1022 can hold the tool in the partially closed position to prevent accidental release of the wire while keeping it loosely held.

[0285] In some embodiments, the wire retaining element / wire holder 1002 includes a tool locking actuator 1024 configured to lock the tool shaft 1020 of the tool 1014 within the wire retaining element / wire holder 1002.

[0286] Refer to Figures 10E, 10F, and 10G, which show schematic diagrams of exemplary mechanisms for operating an exemplary tool 1014 according to some embodiments of the present invention. In some embodiments, the exemplary tool is configured to grip a wire using a “scissor mechanism”. Figure 10E shows an example of how the “scissor mechanism” is activated. In some embodiments, the “scissor mechanism” comprises a spring 1026 communicating with an actuation shaft 1028 and terminates at a distal end actuator 1030. In some embodiments, the distal end of the tool 1014 has two “finger portions” 1032a / 1032b interconnected at a pivot 1034. In some embodiments, when the spring 1026 is actuated, it moves the shaft 1028 up and down, which actsuates the two “finger parts” 1032a / 1032b by causing the distal end actuator 1030 to move the two “finger parts” 1032a / 1032b relative to the pivot 1034, which is translated into opening and closing of the two “finger parts” 1032a / 1032b. Figures 10F and 10G show other examples of how the “scissor mechanism” is activated. In some embodiments, the “scissor mechanism” comprises an actuating shaft 1036 (shown only in Figure 10F). In some embodiments, it comprises two “finger parts” 1038a / 1038b interconnected at a pivot 1040, each with a bearing 1046a / 1046b. In some embodiments, optionally, there is a guide pin 1042 configured to move the two “finger parts” 1038a / 1038b along a predetermined axis. In some embodiments, optionally, there is a spring 1044 (shown only in Figure 10F) positioned between the two "finger portions" 1038a / 1038b, which provides an opening force to the two "finger portions" 1038a / 1038b, so that the "finger portions" 1038a / 1038b can be separated by the spring 1044 even when the actuating shaft is not acting. In some embodiments, when the actuating shaft 1036 is actuated, the actuating shaft 1036 descends or rises.In some embodiments, as the actuating shaft 1036 descends, the two “finger parts” 1038a / 1038b close (against the force provided by the spring 1044) by pushing the two bearings 1046a / 1046b laterally. In some embodiments, as the actuating shaft 1036 rises, the spring 1044 opens the tool 1014 by pushing the two “finger parts” 1038a / 1038b laterally. In some embodiments, the movement performed by the two “finger parts” is angular motion and / or circular motion, distinct from translation.

[0287] Figure 10E shows an exemplary tool 1014 with an angled gripping tip 1048, and Figures 10F and 10G show an exemplary tool 1014 with a parallel gripping tip 1048.

[0288] Examples of sensor mechanisms In some embodiments, two “finger parts” and / or sensors (e.g., 1018 and / or 1010) are configured to detect unexpected contact between the end effector and the environment, providing the system with collision avoidance means that can potentially avoid damage to the wiring system and / or panel. For example, if a sensor detects unexpected contact of a finger part (or other part of the wiring end effector and / or arm) during the wiring process, the system has a command to stop the wiring operation. In some embodiments, the system optionally has a command to activate another wiring arm in place of the arm originally used. As another example, if, for example, the wires become tangled during the wiring process, the sensor detects “unexpected” resistance and stops the wiring process to avoid damage to the system and / or the object being wired. In some embodiments, optionally, a tool is designed to be inserted between wires and / or to manipulate the wires and / or to use two finger parts to create space between the wires. Alternatively, the movement of the end effector and / or arm is configured to make one or more movements to untangle the wires. In some embodiments, the system includes dedicated sensors configured to measure forces and moments during the untangling process.

[0289] In some embodiments, a dedicated "compliant tool," such as rubber fingers and / or spring fingers, is used for testing (or "dry runs") of wiring cycles (e.g., accessibility to components, ports, and each location in the process before actually performing the wiring cycle). In some embodiments, a potential advantage of this is that it allows testing of new panel assembly sequences without damaging the system and tools.

[0290] Simulation example In some embodiments, analysis is performed, for example, using simulation and / or CAD analysis and / or vision analysis, to determine the tools to be used for a particular wiring process.

[0291] Example of a calibration process In some embodiments, a calibration process is performed on one or more tools to calculate the forces and moments acting on them. In some embodiments, external force / moment gauges are used for calibration, and the calibration may take into account the tool's geometry, sensor parameters, and position.

[0292] Exemplary Method Refer here to Figure 11, which shows a flowchart of an exemplary verification method according to several embodiments of the present invention. In some embodiments, the system receives new wiring process data (see an example of a wiring process in Figure 20) (1102). In some embodiments, the system determines whether the received data has been verified (1104). In some embodiments, if the answer is "NO", the system starts the verification process (1106). This verification process may include, for example, the type of tool to be used, possible wire routes, calculation of force application to system components, collision detection, and insertion process. In some embodiments, the verification process is carried out using simulation and / or analysis and / or dry run, etc. In some embodiments, if the answer is "YES", the system starts the first task (i) (1108). In some embodiments, the system selects a tool suitable for the task (1110). In some embodiments, the system optionally selects a suitable drill bit (if necessary) (1112). In some embodiments, the system takes one end of the wire as described in task (i) and inserts it into component A (1114). In some embodiments, the system routes wires along the device (1116). In some embodiments, the system inserts the second end of the wire into component B as described in operation (i) (1118). In some embodiments, the process in this example is repeated until all operations are performed. In some embodiments, once all operations are completed, the wiring process is finished.

[0293] Optionally, a QA cycle can be performed after all wires have been processed, and this process may optionally utilize QA tools.

[0294] Refer to Figure 12, which shows a flowchart of an exemplary wiring method using an exemplary wiring end effector 206 with interchangeable tools according to some embodiments of the present invention. In some embodiments, the system connects a suitable tool to the wiring end effector 206 (1202). In some embodiments, the suitable tool is selected according to information received from the system and / or information sensed in real time, for example, information obtained from one or more cameras and / or digital sensors configured to identify the wire to be used. In some embodiments, an elongated extension grips the wire by applying a radial force to the wire (1204). In some embodiments, the force applied to the wire is about 5N to about 15N, optionally about 7N to about 20N, optionally about 8N to about 25N, e.g., about 8N, about 10N, about 12N. In some embodiments, the resolution of any of the above forces is about 1N. In some embodiments, the effector module brings the wire closer to the connector by applying an axial force (1206). In some embodiments, the force applied to the wire is approximately 5N to 15N, optionally approximately 7N to 20N, and optionally approximately 8N to 25N, e.g., approximately 8N, 10N, and 12N. In some embodiments, the resolution of any of the above forces is approximately 1N. In some embodiments, the wire is then inserted into the hole of the connector of the component (1208). In some embodiments, the system senses the resistance of the wire by the fact that the wire has reached the end of the hole of the connector (1210). In some embodiments, the system then secures the wire to the connector of the component (1212) (see the above method for securing the wire to the connector). In some embodiments, the system then pulls the wire back by lightly applying an axial force in the opposite direction while sensing resistance from the gripping sensor, and evaluates the secure connection of the wire in the connector (1214). In some embodiments, the system slightly reduces the radial force on the wire while continuing to hold the wire (1216).In some embodiments, the method terminates if the insertion of the wire is the last wire to be connected to a component of the electrical cabinet. In some embodiments, the system allows the wire (still held by the elongated extension) to slide along the elongated extension without releasing the wire, while moving the mechanical arm away from the connector (1218). In some embodiments, the system continues the wiring process as described elsewhere (1220).

[0295] Referring here to Figures 13A and 13B, flowcharts are shown of exemplary wiring methods by exemplary wiring end effector modules according to several embodiments of the present invention, where the wire includes a ferrule. In some embodiments, the system connects a suitable tool to the wiring end effector 206 (1306). In some embodiments, the suitable tool is selected based on information received from the system and / or detected in real time, for example, information from one or more cameras and / or digital sensors configured to identify the wire to be used. In some embodiments, the extension grips the wire by applying a radial force to the ferrule (1308). In some embodiments, the force applied to the ferrule is about 3N to about 110N, optionally about 7N to about 20N, optionally about 8N to about 25N, e.g., about 8N, about 10N, about 12N. In some embodiments, the resolution of any of the above forces is about 0.5N. In some embodiments, the effector module moves the ferrule closer to the connector by applying an axial force (1310). In some embodiments, the force applied to the wire is about 3N to about 15N, optionally about 7N to about 20N, optionally about 8N to about 25N, e.g., about 8N, about 10N, about 12N. In some embodiments, the resolution of any of the above forces is about 0.25N. In some embodiments, the ferrule is then partially inserted into the hole of the connector of the component (1312). In some embodiments, optionally, the system partially closes the locking mechanism of the electrical terminal connector to hold the ferrule in place (1310). In some embodiments, the wire with the ferrule is held in place (1316). In some embodiments, this is done by one or more additional elements disclosed above. In some embodiments, an extension is actuated to release the ferrule (1320). In some embodiments, the device then moves backward along the wire (1322). In some embodiments, the extension grips the wire again (1324).In some embodiments, the system optionally opens a partially closed locking mechanism prior to the electrical terminal connector (1326). The flowchart follows Figure 13B after A. In some embodiments, the system then applies an axial force to fully insert the ferrule into the electrical terminal connector (1354). In some embodiments, the system senses the resistance of the wire by the fact that the wire has reached the end of the hole in the connector (1358). In some embodiments, the system then secures the wire to the connector of the component (1360) (see the above method for securing the wire to the connector). In some embodiments, the system then pulls the wire back by lightly applying an axial force in the opposite direction while sensing resistance from the gripping sensor, and evaluates the secure connection of the wire in the connector (1362). In some embodiments, the system slightly reduces the radial force on the wire while continuing to hold the wire (1356). In some embodiments, the method ends if the insertion of that wire was the last wire to be connected to a component of the electrical panel. In some embodiments, the system allows the wire (still held by the elongated extension) to slide along the elongated extension without releasing the wire, while moving the mechanical arm away from the connector (1332). In some embodiments, the system continues the wiring process as described elsewhere (1334).

[0296] In some embodiments, parameters sensed by one or more sensors in the extension, gimbal block, or other part of the system, such as forces, thresholds, and motion values ​​related to the wire and insertion process, are stored in a database.

[0297] An example of wire management held by two wiring arm modules, each having an optional wiring end effector module with interchangeable tools. In some embodiments, when two wiring arm modules hold a wire, the system includes instructions for selecting the appropriate tool and holding the wire in a specific manner. An example is a dedicated wire gripping tool for holding a wire of a particular diameter in a specific position relative to an electrical cabinet. Another example is two wiring arm modules holding a wire while maintaining a specific tension between two points using the appropriate tools they hold. In some embodiments, during the wiring design process, each arm module is prepared and provided with a set of instructions including a list of required tools and when to use them. In some embodiments, this is done to allow the robotic arms to operate potentially autonomously, without damaging each other, without damaging the electrical cabinet, without damaging the wire, and / or without the wire becoming entangled during the wiring process. In some embodiments, the tension on the wire is directional. For example, while one mechanical arm holds one end of a wire using a specially selected tool, the other mechanical arm also has a specially selected tool and holds the other end of the wire in the direction of its assignment within the electrical cabinet, optionally above the duct / DIN, while maintaining tension.

[0298] In some embodiments, the function of holding and tensioning the wire is interchangeable between two mechanical arms, provided that each of the two mechanical arms is equipped with the correct tool. For example, at the start of a wiring operation, the first mechanical arm holds the wire and does not move it, while the second mechanical arm slides the wire toward the position to which it will be assigned. When the second arm reaches the desired position on the electrical cabinet, it stops, and the first arm releases the wire and moves to the position where the second mechanical arm is positioned to continue the wiring process. At this point, the second mechanical arm holds the wire without moving it, while the first arm slides the wire toward the position within the electrical cabinet to which it will be positioned. In some embodiments, if necessary, the mechanical arms can exchange tools in the wiring end effector 206 when switching roles.

[0299] In some embodiments, during the wiring process, when laying a wire on a duct / DIN, one of the two arms slides over the wire. For example, as described above in Figures 7h-7j, when describing a case where the wiring end effector 206 reduces the radial force on the wire, allowing the wire to slide while the mechanical arm moves (see Figure 11).

[0300] In some embodiments, a distance is maintained between two wiring arms. In some embodiments, optionally, the distance is adjusted during the routing of the cables in the duct(s). In some embodiments, optionally, the distance between the arms provides distance from components located on the substrate. In some embodiments, if the tension exceeds a certain threshold, for example, 15% above a desired tension and / or a predetermined threshold, the movement of the arms is slowed down or stopped. In some embodiments, the threshold is set according to the capabilities of the wiring arms, the type of wire, and any combination thereof. In some embodiments, the system monitors the distance between the arms and maintains a constant distance between the wiring arms. In some embodiments, if the distance between the arms exceeds a predetermined distance, the movement of the arms is slowed down or stopped.

[0301] In some embodiments, if the system detects that the wire tension level and / or the distance between arms is outside the acceptable range and / or above or below a predetermined value (e.g., ±20% of the predetermined / acceptable value), the wiring end effector releases the wire to avoid potential damage to the arms and / or panels / components.

[0302] In some embodiments, a visual system is used to verify the process before placing the wires in the duct.

[0303] In some embodiments, the operation of two wiring arms for cabinet wiring, for example (not an exhaustive list), the operation of one arm relative to the other, the operation of the arms relative to the cabinet, the operation of the arms relative to the wires, the operation of the arms relative to the wiring routing plan of the wires and wires in the panel, and the relationship with dedicated interchangeable tools used during the wiring process, each of the above items requires a high level of synchronization and precision in the operation of the arms at multiple levels and in the different tools used with the arms.

[0304] In some embodiments, as an example of coordination between the two arms during wire routing, the first arm leads the routing process, i.e., inserting the end of the wire into the relevant terminal connector of the component, while the second arm follows and supports the first arm during the routing process. In some embodiments, the leading routing arm can become the support arm during the routing process, and vice versa. In some embodiments, during the routing process, the support arm maintains a constant tension on the wire relative to the leading wire arm by maintaining a constant force on the wire (e.g., 2N, 4N, 8N). In some embodiments, during the routing process, the support arm maintains tension on a portion of the wire, e.g., a portion of the wire held between the two routing arms, while leaving the other portion untensionable (the wire has slack behind the wire end effector and / or hangs). In some embodiments, the length of the slack is about 10% to about 30% of the total length of the wire being routed. Optionally, it is about 5% to about 40% of the total length of the wire being routed. Optionally, the slack is approximately 1% to 50% of the total length of the wire being routed. For example, 15%, 20%, or 25% of the total length of the wire being routed. In some embodiments, during the routing process, the slack wire is held above the plane on which the panel components are located (when routing is performed from above on a horizontally oriented panel) and / or at a distance from the plane on which the panel components are located (when routing is performed from the side on a vertically oriented panel). In some embodiments, if the lead arm moves toward the insertion point and guides the wire along the designed path on the panel, the second arm is kept at a constant distance behind the first arm. In some embodiments, if the lead arm moves toward the insertion point and guides the wire along the designed path on the panel, the second arm is maintained in a position related to the next point where the wire needs to be inserted, for example, if the wire needs to be inserted through a hole in a duct, the first arm inserts the end of the wire into the hole, and the second arm additionally becomes a lead routing arm by waiting on the opposite side of the hole and catching the end of the wire.In some embodiments, the position of the second arm is set in relation to the duct path and wiring direction, as the wire may be routed through a duct or pass through a clip. In some embodiments, if the duct is straight, the second arm may be positioned away from the duct with respect to the components being wired. In some embodiments, the second arm is used to facilitate wire twisting, for example, to allow the wire to bend easily at a panel. In some embodiments, optionally, if a bend in the duct path is anticipated, the second arm is positioned above this location to facilitate wire twisting. In some embodiments, while positioning the wire at a point where the wire's direction changes, for example at a corner of the duct, excess wire length is intentionally left after the point of change of direction and before positioning the wire. In some embodiments, a potential advantage of doing this before positioning the wire is to provide enough wire to allow the wire to be properly positioned without pulling on the wire and / or causing distortion to the wire while changing direction at a required point in the path.

[0305] In some embodiments, the wiring process involves inserting a first end of a wire into a terminal connector of a cabinet component, and then guiding the cable along a designed path within the cabinet toward a second component within the cabinet, where the other end of the wire is connected to a second terminal connector in the second component. In some embodiments, for example, once the first end of the wire is inserted into the first component, a second arm becomes a leading arm, guiding the wire toward the second component, while the first arm becomes a support arm.

[0306] In some embodiments, the support arm performs one or more of the following actions: securing the wire to the duct (optionally using other tools, e.g., passive fingers, staplers, gluers, and / or latching elements; or used to position a plastic retaining strip ("bridge") to clear a path for the lead arm); verifying the routing process using one or more sensors (e.g., a camera, force sensor, laser line sensor, and / or proximity sensor). In some embodiments, the safe zone is defined, for example, above the level of the components (when the wiring runs from above on a panel where the wiring is horizontally oriented) and / or at a distance from the plane on which the panel components are located (when the wiring runs from the side on a panel where the wiring is vertically oriented), and the support arm with the wire operates within the safe zone. In some embodiments, the panel is divided into multiple local safe zones, optionally having different safety elevations. In some embodiments, as described above, the wiring arm optionally provides means for securing and / or attaching the wire to a specific location on the panel and / or duct by comprising a wire bonding element (e.g., adhesive, adhesive tape, staples) actuated by one or more dedicated devices. In some embodiments, as also described elsewhere in this specification, a support arm slides along the wire, positioning the wire in place along a path on the panel, while a lead arm brings the distal end of the wire to the next point in the panel.

[0307] In some embodiments where multiple wires are arranged in the same duct, the position of the held and operated wire is the position relative to the already placed wires, for example, if the center of the duct is occupied by other wires, the support arm will position and / or move the currently placed wire to one side of the duct. In some embodiments, the software takes into account the load on the duct and optionally adds length to the wire to compensate for the additional distance required for the wire load in the duct, for example, by 1%, 2%, or 5%.

[0308] Examples of optimization features for automated routing processes In some embodiments, the system comprises one or more features configured to optimize the automated routing process performed by an exemplary horizontal / vertical automated routing system.

[0309] Cartridge for loose wires during the wiring process In some embodiments, as described above, while a leading wiring arm positions the wire along a designed path within the cabinet, a support wiring arm assists the actions performed by the leading wiring arm. In some embodiments, one of these support actions is to hold the rest of the wire being "dragged" by the leading wiring arm while moving the end of the wire along the wiring path. In some embodiments, the wiring arms optionally include a dedicated cartridge into which slack wire is wound and / or held when a particular wire arm functions as a support wiring arm. In some embodiments, both arms optionally include a dedicated cartridge because the leading and support roles may change during the wiring process. In some embodiments, the wire held in the dedicated cartridge is released as needed during the wiring process, taking into account ducts and / or obstacles in the wiring path, for example, when a lot of slack wire is needed for the movement of the arm. In some embodiments, a potential advantage of having a dedicated cartridge is that by having long wires housed during the wiring process, it is possible to potentially avoid slack wire causing damage or entanglement during the wiring process.

[0310] Example of obstacle removal using a support wiring arm In some embodiments, during the wiring process, a wire positioned within the cabinet by the lead wiring arm may become entangled and / or fail to be correctly positioned at the desired location along the path, in which case the system is configured to activate a support wiring arm and perform actions to resolve these issues. For example, the support wiring arm moves obstacles (e.g., other wires already positioned within the cabinet) away from the wire being positioned, optionally using a specialized tool (e.g., tweezers, elongated rod) that allows interaction with them without damaging the other wires. In some embodiments, optionally, the support wiring arm does not hold the wire being positioned while removing the obstacle. In some embodiments, optionally, the wire is routed around the obstacle with two arms. In some embodiments, instead, a new path that bypasses the obstacle is calculated.

[0311] Use of one wiring arm (if possible) In some embodiments, the system is not required to use two wiring arms in the wiring process. In some embodiments, for example, when wiring short wires (e.g., wires of 1 cm, 2 cm, or 5 cm in length), the system is configured to have one wiring arm perform the entire wiring process, while the second arm performs other tasks related to the wiring process for the entire cabinet. In some embodiments, for short wires, optionally, the wiring arm secures one end of the wire to an object / component, then slides along the wire (while "sensing" the sliding motion) to the other end, and inserts the other end into the required position. In some embodiments, optionally, after the initial insertion, the arm releases the wire and, with the help of a sensor such as a vision camera, grips the wire again at the other end.

[0312] Use of grip and slip in the wiring process Grip and Slip Ability: When a human performs a wiring operation, tactile feedback is used to secure the cable to the connector / device. A typical operation cycle includes the following (see Figures 14a–14e): Applying a radial force (radial force - Figure 14a) and an insertion force (axial force - Figure 14b) to the wire firmly grips it during insertion (contact force is zero before insertion and increases during insertion). • At a certain peak force (determined by the user's experience), the wire is "felt" to have been inserted into the connector of the component (peak force - Figure 14c). Typically, at this point, the axial force is offset by the wire being fully inserted into the connector in the component. After the wire is secured to the connector, the user pulls the wire with a certain force (to feel that it is securely secured) (user pull-back - Figure 14d). The user then applies a smaller radial force (grip force) to the cable, causing it to slide axially in their hand (Figure 14e). Typically, the user feels the cable slide without releasing the wire.

[0313] In some embodiments, these operations are performed using capabilities referred to herein as gripping and slipping capabilities.

[0314] In some embodiments, the system utilizes its “grip and slip” capability to position wires along a designed path. For example, a wiring arm can hold a wire on top of a surface where it needs to be positioned and then slowly move along the wire while positioning it along the desired path (the “slip” component of the “grip and slip” capability).

[0315] Example of operation of a circuit breaker In some embodiments, the wire end effector is configured to activate, for example, move upward / downward and / or push in, a circuit breaker within the panel using a dedicated replaceable tool. In some embodiments, the activation is performed using an extension. In some embodiments, the activation is performed using a dedicated actuator. In some embodiments, switching the component on / off performs specific tests, such as continuity tests, load tests, and logic tests (of circuit logic).

[0316] Use of complex wires In some embodiments, as described above, the system is configured to operate not only single-wire wires but also wires containing one or more splits to provide multi-wire wires and / or harnesses. In some embodiments, for example, a wire with a T-shaped harness having three ends, a support arm holds the position on the wire where the splits are provided, and a leading arm inserts one end of the wire into a component, and then inserts the second end of the wire into a second component.

[0317] Example of a system for wiring harnesses to a cabinet In some embodiments, the extension of the end effector is configured to hold a wire head that needs to be inserted into a component. For example, a network cable includes a dedicated wire head (known as an RJ45 connector). In this example, the extension of the end effector is configured to hold the RJ45 connector of the network cable and connect it to a dedicated component in the cabinet. In some embodiments, the system includes information on sensory feedback, such as force, torque, and visual feedback, that is recorded when these types of wire heads are connected. In some embodiments, sensory feedback is used to verify that the wire head is properly inserted into place. In some embodiments, after the wire head has been inserted into place, a locking actuator is used to secure the wire head in place, for example, by tightening a screw on the connector in the component. In some embodiments, a dual-push action (i.e., push, release, and grip again) is used to insert the wire head.

[0318] Work splitting on the timeline (optional) In some embodiments, the system is configured to perform a part of a task, stop, perform another task, and then select and finish the previous task. For example, connecting one end of a wire to a connector, positioning the wire along a designed path, releasing the wire, performing another task, and then returning to the wire left previously and continuing to position and / or connect it to the connector. In some embodiments, re-grasping the wire is done using a visual system and / or by going to a known location (component, clip, corner) and sliding along the wire to its end.

[0319] An example of giving multiple degrees of freedom to a wire-end effector. In some embodiments, the wire end effector is given multiple degrees of freedom (DOF) to enable it to overcome obstacles and / or wire congestion. In some embodiments, the wire end effector or the arm in operation is given six degrees of freedom: three rotations and three translations around each orthogonal axis. In some embodiments, the wire end effector is given seven or more degrees of freedom. In some embodiments, a potential advantage of giving more than six degrees of freedom is that it may enable obstacle avoidance and / or wire positioning in wire congestion through wire manipulation, although this may introduce redundancy (or over-redundancy) issues in the software.

[0320] Example of wiring method using robot arm 204 Referring here to Figure 15, a flowchart of an exemplary wiring method by a robotic arm 204 according to several embodiments of the present invention is shown. In some embodiments, the system receives information about the wire to be used, the length of the wire, and the type of wire end to be used (1502). In some embodiments, optionally, a wire preparation module prepares the wire, and in other embodiments, a wire that is ready for use is provided (1504). In some embodiments, a dedicated tool is coupled to the end effector (1506). In some embodiments, the dedicated tool is selected according to the wire / cable to be wired. In some embodiments, the first end of the wire is lifted by the wiring arm module (1508). In some embodiments, the first end of the wire is operated to a predetermined position within the electrical cabinet (1510). In some embodiments, the robotic arm 204 inserts the first end of the wire into the terminal connector of the first component, locks the wire in the terminal block, and performs verification by, for example, slightly pulling back the wire rather than increasing force and "sensing" the slippage of the elongated extension (1512). In some embodiments, the second end of the wire is lifted by the wiring arm module (1514). In some embodiments, the second end of the wire is operated to a predetermined position within the electrical cabinet (1516). In some embodiments, the operation of the second end of the wire involves routing the wire from the position in which the first end of the wire was inserted through the wire channel / track until the second end of the wire reaches its own position. In some embodiments, two wire arm modules work together in inserting the wire through the channel / track, similar to how a human would perform the same task. For example, when inserting a wire into an angled channel / track, one arm holds the wire in a specific position and the other arm positions the wire in / through the channel / track, or, for example, if the wire needs to be passed through an orifice, one arm holds the wire on one side of the orifice and passes the end of the wire through the orifice, and the other arm grasps the end of the wire from the other side of the orifice.Please understand that the above examples are merely illustrative and do not limit the scope of this invention.

[0321] In some embodiments, the robot arm 204 inserts the second end of the wire into the connector of the second component, locks the wire into the terminal block, and performs verification (1518). In some embodiments, the system then determines whether any other wires are needed for this task (1520). In some embodiments, if the answer is "YES", the method starts from the beginning. In some embodiments, if the answer is "NO", the system generates a report and terminates the task (1522).

[0322] Example of a wire laying and positioning robot unit 212 In some embodiments, as described above, the wire is positioned within the duct by one or more robotic arms 204 or other robotic units as described above. In some embodiments, additionally or alternatively, the wire is positioned within the duct by a wire laying and positioning robotic unit 212.

[0323] Figures 16a to 16c show schematic diagrams of exemplary wire laying and positioning robot units 212 according to several embodiments of the present invention. Figure 16a shows the exemplary position of the exemplary wire laying and positioning robot unit 212 in the robotic electrical cabinet wiring system 100, and Figure 16b shows the exemplary wire laying and positioning robot unit 212 in the robotic electrical cabinet wiring system 100 in a more simplified manner, with other units omitted.

[0324] Figure 16c shows a schematic detail of the wire laying and positioning robot unit 212. In some embodiments, the wire laying and positioning robot unit 212 comprises a positioning head 1602 mounted on a dedicated gantry 216. In some embodiments, as described above, the positioning head 1602 is located on a robot arm that provides the required mobility, rather than on a gantry. In some embodiments, when a gantry is used, the gantry is configured to provide movement of the positioning head 1602 along two dimensions: forward, backward, and left and right, as schematically indicated by the arrows. In some embodiments, the gantry optionally also provides vertical movement. In some embodiments, the positioning head 1602 comprises a dedicated mechanism / motor that provides vertical movement (Z-axis) or lateral movement (XY-axis) while the gantry is stationary. In some embodiments, the provided movement is configured to allow the positioning head 1602 to reach any position on the electrical cabinet to be wired. In some embodiments, the wire laying and positioning robot unit 212 includes a wire channel 1604 in which the wire to be positioned is located before and during the positioning of the wire (see below).

[0325] Figure 16d shows a schematic diagram of an exemplary positioning head 1602 according to several embodiments of the present invention. In some embodiments, the positioning head 1602 includes a positioning neck 1606 from which the wire emerges when the wire is positioned (laid) within the duct. In some embodiments, the positioning neck 1606 is configured to be opened and closed by an actuator 1608. In some embodiments, inside the positioning neck 1606 is a wire supply device, such as a feeder belt or one or more rollers (not shown in Figure 16d), for moving the wire back and forth (if necessary), which is operated by a dedicated feeder belt / roller actuator 1610. In some embodiments, the positioning head 1602 is configured to move vertically (up and down) by a lifting actuator 1614, as schematically indicated by the arrow 1612 in the figure. In some embodiments, the positioning head 1602 includes a wire fixing mechanism operated by a wire fixing actuator 1616. In some embodiments, the wire fixing mechanism is configured to allow the wire to be inserted into the mechanism of the positioning head 1602, and once the wire is engaged, it ensures that the wire is in the correct position within the positioning head 1602. In some embodiments, a wire fixing actuator 1616 further controls the wire supply speed by applying tension to the wire while it is being laid. In some embodiments, optionally, the wire fixing actuator 1616 includes an encoder (not shown) configured to measure the amount of wire laid. In some embodiments, the positioning head 1602 is configured by a tilt actuator to tilt from a vertical position (0 degrees tilt) to a horizontal position (90 degrees tilt) (see also Figures 16e, 16f, and 16g). In some embodiments, a potential benefit of the tilt is that it may improve access to a second robot unit (e.g., robot arm 204) when the wire and / or wire tip are moved from one unit to the other.

[0326] In some embodiments, the positioning head 1602 optionally includes a dedicated mechanism that provides the positioning head 1602 with additional rotational motion around the Z-vertical axis to prevent wire twisting near the corners of the duct.

[0327] In some embodiments, the potential advantages of positioning the robot unit at a better angle during wire transport may include enabling the transport of shorter wires, avoiding collisions between the robot unit and components within the electrical panel, and facilitating the transport of wire end connectors between robot units.

[0328] In some embodiments, as described above, the robotic electrical cabinet wiring system 100 is configured for the operation of very short wires, which optionally does not require the use of a wire laying and positioning robot unit 212. In some embodiments, in such cases, the operation of short wires is performed, for example, by one or more robotic arms 204.

[0329] Referring to Figures 16e, 16f, and 16g, schematic diagrams of exemplary tilting movements of the positioning head 1602 according to several embodiments of the present invention are shown. Figure 16e shows the positioning head 1602 in a vertical position with a tilt of 0 degrees. Figure 16f shows the positioning head 1602 in a semi-tilted position with a tilt of about 45 degrees. Figure 16g shows the positioning head 1602 in a horizontal position with a tilt of 90 degrees. In some embodiments, the vertical position is used for positioning wires in a duct during the wiring process. In some embodiments, the semi-tilted and horizontal tilted positions are used for the passage of wires from the robot arm 204 to the positioning head 1602 (also called "wire handshake"). In some embodiments, the semi-tilted position can be any angle greater than 0 degrees, for example, any angle between 1 degree and 90 degrees, for example, any angle up to 89 degrees. In some embodiments, the wire handshake in the semi-tilted position is performed at an angle between about 45 degrees and about 60 degrees.

[0330] Example of a wiring method using a robot arm 204 and a wire laying and positioning robot unit 212 The following paragraphs describe a flowchart of an exemplary wiring method, along with accompanying diagrams, to better enable those skilled in the art to understand the invention. It should be understood that the following actions are exemplary and may include additional actions.

[0331] Refer to Figures 17a to 17b, which show flowcharts of an example wiring method using two robot arms 204 (with optional end effectors 206) and a wire laying and positioning robot unit 212 according to some embodiments of the present invention. Figures 17c to 17o show typical images of the actions disclosed by the flowcharts in Figures 17a to 17b. In Figures 17a to 17b, the actions on the left are performed by the robot arm 204 (with optional end effectors 206), the actions on the right are performed by the wire laying and positioning robot unit 212 (referred to as the wire positioning unit 212 for convenience), and actions involving both the robot arm 204 (with optional end effectors 206) and the wire laying and positioning robot unit 212 are located in the center.

[0332] In some embodiments, the robot arm 204 changes the tool in the end effector 206 depending on the relevant operations that need to be performed in the next wiring process (1702). In some embodiments, the robot arm 204 optionally uses the end effector 206 to pick up wires from a ready wire waiting station, as shown in Figure 17c (1704). See also Figure 17c, which shows a schematic diagram of the robot arm 204's end effector 206 picking up wires from a ready wire waiting station. In some embodiments, wires waiting in the waiting station are recognized by a camera or other sensor to ensure accurate wire picking (e.g., with respect to type and length, depending on a given wiring process). In some embodiments, the robot arm 204 reaches a predetermined position to merge with the wire laying and positioning robot unit 212 (1706).

[0333] In some embodiments, during the movements 1702, 1704, and 1706 of the robot arm 204, the wire laying and positioning robot unit 212 reaches a predetermined position to merge with the robot arm 204 (1708) and opens the positioning neck 1606 (1710). In some embodiments, at this point the positioning head 1602 is in a horizontally tilted position and ready to receive the wire (see Figures 17e-17h and related descriptions below).

[0334] In some embodiments, the robot arm 204 (optionally using an end effector 206 or other mechanical units) inserts the wire into the wire channel 1604 of the wire laying and positioning robot unit 212 and advances until it reaches the positioning head 1602 having an open positioning neck 1606 (1712). See also schematic figure 17d showing the end effector 206 of the robot arm 204 inserting the wire into the wire channel as it advances toward the positioning head 1602. See also Figures 17e, 17f, and 17g. Figure 17e shows the end effector 206 of the robot arm 204 approaching the positioning head 1602 at the end of the wire channel. Figure 17f shows the positioning head 1602 opening the positioning neck 1606. Figure 17g schematically shows the end effector 206 of the robot arm 204 inserting the wire into the open positioning neck 1606. Finally, Figure 17h shows how the end effector 206 of the robot arm 204 eventually reaches the end of the open positioning neck 1606.

[0335] In some embodiments, the end effector 206 of the robot arm 204 maintains the retention of the first end of the wire (1714), and the wire laying and positioning robot unit 212 closes the positioning neck 1606 (1716). In some embodiments, the positioning head 1602 then tilts to a semi-tilted position. In some embodiments, the robot arm 204 (and therefore the end effector 206 as well) follows the movement of the tilting positioning head 1602, as shown in Figures 17i and 17j. In some embodiments, the end effector 206 of the robot arm 204 releases the wire, waits for the positioning head 1602 to finish moving, and then re-engages the wire, as schematically shown in Figures 17k and 17l.

[0336] In some embodiments, the robot arm 204 uses an end effector 206 to insert the first end of the wire into an electrical component located at point 1 of the electrical cabinet (1718), and the wire laying and positioning robot unit 212 follows the robot arm 204 wherever it goes (1720).

[0337] In some embodiments, the robot arm 204 releases the first end of the wire from the end effector 206 when required and moves away to await the next operation (1722), while the wire laying and positioning robot unit 212 lays and positions the wire within the electrical cabinet duct along a predetermined path from point 1 to point 2 (1724). See also Figure 17m, which schematically shows how the wire laying and positioning robot unit 212 optionally releases the wire at a constant speed as the gantry moves along the duct. In some embodiments, a potential advantage of releasing the wire by moving the wire laying and positioning robot unit 212 at the same speed is that it may be possible to avoid applying unnecessary force to the wire and / or unit when positioning the wire. In some embodiments, the speed at which the wire is released is optionally faster than the speed at which the wire laying and positioning robot unit 212 moves, for example, 1%, optionally 2%, or optionally 5% faster. In some embodiments, a potential advantage of releasing the wires at a speed faster than the movement of the wire laying and positioning robot unit 212 is that it provides a certain amount of "slack" for the positioned wires, which may offset the possibility that a duct containing multiple wires could interfere with the positioning of the wires.

[0338] The flowchart continues in Figure 17b.

[0339] In some embodiments, after the wire laying and positioning robot unit 212 has finished positioning the wire, the wire laying and positioning robot unit 212 waits for the robot arm 204 to reach the same position as the wire laying and positioning robot unit 212 (1728). In some embodiments, the point where the robot arm 204 and the wire laying and positioning robot unit 212 meet is near the location of point 2 inside the electrical cabinet. In some embodiments, the wire laying and positioning robot unit 212 is equipped with a sensor at the distal end of the positioning neck 1606, which is configured to sense when the second end of the wire reaches the distal end of the positioning neck 1606.

[0340] In some embodiments, the wire laying and positioning robot unit 212 opens the positioning neck 1606 (1730), and the robot arm 204 picks up the second wire end of the wire using the end effector 206 (1732). See also Figures 17n and 17o, which show the robot arm 204 picking up the wire from the opened positioning neck 1606.

[0341] In some embodiments, the positioning neck 1606 includes a variable opening that provides space for the end effector 206 to properly and securely grip the second end of the wire.

[0342] In some embodiments, the robot arm 204 inserts the second end of the wire into a second electrical component located at point 2 of the electrical cabinet (1734), then releases the wire and returns to its predetermined position, joining the wire laying and positioning robot unit 212 to perform the next wiring operation (1736), the wire laying and positioning robot unit 212 returns to the same predetermined position and joins the robot arm 204 to perform the next wiring operation (1738), thereby completing an exemplary wiring cycle.

[0343] Examples of separators Refer to Figures 18a–18c, which show schematic diagrams of exemplary separators and their uses according to several embodiments of the present invention. In some embodiments, the robotic electrical cabinet wiring system 100 comprises one or more types of separators 1802 configured to be inserted between openings in a duct 1804 and to separate wires positioned within the duct 1804. In some embodiments, the separators 1802 also hold down the positioned wires. In some embodiments, a robotic arm 204 picks up the separator 1802 from a stand 1806, as schematically shown in Figure 18a, and positions it on the duct 1804, as schematically shown in Figure 18b. In some embodiments, the separators 1802 may be held at different heights on the duct 1804, as schematically shown in Figure 18c.

[0344] Example of a wire holder adapter Refer to Figures 18d-18u, which show schematic diagrams of exemplary wire holder adapters according to several embodiments of the present invention. Those skilled in the art know that wires are positioned in ducts of electrical panels. This is done to allow for the organization of multiple wires within the electrical panel and to potentially avoid wire entanglement. In some embodiments, as part of a wiring process performed by a robotic electrical cabinet wiring system 100, the system utilizes wire holder adapters configured for use within electrical panels and, optionally, within existing ducts. In some embodiments, the wire holder adapters are configured to hold wires that are laid and / or positioned within electrical panels and, optionally, within ducts.

[0345] Refer to Figure 18d, which shows a schematic diagram of an exemplary wire holder adapter 1810 according to several embodiments of the present invention. In some embodiments, as an example, the wire holder adapter 1810 comprises a base 1812 including an engagement mechanism 1832 configured to engage with the surface of an electrical panel and, optionally, the surface of a duct (see Figures 18o-18p below for the engagement mechanism), and a wire holding housing mechanism 1814. In Figure 18d, the wire holding housing mechanism 1814 has two bodies 1816 / 1818 extending perpendicularly from the base 1812, each having a curved tip 1820 / 1822, the tips converging at the center (indicated by a circle 1824) leaving an opening 1826 for inserting a wire into an internal region 1828 of the wire holding housing mechanism 1814. In some embodiments, the curved tip 1820 / 1822 prevents the wire from exiting the internal region 1828 of the wire holding housing mechanism 1814. In some embodiments, the exemplary wire holder adapter 1810 optionally includes one or more additional features configured to facilitate the organization of wires within an electrical panel and, optionally, within a duct, as will be further described below.

[0346] Continuing with reference to Figure 18d, the exemplary wire holder adapter 1810 comprises one or more separator holders 1830 (two shown in Figure 18d) configured to receive separators 1802 (see Figures 18a-18c). In some embodiments, the separator holders 1830 are arranged in pairs, each receiving the end of the same separator 1802. Refer to Figures 18e-18h, which show schematic diagrams of the exemplary wire holder adapter 1810 using exemplary separators 1802 held by exemplary separator holders 1830 according to some embodiments of the present invention. Figure 18e shows the exemplary wire holder adapter 1810 after multiple wires 1832 have been positioned in the internal region of the wire holding housing mechanism. Figure 18f shows the exemplary separators 1802 being positioned in the separator holders 1830, thereby separating the internal region of the wire holding housing mechanism into substantially two distinct regions 1834 / 1836. Figure 18g shows additional wires 1838 added to the internal region of the wire holding housing mechanism, which are held in sub-region 1836 by separators 1802. Finally, Figure 18h schematically shows additional separators 1802 further holding wires 1838 within sub-region 1836, and optionally allowing further wires to be inserted into the internal region of the wire holding housing mechanism (not shown).

[0347] In some embodiments, the exemplary wire holder adapter 1810 may have different sizes, as schematically shown in Figure 18i. For example, the wire holder adapter 1810 shown in the center is similar to the one shown in Figure 18d, while the wire holder adapter 1810 shown on the left is taller, and the wire holder adapter 1810 shown on the right is wider.

[0348] In some embodiments, the exemplary wire holder adapter 1810 may have multiple channels and / or one or more openings, as schematically shown in Figures 18j–18k. Figure 18j shows an exemplary wire holder adapter 1810 having two channels that are independently accessible from each other, and Figure 18k shows an exemplary wire holder adapter 1810 having three partitions that produce four channels, each accessible from only one opening.

[0349] In some embodiments, the exemplary wire holder adapter 1810 is used at intersections inside and outside a duct, as schematically shown in Figures 18l–18n. Figure 18l schematically shows an exemplary wire holder adapter 1810 that can be arranged to generate a four-way intersection, Figure 18m shows an exemplary wire holder adapter 1810 having a "T"-shaped intersection configuration, and finally, Figure 18n shows an exemplary wire holder adapter 1810 having an "L"-shaped intersection configuration.

[0350] In some embodiments, as described above, the exemplary wire holder adapter 1810 includes an engagement mechanism 1832 on the base 1812. For example, Figure 18o shows a “snap-in” mechanism, and Figure 18p shows a hole for inserting a screw as part of the engagement mechanism.

[0351] In some embodiments, as schematically shown in Figure 18q, the exemplary wire holder adapter 1810 optionally includes a small housing 1840 attached to the end of the opening, and is configured to hold one or more wires at the level of the small housing 1840. In some embodiments, optionally, the wires are pulled further downward, causing them to exit the small housing 1840 and enter the internal region of the wire holding housing mechanism.

[0352] In some embodiments, as described above, the exemplary wire holder adapter 1810 is optionally inserted into an existing duct 1842, as schematically shown in Figure 18r. The upper part of Figure 18r shows a mechanical fixture 1844 (e.g., using the end effector 206 of a robotic arm 204 or another robotic unit) holding the exemplary wire holder adapter 1810. The middle part of Figure 18r shows the mechanical fixture 1844 inserting the exemplary wire holder adapter 1810 into the existing duct 1842, and the lower part of Figure 18r shows the exemplary wire holder adapter 1810 assembled within the duct 1842.

[0353] In some embodiments, as schematically shown in Figures 18s-18t, the wire holder adapter 1810 is optionally accompanied by a dedicated cover 1846. Figure 18s shows an exemplary wire holder adapter 1810 with the dedicated cover 1846, and Figure 18t shows a perspective view of the cover to facilitate visualization of the interaction between the wire holder adapter 1810 and the cover 1846. In some embodiments, the wire holder adapter 1810 is provided with one or more projections 1848 on its top to interact with the cover 1846, and is configured to provide distance between the wires passing through the wire holder adapter 1810 and the cover 1846. In some embodiments, the cover 1846 is provided with one or more openings on its side 1850 to allow wires to exit to other locations in the electrical panel (other ducts, components, etc.), as schematically shown in Figure 18u.

[0354] In some embodiments, the cover 1846 is configured to cover the entire length of the duct, or a portion thereof.

[0355] In some embodiments, a robot unit or a part thereof (e.g., a positioning neck 1606 of a positioning head 1602, or a dedicated tool (e.g., tweezers) on the end effector 206 of a robot arm 204) engages with one or more protrusions 1848 to temporarily open the opening 1826, allowing a wire to be inserted into the internal region 1828 of the wire holding housing mechanism 1814. In some embodiments, this is made possible by providing the wire holder adapter 1810 with a deformable property that allows for reversible deformation of the wire holder adapter 1810 when engaged. In some embodiments, the engagement of the wire holder adapter 1810 with a panel (and optionally a duct) is characterized to avoid interfering with the operation of the robot unit during the wiring process and / or avoiding interference with access to electrical components. In some embodiments, the wire holder adapter 1810 includes one or more vertical pins (not shown) similar to the extension shown in Figure 18k, which extend vertically to create a channel, allowing the wire to be "bent" by, for example, rotating it 90 degrees around the vertical pin. In some embodiments, one or more vertical pins are also used to provide separate channels for groups of wires. In some embodiments, the wire holder adapter 1810 is used to hold unconnected wires that are left for later use by a human operator (e.g., if the wires need to be routed to a device on a cabinet door (e.g., an indicator LED, a button, etc.)). In some embodiments, the wire holder adapter 1810 is positioned in an electrical panel, optionally in a duct, by a robotic unit or a human operator in real time during the wiring process or before the wiring process begins. In some embodiments, the wire holder adapter 1810 is used as an add-on to an existing electrical duct. In some embodiments, the wire holder adapter 1810 is used in place of an electrical duct and engages directly with an electrical panel.

[0356] Examples of systems and methods for passing wires from one robotic unit to another in order to run the wires from one side of an electrical cabinet to the other. In some embodiments, it is necessary for wires to pass through the walls of an electrical cabinet in order to allow them to pass from inside to outside the electrical cabinet. For example, wires that go from the electrical cabinet towards the main structure in which the electrical cabinet is placed, and / or wires that need to go out, for example, from the door of an electrical panel. In some embodiments, during the wiring process, it is necessary to position the wires behind electrical components, for example, behind a DIN rail, behind a duct, etc. In some embodiments, it is necessary to position the wires in front of the electrical components, then pass them behind the electrical components, and then bring them back to the front.

[0357] In some embodiments, as described above, the exemplary electrical panel includes one or more openings 124 (see Figure 1d) in the wall of the electrical cabinet, allowing one or more wires to pass from the inside to the outside of the electrical cabinet. In some embodiments, as described below, the electrical cabinet includes a frame, and the panel is added after the wiring process is completed. In some embodiments, a dedicated robotic unit is configured to operate for one or more wires to pass through one or more openings 124, and, in the case of wiring an electrical panel without a panel, is configured to move and / or pass wires from one side of an electrical component to the other and vice versa.

[0358] As shown in Figures 19a and 19b, schematic diagrams of exemplary robotic electrical cabinet wiring systems configured to allow wires to pass through, with Figure 19a schematically showing how the wires are passed through the openings, and Figure 19b showing an example where the electrical cabinet has a frame and removable panels, and wiring is performed with the panels removed, illustrating how the wires move back and forth relative to the electrical components during the wiring process.

[0359] Refer to Figure 19a, which shows a schematic diagram of an exemplary robotic electrical cabinet wiring system 1900 configured to pass a wire 1908 through an opening 1910, according to some embodiments of the present invention. In some embodiments, the exemplary robotic electrical cabinet wiring system 1900 configured to pass a wire 1908 through an opening 1910 is configured to house the electrical cabinet upright or lying down, and to allow the wire to pass through in either position. For ease of explanation, the following paragraphs will describe an exemplary embodiment in which the electrical cabinet lies upright, with the electrical panel / electrical components facing upwards and the back of the electrical cabinet facing downwards. It should be understood that the following description also includes embodiments in which the electrical cabinet is upright and the wire is passed from one side of the electrical cabinet to the other. In some embodiments, an exemplary robotic electrical cabinet wiring system 1900 configured to pass a wire 1908 through an opening 1910 comprises at least two different robotic units 1902 / 1904, each configured to manipulate the wire 1908, with one robotic unit positioned on one side of the electrical cabinet 1906 (e.g., the upper side of the electrical cabinet) and the other robotic unit positioned on the other side of the electrical cabinet 1906 (e.g., the lower side of the electrical cabinet). In some embodiments, at least one of the at least two different robotic units 1902 / 1904 is, for example, a robotic arm 204 as shown in Figures 2a and 5a-5c. In some embodiments, at least one of the at least two different robotic units 1902 / 1904 is, for example, a wire laying and positioning robotic unit 212 as shown in Figure 16d. In some embodiments, at least one of the at least two different robotic units 1902 / 1904 is one or more of a manipulator, a cartesian gantry system, and a multi-axis platform. In some embodiments, two or more robot units are used; for example, three, four, five or more robot units are used in the wiring process.

[0360] In some embodiments, the electrical cabinet 1906 is located in a robotic electrical cabinet wiring system (for example, as shown in Figures 1a-1c), and the robotic electrical cabinet wiring system 1900 differs in that it includes an additional robotic unit located beneath the electrical cabinet 1906. In some embodiments, at least two different robotic units 1902 / 1904 are configured to pass a wire 1908, or at least a portion of a wire, from one side of the electrical cabinet to the other, using one of the openings 1910. In some embodiments, for example, the end of a wire is passed through one of the openings 1910 in a direction from the rear of the electrical cabinet toward the front of the electrical cabinet, meaning that the end of a wire is inserted from the outside to the inside of the electrical cabinet (an example shown in Figure 19a). In some embodiments, the end of a wire is passed through one of the openings 1910 in a direction from the front of the electrical cabinet toward the rear of the electrical cabinet, meaning that the end of a wire is inserted from the inside to the outside of the electrical cabinet.

[0361] In some embodiments, according to a predetermined design, one end of one or more wires is left outside the electrical cabinet. In some embodiments, a potential advantage of leaving the end of the electrical cabinet outside the electrical cabinet is that the wires can be prepared for mounting the electrical cabinet in place, thereby reducing the time and effort of the technician installing the electrical cabinet.

[0362] Figure 19b shows a schematic diagram of an exemplary robotic electrical cabinet wiring system according to some embodiments of the present invention, configured to access the electrical cabinet and / or its frame from both sides and to pass wires from one robotic unit to the other. In some embodiments, as described above, the exemplary electrical cabinet comprises a frame to which panels or covers and / or doors are added after the wiring process. In some embodiments, during the wiring process, at least two different robotic units 1902 / 1904 are configured to be accessible within the frame, with one robotic unit positioned on one side of the frame and the other robotic unit positioned on the other side of the frame. In some embodiments, the robotic units 1902 / 1904 pass at least a portion of the wires through the frame to each other, while avoiding other components located within the frame of the electrical cabinet (e.g., DIN rails, ducts, electrical components, etc.). In some embodiments, the wiring can be performed on the front side of the electrical components located in the electrical cabinet and / or on the rear side of the electrical panel, or on the rear side of the electrical components located in the electrical cabinet. In this case, since most of the wiring is done behind the electrical cabinet, a robot unit located behind the electrical cabinet frame, for example, could be a wire laying and positioning robot unit 212 as shown in Figure 16d.

[0363] Examples of means and methods for conveying wire through an opening In some embodiments, the automatic wiring system is configured to pass a wire or wire end from one side of an electrical panel to the other, optionally through an opening in the electrical panel. In some embodiments, as described above, one or more end effectors, or optionally one or more end effector elements / mechanisms, are used to operate the wire from one side to the other, and optionally back.

[0364] Refer to Figures 19c-19d, which show schematic diagrams of exemplary systems 1912a-1912b configured to pass a wire from one side to the other according to some embodiments of the present invention. In some embodiments, the system is an automated robot, for example, a Cartesian robot 1912a (indicated by XYZ arrows) as shown in Figure 19c, or an articulated robot 1912b as shown in Figure 19d. In some embodiments, the automated robot is fitted with a dedicated end effector 1914. In some embodiments, the end effector 1914 includes a wire transport mechanism 1916 that controllly discharges or pushes the end of the wire from one side to the other. In some embodiments, the wire transport mechanism 1916 is directly mounted on a separate robot or manipulator, and in some embodiments, the wire transport mechanism 1916 is positioned next to an existing end effector. In some embodiments, both systems may include any of the modules / components mentioned herein (e.g., wire preparation systems, system bases and / or frames, local computers, remote computers, and connections to servers).

[0365] Refer to Figures 19e to 19f, which show schematic diagrams of exemplary wire transport mechanisms 1916 in two operating configurations according to some embodiments of the present invention. In some embodiments, the wire transport mechanism 1916 has two operating configurations: a retracted configuration as shown in Figure 19e and an extended configuration as shown in Figure 19f. In Figures 19e to 19f, the wire transport mechanism 1916 is shown as an integral part of the wire handling end effector.

[0366] Figure 19g shows an exemplary wire transport mechanism 1916 ready for routing a wire from one side to the other, according to some embodiments of the present invention. Figure 19g shows a wire transport mechanism 1916 positioned between two rows of electrical components 1918, which is ready to feed a wire, with one end of the wire held by a gripping end effector.

[0367] Figure 19h shows a schematic diagram of an exemplary wire transport mechanism 1916 mounted on an end effector 1914 according to several embodiments of the present invention. In some embodiments, as referred elsewhere herein, the end effector 1914 comprises a screw bit tool 1920 and a gripper tool 1922. In some embodiments, as described above, the gripper tool 1922 is configured to hold a wire 1924. Figure 19h shows the wire transport mechanism 1916 in an extended configuration. In some embodiments, the wire transport mechanism 1916 comprises a linear actuator 1926 configured to move the wire transport mechanism 1916 from a retracted configuration to an extended configuration and vice versa. In some embodiments, the wire transport mechanism 1916 comprises a wire drive mechanism 1928 that drives the wire back and forth. In some embodiments, as the wire drive mechanism 1928 pushes out the wire 1924 (optionally, while the gripper 1922 holds the wire 1924), the slack in the wire is shortened and the wire is transported to the other side of the frame.

[0368] Figure 19i shows two images illustrating a wire transport mechanism 1916 that transports wires between two rows.

[0369] Figure 19j shows schematic diagrams of a wire conveying mechanism 1916 and some parts thereof according to several embodiments of the present invention. In some embodiments, the exemplary wire conveying mechanism 1916 comprises one or more of the following:

[0370] A drive motor 1930 is configured to drive a timing belt 1932. In some embodiments, the timing belt 1932 pushes the wire forward, moving it through the gap. In some embodiments, the drive motor 1930 is configured to change the speed of the timing belt 1932, i.e., the wire transport speed. In some embodiments, the speed may depend on the type of wire, gauge, friction parameters, etc. In some embodiments, the speed may be combined with the angle of the end effector relative to the panel to achieve the best transport performance. In some embodiments, a feeder release actuator 1934 brings the timing belt 1932 into contact with the support wheel 1936. In some embodiments, a spring 1938 ensures contact between the timing belt 1932, the wire, and the support wheel 1936. In some embodiments, a wire detection sensor 1940 is used to detect the presence of the wire and, optionally, the operating parameters of the wire (e.g., speed).

[0371] In some embodiments, once the feeding process is complete (for example, by measuring the length), the feeder release actuator 1934 opens to release the wire 1942 from the wire transport mechanism 1916.

[0372] Figures 19k to 19m show exemplary wire processing and placement units according to several embodiments of the present invention. In some embodiments, the wire processing and placement unit 1944 is configured to place wires in a wire transport mechanism 1916. In some embodiments, an end effector transports the wires to the wire processing and placement unit 1944, and a back guide plate 1946 moves the wires to a position where two grippers 1948 grip them. In some embodiments, the two grippers rotate upward and laterally (e.g., using an eccentric mechanism) to present the wires to the wire transport mechanism 1916 in an appropriate configuration / orientation. In some embodiments, the robot and end effector can then be moved to a discharge position in front of a panel.

[0373] Figure 19n shows a flowchart illustrating an exemplary method for transporting a wire from one side to the other according to several embodiments of the present invention. In some embodiments, an exemplary process for manipulating a wire for a panel (or frame or cabinet) includes one or more of the following actions: • Picking wires from the wire presentation unit (1950) • Bring the wires to the wire processing and placement unit. Sometimes, the wires are left with some slack (1952). • Prepare the wire and place it in the wire transport mechanism. This may include one or more of the following steps (1954) • The backplate pushes the wire and sends it to the gripper position (1956) • The wire is grasped with a gripper, tension is applied to the wire, and the backplate is retracted (1958) • The wire transport mechanism was expanded to allow rotation of the wire's direction (1960). • Using a wire transport mechanism (with the unit in an open state), the end effector is moved to the wire position (1962). • The wire is fixed inside the wire transport mechanism, the gripper is opened, and the end effector is pulled back from the gripper (1964) • Move and rotate the end effector to an empty position on the panel (1966) • Supply the wire through the panel opening (1968). In some embodiments, supplying through the opening may be done by creating a quick "throwing effect" to get the wire into the gap. Alternatively, a two-part guide tube may be used to guide the wire into the gap of the opening. • Move the end effector to the insertion position (1970) • Inserting wires into parts (1972)

[0374] In some embodiments, the method further includes moving to the pick wire position. In some embodiments, the gap of the opening through which the wire is transported may be close to the part requiring wire insertion, for example, 5 cm or 8 cm. In some embodiments, the gap may be located relatively far from the part, for example, 40 cm or 60 cm.

[0375] In some embodiments, the system software compares the wire length to the distance of the gap relative to the position of the component. In some embodiments, if the distance is relatively close to the wire size, for example between 90% and 110% or 80% and 120%, the system does not transport the wire through the gap. In some embodiments, the system may leave the wire hanging on the same side or omit this operation altogether.

[0376] In some embodiments, a vision system is used to identify the gap for transporting the wire to the other side. In some embodiments, this can be calculated in advance using, for example, a CAD (or ECAD) system, such as EPLAN or ZUKEN (an ECAD system). In some embodiments, a vision system is used to verify the movement of the wire to the other side of the panel / frame.

[0377] General information regarding at least two robot units The following paragraphs provide general information on at least two robotic units configured to pass wires (or parts thereof) to each other through openings and / or through the front and back within an electrical cabinet in the absence of a panel.

[0378] In some embodiments, as described above, there are at least two robotic units involved in the process of routing wires from one side of an electrical cabinet to the other (if it is necessary to route the wires inside or outside the electrical cabinet). In some embodiments, there are two or more robotic units. In some embodiments, the robotic units involved in routing the wires may be robotic arms 204 as shown in Figures 2a and 5a-5c, wire laying and positioning robotic units 212 as shown in Figure 16d, or one or more of manipulators, cartesian gantry systems, and multi-axis platforms. In some embodiments, the type of robotic unit used is selected depending on the task that needs to be performed. For example, if it is necessary to position a wire inside an electrical panel but along the rear side of the electrical panel, the wire laying and positioning robotic unit 212 is positioned behind the electrical panel, and the robotic arm is positioned at the front of the electrical cabinet. This has the potential advantage of using the most suitable type of robotic unit where needed, improving the wiring performance of the system.

[0379] In some embodiments, at least two different robot units 1902 / 1904 are configured to perform a “handshake” protocol to ensure that a wire is properly passed when it is passed from one robot unit to the other. In some embodiments, the passage of the wire is monitored using one or more sensors, such as a video camera, a touch sensor, or a laser sensor. In some embodiments, the passage of the wire is monitored using a reference marker on each robot unit, which is used to synchronize the movements of the two robot units when performing the passage of the wire. In some embodiments, data is transferred between one robot unit and the other as part of the handshake protocol, and the data may include, for example, the type of wire, the “name” of the wire, the size of the wire, the color of the wire, the length of the wire, etc. In some embodiments, the handshake protocol includes communicating with each other the position of each robot unit relative to a known location, for example.

[0380] In some embodiments, the functions and / or operations performed by robot units 1902 / 1904 (e.g., providing / receiving wires) can be changed between the two robot units, for example, so that at one time the first robot unit passes the wire to the second robot unit, and later the second robot unit passes the wire to the first robot unit.

[0381] In some embodiments, the cabinet / frame is optionally placed on a turntable (or other device / system capable of handling / changing the placement of the electrical cabinet / frame) configured to allow the placement of the electrical cabinet / frame to be changed, making it possible to present / position the electrical cabinet / frame to a given robotic unit as required for the task.

[0382] Examples of additional general information regarding robotic automated wiring systems and their processing. Examples of data flow and operations Referring here to Figure 20, schematic diagrams of exemplary data flow and operation of an automated wiring system according to several embodiments of the present invention are shown. In some embodiments, the user begins by virtually designing an electrical cabinet (2002). In some embodiments, the user runs a simulation with dedicated software (2004). In some embodiments, the design is optionally optimized taking into account the results of the simulation (2006). In some embodiments, further simulations are run until the best design drawing is achieved. In some embodiments, before proceeding, the system makes a final decision to determine whether the design phase is complete (2008). In some embodiments, if the answer is "NO", the system returns to the design phase. In some embodiments, if the answer is "YES", the system creates an electrical circuit diagram adapted for sharing on other platforms, the system creates a mechanical drawing of an electrical panel adapted for sharing on other platforms, and the system creates a bill of materials (BOM) for the assembly of the electrical cabinet (2010).

[0383] In some embodiments, at this point the system generates a wire routing sequence based on electrical circuit diagrams and mechanical drawings (2011). In some embodiments, as described elsewhere in this specification, the generation of the wire routing sequence includes a virtual generation of a possible sequence of wire insertions in the electrical cabinet, changes in the tools used during the wiring process, and an evaluation of any problems that may occur during the actual wiring of the electrical cabinet. In some embodiments, optionally the system performs a simulation to optimize the wire routing sequence according to the determined parameters.

[0384] In some embodiments, the above operations include continuous data exchange between the user's computer designing the electrical circuit and the server (2012). In some embodiments, once all assembly preparations are complete, the electrical cabinet is assembled in the automated electrical wiring unit / system 106 according to the final version of the design drawings (2014). In some embodiments, during assembly, the automated electrical wiring unit / system 106 communicates with the server to continue monitoring performance (2016).

[0385] Example of a single-arm system In some embodiments, the system comprises a single mechanical arm configured to perform all automated operations of the wiring process. For example, a ready-made wire, ready for wiring, is held at one end by the mechanical arm and wound around a winch at the other end, with the wire released as needed. In some embodiments, the winch with the wire is supplied directly to the mechanical arm from a wire preparation module.

[0386] The various embodiments and aspects of the present invention described above and claimed in the following claims are experimentally supported by the following exemplary embodiments.

[0387] Exemplary Embodiments Hereinafter, exemplary embodiments are referenced, which, together with the above description, illustrate some embodiments of the present invention in a non-limiting manner.

[0388] Referring here to Figures 21A to 21B, schematic diagrams of a wiring process using two automated mechanical arms according to several embodiments of the present invention are shown.

[0389] Figure 21A shows a schematic diagram of two automated mechanical arms 2102 / 2104. In the following description, one automated mechanical arm will be referred to as arm 1 2102 and the other automated mechanical arm as arm 2 2104. Figure 21A also shows a schematic diagram of an electrical panel 2106 that requires wiring. Figure 21B shows a schematic diagram of the electrical panel 2106 in more detail. The exemplary electrical panel 2106 comprises five ducts 2108-1 / 5. The exemplary electrical panel further comprises several components, and in this example of the present invention, components A and B require wires to connect them.

[0390] Furthermore, Figure 21B includes reference points circled from 1 to 8 for the following explanation.

[0391] As described above, in the following example, a wire needs to be placed between component A and component B. For this example, the selected path from component A to component B was determined to be one in which the wire connected to component A extends from reference point 1 to reference point 2, then to reference point 3, and then into duct 2108-3. Next, the wire needs to bend in duct 2108-3 toward reference point 4 and extend into duct 2108-5. Next, the wire needs to bend in duct 2108-5 toward reference point 5. Next, the wire needs to bend in duct 2108-4 toward reference point 6. After that, the wire exits duct 2108-4 at reference point 7 and is inserted into component B, then to reference point 8. The following table summarizes the operation of arms 1 2102 and 2 2104 when arranging the wire from reference point 1 to reference point 8. [Table 1-1] [Table 1-2]

[0392] Referring now to Figure 22, a graph illustrating exemplary phases of wire insertion into the electrical terminal connector of a component, as identified by a gripper sensor, according to several embodiments of the present invention. In some embodiments, as further disclosed above, the system is configured to identify different phases of wire insertion into the electrical terminal connector of a component. The graph in Figure 22 shows the force sensed by sensors on the finger-like extensions 910a and 910b of the gripper 1308 against the held wire. In some embodiments, the phases are as follows:

[0393] Phase A: Moving toward the electrical terminal connector of the component. In some embodiments, during this phase, the wire is held by the gripper 1308, which is moving toward the electrical terminal connector of the component. In some embodiments, initially, the same force is sensed as when the wire is not encountering any obstacles. In some embodiments, at some point the wire makes contact with the electrical terminal connector of the component, and the sensor begins to sense an increase in the sensed force. When a certain peak is reached, the system moves to the next phase. In some embodiments, the peak may depend on the type of wire and / or the type of electrical terminal connector, and may be set as an option based on that. In some embodiments, the relationship between the type of wire, the type of connector of the component, and the "sensed" force is learned by the system and stored in a dedicated database. In some embodiments, an AI algorithm is used to generate these peak values ​​based on the learned data.

[0394] Phase B: Retraction of the component from the electrical terminal connector. In some embodiments, upon reaching a certain peak, the gripper 1308 begins to retract while still holding the wire, without actually pulling it. In some embodiments, as shown in the graph, as the gripper releases its gripping force, the perceived force decreases significantly.

[0395] Phase C: Pulling the wire while retracting from the electrical terminal connector of the component. In some embodiments, the gripper gently holds the wire while retracting from the electrical terminal connector of the component to determine the correct connection between the wire and the electrical terminal connector of the component. In some embodiments, at this point, two things can happen: 1. The wire is correctly connected and does not move, and the gripper does not slip on the connected wire, or 2. The wire is not correctly connected and is pulled out from the electrical terminal connector. In some embodiments, as described above, after each trial, the value is learned and / or adjusted.

[0396] In some embodiments, different types of electrical terminal connectors and different types of wires are characterized by different forces, which are characterized by different forces sensed by the gripper. In some embodiments, the system includes a database in which different combinations of different types of electrical terminal connectors and different types of wires are stored, and the system acts the gripper accordingly according to input provided by the user.

[0397] Referring now to Figures 23A-23C, three different examples of forces sensed by the gripper in three different scenarios according to several embodiments of the present invention are shown. Figure 23A shows an example of what the sensor senses while the gripper is retracting, and the wire is not connected at all to the electrical terminal connector of the component. In this case, the sensed force does not increase because the wire does not resist the pull of the gripper.

[0398] Figure 23B shows an example of what the sensor sensed during the retraction of a gripper, where the wire was not properly connected to the electrical terminal connector of the component. In this case, the gripper initially begins to retract until the wire resists the pull, which translates into an increase in the sensed force. At some point, because the wire is not properly connected, it detaches from the electrical terminal connector of the component, which is supported by a sudden decrease in the sensed force, after which it returns to the same level as before.

[0399] Figure 23C shows an example of what the sensor senses during the retraction of a gripper, with the wire correctly connected to the electrical terminal connector of the component. In this case, the gripper initially begins to retract until the wire resists the pull, which translates into an increase in the sensed force. At some point, because the wire is properly connected, the gripper begins to slide along the wire, which is supported by the decrease in the sensed force on the gripper at the end of the graph.

[0400] Referring here to Figure 24, several test experiments illustrating the characteristics of exemplary scenarios according to several embodiments of the present invention are shown. As previously disclosed, initially there is no resistance from the wire and the gripper moves, so the input from the force sensor is stable. Next, as the wire enters the electrical terminal connector of the component, the resistance between the wire and the connector causes a spike in the input from the sensor. Next, the device begins to pull the wire backward to evaluate 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 shown in Figure 24. Then, depending on the result of the connection between the wire and the electrical terminal connector, various inputs are received from the sensor. In Test 1, as can be seen from the graph of no change, the wire came out of the connector. In Test 2, the wire came out of the connector while the wire was being pulled backward. In Test 3, the wire was fully connected to the connector and the gripper slid over the wire during the backward movement. In Test 4, the wire came out of the connector while the wire was being pulled backward. The graphs described above are exemplary experiments provided to enable those skilled in the art to understand the present invention and are not limiting in any way.

[0401] Example of an automated assembly and wiring system for small panels Refer to Figure 25a, which shows a schematic diagram of an exemplary automated assembly and wiring system 2500 for small panels according to some embodiments of the present invention. In some embodiments, the system 2500 is configured to enable wiring of multiple small electrical panels in the same unit. In some embodiments, the system 2500 includes a dedicated module configured to perform an automated wiring process.

[0402] Figure 25b shows a schematic diagram of an exemplary automated assembly and wiring system module for small panels according to several embodiments of the present invention.

[0403] In some embodiments, the system 2500 includes a loading / unloading module 2502 that allows the user to load frames to be wired and unload completed panels. In some embodiments, loading and unloading are performed manually or with the assistance of a robotic device.

[0404] In some embodiments, the system 2500 comprises an assembly module 2504, shown in more detail in Figure 25c. In some embodiments, the assembly module 2504 comprises one or more robotic arms 2506 having a gripper 2508 and configured to pick up parts from a parts magazine 2510 and / or tray 2512. In some embodiments, the assembly module 2504 comprises a tool changer 2514 having one or more robotic arms 2506 required during the assembly process and having multiple interchangeable tools during the process. In some embodiments, the assembly process is monitored using one or more sensors 2516, Figure 25c shows a camera, but other sensors may also be used.

[0405] In some embodiments, the system 2500 includes a wiring module 2518, shown in more detail in Figure 25d. In some embodiments, the wiring module 2518 includes one or more robotic arms 2520 having grippers 2522 and configured to manipulate one or more wires provided by one or more wire manipulators 2524. In some embodiments, the assembly process is monitored using one or more sensors 2526, Figure 25c shows a camera, but other sensors may also be used. In some embodiments, one or more robotic arms 2520 are positioned on the front side of the electrical panel, and one or more wire manipulators 2524 are positioned on the other side of the panel (either the underside or the rear or below) (see also Figures 26a-b below illustrating an exemplary system for manipulating wires under the electrical panel 2600).

[0406] Example of a panel-mounted system for operating wires. Figure 26a shows an exemplary system for operating wires under an electrical panel 2600 according to several embodiments of the present invention. In some embodiments, the dedicated system 2600 is positioned behind (rear side of) the electrical panel to be wired, as schematically shown in Figure 26b. In some embodiments, the dedicated system comprises two grippers 2602a / b mounted on an elongated base 2604. In some embodiments, each gripper is configured to move along the elongated base, as indicated by arrow 2606. In some embodiments, each gripper is configured to rotate about its own axis, as indicated by arrow 2608. In some embodiments, the elongated base 2604 is mounted on two rails 2610a / b that allow the elongated base to move from side to side, as indicated by arrow 2612. In some embodiments, the end of the wire is held by each gripper 2602a / b of the system 2600. In some embodiments, the end of the wire is presented to and passed to a wire handling robot located on the front side of the electrical cabinet, but the wire is left behind the panel. Unlike what is described elsewhere in this specification, the wire is positioned within a channel / duct, in which case the wire is left behind the panel rather than within the channel or duct. In some embodiments, one gripper (e.g., 2602a) presents the wire to a wiring robot (e.g., robot arm 2520 in Figure 25d) near (i.e., moving to) a first electrical component that needs to be wired, and a second gripper (e.g., 2602b) moves to a location where a second component needs to be wired. In some embodiments, the position and movement of grippers 2602a / b depend on parameters such as the length of the wire, the gauge of the wire, the orientation of the wire ends, the robot's accessibility to the component, and the location.

[0407] Although the above explanation and diagrams are shown horizontally for convenience, the panel may be oriented vertically, and the wire robot may be located at the front, while the wire operating system may be located at the rear.

[0408] In some embodiments, the gripper operates in a plane perpendicular to the panel, allowing it to present the wire through the panel.

[0409] When used herein in relation to quantity or value, the term “about” means “within ±20% of that value.”

[0410] The terms "comprises," "comprising," "includes," "including," "has," and "having," and their cognates, all mean "including but not limited to."

[0411] The phrase "consisting of" means "including and limited to."

[0412] The phrase "consisting essentially of" means that a composition, method, or structure may include additional components, steps, and / or parts, provided that these additional components do not substantially alter the basic and novel properties of the claimed composition, method, or structure.

[0413] As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” refer to multiple objects. For example, the terms “a compound” or “at least one compound” may refer to multiple compounds, including mixtures thereof.

[0414] Throughout this application, embodiments of the present invention may be presented by reference to range forms. It should be understood that descriptions in range form are merely for convenience and brevity and should not be interpreted as inflexible limitations on the scope of the present invention. Therefore, range descriptions should be considered to specifically disclose not only the individual numerical values ​​within that range, but also all possible subranges. For example, a range description such as "1-6" should be considered to specifically disclose subranges such as "1-3," "1-4," "1-5," "2-4," "2-6," and "3-6," as well as the individual numerical values ​​within those ranges, e.g., 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range.

[0415] Where a range of numbers is indicated herein (for example, “10 to 15”, “10 to 15”, or a set of numbers linked by any other such range indication), unless the context clearly indicates otherwise, it means to include any number (fraction or integer) within the indicated range limit, including the range limit. The phrases “range / ranging / ranges between” between a first and second indicated number, and “range / ranging / ranges from” “from” the first indicated number to the second indicated number “to”, “up to”, “until”, or “through”, are used interchangeably herein and mean to include the first and second indicated numbers and all fractional and integer digits between them.

[0416] Unless otherwise indicated, the numerical values ​​and any numerical ranges derived therefrom used herein are approximations within reasonable measurement accuracy and rounding tolerances as understood by those skilled in the art.

[0417] For clarity, it is understood that certain features of the present invention described in the context of separate embodiments may also be provided in combination in a single embodiment. Conversely, for brevity, various features of the present invention described in the context of a single embodiment may also be provided separately, in any preferred secondary combination, or as suitable for any other described embodiment of the present invention. Certain features described in the context of various embodiments should not be considered essential features of those embodiments unless the embodiments would not function without those elements.

[0418] Although the present invention has been described in relation to its specific embodiments, it is obvious that many alternatives, modifications, and variations will be apparent to those skilled in the art. Therefore, it is intended to encompass all such alternatives, modifications, and variations that fall within the spirit and broad scope of the appended claims.

[0419] All publications, patents, and patent applications described herein are incorporated herein by reference in their entirety, as if explicitly and individually noted, when each individual publication, patent, or patent application is indicated to be incorporated herein by reference. Furthermore, any citation or identification of any reference in this application should not be construed as an acknowledgment that such reference is available as prior art of the present invention. Where section headings are used, they should not necessarily be construed as restrictive. Furthermore, any one of the priority documents of this application is incorporated herein by reference in its entirety.

Claims

1. An automated robotic wiring system configured to perform a wiring process that includes wiring one or more wires to an electrical panel, a. One or more first robot units configured to insert the ends of wires into electrical components, b. comprising one or more second robot units configured to position the wire along a path within the electrical panel, The first robot unit and the second robot unit cooperate with each other during the wiring process. system.

2. The automated robot wiring system is configured to pass a portion of one or more wires from one or more first robot units to one or more second robot units and vice versa during the wiring process. The system according to claim 1.

3. The one or more first robot units are positioned in front of the electrical panel. The system according to claim 1.

4. The one or more second robot units are arranged on the same side as the one or more first robot units. The system according to claim 1.

5. The one or more second robot units are positioned behind the electrical panel. The system according to claim 1.

6. The system further comprises at least two second robot units, the first of the at least two second robot units being positioned in front of the electrical panel, and the second of the at least two second robot units being positioned behind the electrical panel. The system according to claim 1.

7. The first robot unit is a robot arm. The system according to any one of claims 1 to 6.

8. The robot arm includes an end effector configured to engage with the wire. The system according to claim 7.

9. The second robot unit is a wire laying and positioning robot unit. The system according to any one of claims 1 to 8.

10. The wire laying and positioning robot unit is, a. A robotic manipulator configured to provide motion in one or more directions to a positioning head, b. A positioning head comprising one or more wire operating mechanisms, The system according to claim 9.

11. One of the one or more wire operating mechanisms comprises a positioning neck equipped with one or more wire moving mechanisms. The system according to claim 10.

12. The aforementioned one or more wire moving mechanisms are one or more belts. The system according to claim 11.

13. The aforementioned one or more wire moving mechanisms are one or more rollers. The system according to claim 11.

14. The positioning head includes a tilting mechanism configured to tilt the positioning head, The system according to any one of claims 10 to 13.

15. The tilting mechanism tilts the positioning head to an angle in the range of 0 to 90 degrees. The system according to claim 14.

16. The positioning head includes a rotating mechanism configured to rotate the positioning head. The system according to any one of claims 10 to 15.

17. The robotic manipulator is one or more of a robotic arm and a gantry robot. The system according to any one of claims 10 to 16.

18. The one or more directions provided by the robot manipulator are selected from the group consisting of left and right, front and back, and up and down. The system according to any one of claims 10 to 17.

19. The system further comprises one or more sensors configured to monitor the movement of a wire within the positioning head. The system according to any one of claims 10 to 18.

20. The system further comprises a wire locking actuator configured to control the speed at which the wire is released. The system according to any one of claims 10 to 19.

21. It further includes an encoder configured to measure how much of the wire has been released. The system according to any one of claims 1 to 20.

22. While the wire is released, the device further comprises a wire channel configured to accommodate the wire, The system according to any one of claims 10 to 21.

23. The positioning neck comprises a closed configuration and an open configuration, wherein in the open configuration, a robot unit is able to access and engage a wire located within the positioning neck. The system according to claim 11.

24. The second robot unit is a wire-operated robot unit positioned behind the electric panel. The system according to any one of claims 1 to 8.

25. The wire manipulation robot unit comprises two or more grippers, each configured to manipulate the end of a wire. The system according to claim 24.

26. Each of the two or more grippers rotates along the vertical axis of the gripper. The system according to claim 25.

27. Each of the two or more grippers moves along a Cartesian coordinate system. The system according to claim 25.

28. Each of the two or more grippers moves independently of the other grippers. The system according to claim 25.

29. Each of the two or more grippers moves up and down relative to the electric panel. The system according to claim 25.

30. Each of the two or more grippers moves from the rear side of the electrical panel to the front side of the electrical panel. The system according to claim 25.

31. Each of the two or more grippers interacts with at least one of the one or more first robot units. The system according to claim 25.

32. Each of the two or more grippers interacts with at least one of the one or more second robot units positioned in front of the electric panel. The system according to claim 25.

33. The system further comprises a wire preparation unit configured to prepare one or more wires used in the aforementioned wiring process. The system according to any one of claims 1 to 32.

34. The system further comprises an openable and closable loading platform configured to receive the aforementioned electrical panel, The system according to any one of claims 1 to 33.

35. The system further comprises one or more sensors configured to monitor the wiring process, The system according to any one of claims 1 to 34.

36. A method for performing the wiring process of an electrical panel using an automated robotic wiring system, a. The step of inserting the first end of the wire into the first electrical component using one or more first robot units, b. The step of positioning the wire along the path using one or more second robot units, c. The step of inserting the second end of the wire into the second electrical component by one or more first robot units, method.

37. The step of positioning the wire within the one or more second robot units, prior to the step of inserting the first end of the wire, further includes The method according to claim 36.

38. The step of positioning the wire within one or more second robot units further includes the step of having one or more first robot units pick up the first end of the wire from the tip of one or more second robot units. The method according to claim 37.

39. The process further includes, after positioning the wire along the path, picking up the second end of the wire from the tip of one or more second robot units using one or more first robot units. The method according to claim 36.

40. To facilitate the aforementioned picking step, the further step includes tilting a portion of one or more of the second robot units. The method according to claim 38 or 39.

41. a. The one or more first robot units and the one or more second robot units receive wiring information data which includes a plurality of tasks to be performed during the wiring process, b. The step of performing the plurality of tasks according to the wiring information data, The aforementioned tasks are characterized by instructing the one or more first robot units and the one or more second robot units to cooperate with each other during the wiring process. The method according to any one of claims 36 to 40.

42. The process further includes the step of having one or more first robot units pick up a dedicated tool for one of the multiple tasks according to the wiring information data, The method according to claim 41.

43. If a particular task among the aforementioned tasks requires a tool different from the tool selected, the process further includes the step of exchanging the tool. The method according to claim 42.

44. The step of positioning the wire along the path includes the step of releasing the wire behind the electrical panel. The method according to any one of claims 36 to 43.

45. The step further includes passing one or both ends of a wire from one side of the electrical panel to the other side of the electrical panel. The method according to any one of claims 36 to 43.

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