CN206614553U - A kind of automatic wiring machine routing machine people - Google Patents
A kind of automatic wiring machine routing machine people Download PDFInfo
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- CN206614553U CN206614553U CN201720211300.3U CN201720211300U CN206614553U CN 206614553 U CN206614553 U CN 206614553U CN 201720211300 U CN201720211300 U CN 201720211300U CN 206614553 U CN206614553 U CN 206614553U
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- switching mechanism
- wiring
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- thread
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- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 239000004744 fabric Substances 0.000 claims abstract description 25
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 238000004088 simulation Methods 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 description 18
- 238000003860 storage Methods 0.000 description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 235000021186 dishes Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
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Abstract
The utility model discloses a kind of automatic wiring machine routing machine people, including sixdegree-of-freedom simulation and the multifunction manipulator installed in sixdegree-of-freedom simulation end；Multifunction manipulator includes cloth the end of a thread, gripping head, switching mechanism, conversion motor and video camera；Cloth the end of a thread and gripping head are separately fixed on the bottom surface of switching mechanism and medial surface and position is mutually perpendicular to, and conversion motor is connected to switching mechanism lateral surface, and the drive shaft driving switching mechanism of conversion motor is rotated；Capture cephalic par and be provided with Pneumatic clamping pawl；Cloth the end of a thread generally hollow structure, it is cable tray that it is internal, and cable tray upper end is provided with incoming line with its perpendicular direction, and the cable tray other end, which is provided with, mouth occurs；Video camera is fixed on above conversion motor and at the top of multifunction manipulator by connecting plate.The utility model circuit controlling is strong, and wiring is flexible, and can by feeding, be routed through a manipulator completion.
Description
Technical field
The utility model is related to a kind of automatic wiring machine routing machine people, belongs to aircraft manufacturing equipment field.
Background technology
Domestic Aircraft wire harness is connected up by manually mostly, because cable is numerous on aircraft, and with aircraft function not
Disconnected abundant, the electrical system of aircraft becomes to become increasingly complex, the increasing number of cable on aircraft, and manual routing needs a large amount of people
Power, while need operating personnel to have higher technical capability, it is cumbersome and error-prone.Therefore, it is badly in need of a kind of aircraft wire harness
Full-automatic wiring equipment.
The application for a patent for invention of Application No. 20141023402 discloses a kind of Aircraft Cables bundle conductor automatic routing system
And its wiring method, it is possible to achieve the wiring by machine of aircraft wire harness.Above-mentioned application line robot uses three directions of X, Y, Z axis
Mobile mode is controlled respectively, and the free degree is not enough and movement is dumb.
The content of the invention
In order to solve the not enough above of prior art, the utility model provides a kind of automatic wiring machine routing machine people, its
With reference to feeding, wiring function in one, the Full-automatic wiring of aircraft wire harness is realized, it is simple in construction, practical, substantially reduce people
Power cost, improves wiring efficiency and the degree of accuracy.
The purpose of this utility model is achieved through the following technical solutions：
A kind of automatic wiring machine routing machine people, including sixdegree-of-freedom simulation and installed in sixdegree-of-freedom simulation end
The multifunction manipulator in portion；The multifunction manipulator include cloth the end of a thread, gripping head, switching mechanism, conversion motor and
Video camera；Cloth the end of a thread and gripping head are separately fixed on the bottom surface of switching mechanism and medial surface and position is mutually perpendicular to, and conversion is driven
Dynamic motor connection is rotated in switching mechanism lateral surface, the drive shaft driving switching mechanism of conversion motor, makes cloth the end of a thread and crawl
Head can change position as needed；Video camera is fixed on above conversion motor and positioned at multi-functional mechanical by connecting plate
At the top of hand, video camera is used to be monitored the working condition of multifunction manipulator.
Further, the crawl cephalic par is provided with Pneumatic clamping pawl.
Further, described cloth the end of a thread generally hollow structure, it is cable tray, cable tray upper end and its phase that it is internal
Vertical direction is provided with incoming line, and the cable tray other end, which is provided with, mouth occurs.
The utility model is coordinated using sixdegree-of-freedom simulation and multifunction manipulator, and circuit controlling is strong, and wiring is flexible,
And the design of multifunction manipulator can by feeding, be routed through the completion of manipulator, simplify structure.
Brief description of the drawings
Fig. 1 is the utility model aircraft wire harness automatic wiring machine axonometric drawing；
Fig. 2 is multifunction manipulator axonometric drawing；
Fig. 3 is multifunction manipulator front view；
Fig. 4 is multifunction manipulator right view；
Fig. 5 is multifunction manipulator left view；
Fig. 6 is aircraft wire harness automatic wiring machine material storehouse axonometric drawing；
Fig. 7 is aircraft wire harness automatic wiring machine material storehouse front view；
Fig. 8 is aircraft wire harness automatic wiring machine bobbin loader axonometric drawing；
Fig. 9 is aircraft wire harness automatic wiring machine card line mechanism axonometric drawing；
Figure 10 is aircraft wire harness automatic wiring machine wire agency axonometric drawing.
In figure：
1- expects storehouse, 2- slide units, the automatic wire feeders of 3-, 4- automatic wiring machine routing machine people, 5- multifunction manipulators, 6- light
Learn wire size identification and note rice device, 7- links, 8- workbench；
11- material storage dishes, 12- charging cylinders, 13- feeding cylinders, 14- bobbin loaders, 15- column wirings insert disk, 16- storings,
17- charging tracks, 18- feeding tracks, 19- pedestals, 22- pinch plates；
141- bobbin loader fixed seats, 142- bobbins, 143- claws, 144- sliding blocks, 145- spring spacing mechanisms, 146- card lines
Mechanism；1461- card line mechanism supports framves, 1462- take-ups mouthful, 1463- Tu Xiankou, 1464- line clamped blocks, 1465- cable-through holes；
301- Wire Wheels, 302- Wire Wheel motors, 303- fixed mounts, 304- limited blocks, 305- cuts out line knife, and 306- is cut out
Line knife rest；307- wire agency bases；
501- cloth the end of a thread, 502- incoming lines, 503- cable tray, 504- line outlets, 505- gripping heads, 506- interpreters
Structure, 507- conversion motors, 508- video cameras, 509- gripping pawls.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is discussed in detail：
As shown in figure 1, a kind of aircraft wire harness automatic wiring machine, including material storehouse 1, slide unit 2, automatic wire feeder 3, self routing
Machine routing machine people 4, the identification of optics wire size and meter counter 6, link 7, workbench 8, host computer.Expect that storehouse 1 is arranged on link 7
On, workbench 8 is arranged on the front end of link 7, and slide unit 2 is slidably connected on workbench 8, and it can show edge in the table top of workbench 8
The slide rail of workbench 8 is slided, and automatic wiring machine routing machine people 4 is arranged on slide unit 2, and automatic wiring machine routing machine people 4 is by six
Degree-of-freedom manipulator and multifunction manipulator 5 are constituted, and automatic wire feeder 3 is arranged on slide unit 2, the automatic front end of wire feeder 3 and material
The feeding track 16 in storehouse 1 is docked, and the identification of optics wire size and meter counter 6 are arranged on slide unit 2 and positioned at the automatic rear of wire feeder 3.
Automatic wiring machine routing machine people 4 include being fixed on sixdegree-of-freedom simulation on slide unit 2 and installed in six from
Multifunction manipulator 5 by degree mechanical arm end, as shown in Figures 2 to 5, multifunction manipulator 5 include cloth the end of a thread 501, crawl
First 505, switching mechanism 506, conversion motor 507 and video camera 508.Cloth the end of a thread 501 and gripping head 505 are separately fixed at
On the bottom surface of switching mechanism 506 and medial surface and position is mutually perpendicular to, conversion motor 507 is fixed on the outside of switching mechanism
Face, its drive shaft driving switching mechanism 506 is rotated, and cloth the end of a thread 501 and gripping head 505 is changed position as needed；Grab
First 505 end is taken to be provided with Pneumatic clamping pawl 509；Video camera 508 is fixed on the top of conversion motor 50 by connecting plate, is located at
The top of manipulator 5.Cloth the end of a thread 501, which is used to extracting automatic wire feeder 3, to be conveyed the cable come and is connected up on workbench 8,
The generally hollow structure of cloth the end of a thread 501, it is cable tray 503 that it is internal, and the upper end of cable tray 503 thinks that vertical direction is provided with it
Incoming line 502, the other end of cable tray 503, which is provided with, there is mouth 504.Gripping head 505 is used to capture the cable source needed for wiring
The column wirings such as fixed column, wrapping post and cable source tail fixed column and the specified fixing hole for inserting column wiring on workbench 8.Shooting
Machine 8 is used to be monitored the working condition of multifunction manipulator, for example, whether monitoring cloth the end of a thread 501 successfully picks up line in real time
Accurately whether whether crawl column wiring, cloth the end of a thread 501 are by providing line layout etc. for cable, gripping head 505, and host computer is by detection image
Handled, once finding robot work error, can be disposed immediately.
As shown in Figures 6 to 9, material storehouse 1 includes the storing loader mechanism being fixed on link 7 and installed in storing dress
Bobbin loader 14, column wiring on mounted mechanism insert disk 15, charging cylinder 12, feeding cylinder 13, charging track 17 and feeding track
18.Storing loader mechanism includes pedestal 19, charging track 17, feeding track 18, material storage dish 11, storing seat 16；Wherein, pedestal 19
It is fixed on link 7, material storage dish 11 is rotatably connected on pedestal 19 by rotary shaft, and rotary shaft is driven by motor, storing seat
16 are evenly arranged on the circumference of material storage dish 11, and charging track 17 is separately fixed on the circumference of pedestal 19 and fed with feeding track 18
Track 17 is distributed with the angle in 90 ° of feeding track 18, and the track outer end of feeding track 18 is docked with automatic wire feeder 3；Feed rail
Road 17 is highly identical with feeding track 18, concordant with the height of storing seat 16 being fixed on material storage dish 11, and charging track 17
The track of level feeding track 18 is inner can be docked with corresponding storing seat 16.
Such as Fig. 6, according to practical wiring needs, a number of bobbin loader 14 and a number of column wiring are inserted into disk 15 and pacified
On material storage dish 11；Bobbin loader 14 is used to install drum, and column wiring, which inserts disk 15, to be used to place the cable source required for wiring
Fixed column, wrapping post and cable source tail fixed column etc..The cylinder axis front end of charging cylinder 12 and feeding cylinder 13 is respectively and fixedly provided with card
Oralia, for inserting the clamping of disk 15 with bobbin loader or column wiring.Bobbin loader 14 can slide into automatic wire feeder 3 from material storage dish 16.
As shown in figure 8, bobbin loader 14 includes bobbin loader fixed seat 141, bobbin 142, claw 143, sliding block 144, spring limit
Position mechanism 145, card line mechanism 146 and bayonet socket 147.Wherein, bobbin 142 is fixed on the riser of bobbin loader fixed seat 141, bobbin
142 front end stationary jaws 143, sliding block 144 is fixed on below the bottom plate of bobbin loader fixed seat 141, and spring spacing mechanism 145 is arranged on
On bottom plate, card line mechanism 146 is fixed on plate outer side, and bayonet socket 147 is fixed on bottom plate medial end, for cylinder or being sent with charging
Expect the bayonet socket plate connection on cylinder.Drum is enclosed on bobbin 142 and spacing by claw 143, cable head is from card line mechanism 146
Pass, bobbin loader 14 is connected by sliding block 144 with storing seat 16.
As shown in figure 9, card line mechanism 146 includes card line mechanism supports frame 1461, take-up mouthful 1462, tells line mouthful 1463, card
Line block 1464, cable-through hole 1465.Card line mechanism supports frame 1461 is bolted on the bottom plate of bobbin loader fixed seat 141, is told
Line mouthful 1463 and take-up mouthful 1462 are separately positioned on the rear and front end of card line mechanism supports frame 1461, are telling line mouthful 1463 and take-up mouthful
Also the cable on cable-through hole 1465, drum is set to be penetrated from take-up mouthful 1462 by dividing plate between 1462, by cable-through hole 1465
Pass afterwards from telling line mouthfuls 1463, cable-through hole 1465 can prevent cable from loosening；Line clamped block 1464, which is arranged on, tells line mouthful 1463 and take-up
On card line mechanism supports frame 1461 between mouth 1462, line clamped block 1464 is spring structure, can be with respect to card line mechanism supports frame
1461 clampings or ejection, when line clamped block 1464 is ejected with respect to card line mechanism supports frame 1461, can block and be through Tu Xiankou
Cable between 1463 and take-up mouthful 1462.
As shown in Figure 10, automatic wire feeder 3 includes wire feeder track and is fixed on the Wire-feeding machine of wire feeder rail end
Structure.Wire agency includes Wire Wheel 301, Wire Wheel motor 302, fixed mount 303, limited block 304, sanction line knife 305, sanction line
Knife rest 306, wire agency base 307.Wire agency base 307 is fixed on slide unit 2 and is fixed on wire feeder rail end.Send
Line wheel 301 is two groups, and two groups of Wire Wheels are set by Wire Wheel support block by symmetrical axial symmetry of wire feeder track centerline respectively
Put on Wire Wheel base 307, and two groups of Wire Wheel support blocks can pass through cylinder drives edge wire agency base 307 to two respectively
Slideslip, and then the overall folding of two groups of Wire Wheels is driven, every group of Wire Wheel is revolved by a driving of Wire Wheel motor 302
Turn.Wire Wheel 301 clamps the cable at the two ends of 146 cable-through hole of card line mechanism 1465 under Wire Wheel support block folding, and in line sending
Wheel drive motor 302 is rotated under driving towards wire agency front end, and the cable forward end of clamping is conveyed.Fixed mount 303 is arranged on
Wire Wheel support block front end, the top of fixed mount 303 is provided with the limited block 304 that can be straight down stretched under cylinder driving.It is spacing
Line clamped block 1464 of the block 304 just to card line mechanism 146, limited block 304 is extended downwardly from, line clamped block 1464 pushed, line clamped block
1464 relative card line mechanism supports framves 1461 are in gripping orientation, cable is conveyed along card line mechanism 146, when limited block 304 contracts
Return, line clamped block 1464 rebounds upwards, blocks cable.A pair of sanction line knife rests 306 are fixed on the front end of fixed mount 303, and it is located at line sending
Mechanism foremost, cuts out line knife rest 306 and can cut out line knife 305 under cylinder driving to two Slideslips and be fixed in sanction line knife rest 306
Side top, two cutting edges are respectively fixed on one and cut out on line knife rest 306.Cut out line knife 305 and tell line mouthful 1463 positioned at card line mechanism 146
Front, cuts out line knife rest 306 and is closed under cylinder driving, makes 305 liang of cutting edge closures of sanction line knife, and the cable that Tu Xiankou is spued is cut out
It is disconnected.
The course of work of aircraft wire harness automatic wiring machine is introduced briefly below：
The material feeding of storehouse 1 work is carried out first, and bobbin loader 14 and column wiring are inserted into disk 15 is pre-installed in material storehouse material storage dish 11
On；According to real aircraft harness wiring needs, host computer calculates required cable model, quantity and column wiring type, quantity；
Start feeding, drum and all kinds of column wirings are installed to line by the task that operating personnel assign according to host computer by the track 17 that feeds
Plate rail 14 and column wiring are inserted on disk 15, staff and complete feeding work.
Start wiring, host computer plans the wiring route of wire harness, and specified column wiring is inserted disk 15 according to instruction and pushed away by material storehouse 1
Automatic wire feeder 3 is delivered to, multifunction manipulator 5 captures the column wiring specified, and PC control slide unit 2 is by the wiring route planned
Precalculated position is moved to, column wiring is placed on the relevant position on workbench 8 by routing machine people 4, and workbench 8 is provided with array
Fixing hole, for fixed wiring post；Slide unit 2 continues to press circuit forward slip, everywhere precalculated position, and manipulator is just from certainly
Column wiring needed for dynamic wire feeder 3 is captured is placed into the relevant position of workbench 8, if current column wiring inserts the column wiring on disk 15
It is finished, slide unit 2 returns to initial position, current column wiring is inserted disk 15 and withdraw and push by material storehouse 1 carrys out the slotting disk 15 of new column wiring, after
Continuous crawl and placement process, until completing the placement work of all column wirings.
Slide unit 2 returns to initial position, and column wiring is inserted disk 15 and withdrawn, according to the cloth line of host computer, will loaded by material storehouse
The bobbin loader 14 for having required drum pushes to automatic wire feeder 3, and automatic wire feeder 3 conveys cable, the pickup cable of routing machine people 4
And by cable be pulled to optics wire size identification and meter counter 6 carry out wire size identification, host computer plans the cable according to the wire size of identification
Wiring route, slide unit 2 moves according to wiring route, crosses functional machinery hand 5 and cable is passed through into cable source fixed column card first
Fasten, with the movement of slide unit 2, multifunction manipulator 5 is connected up the wrapping post on cable successively by-pass, optics
Wire size recognizes and the complete monitoring cable of meter counter 6 output length that, when reaching designated length, wire agency severing conveying cable is more
Functional machinery hand 5 continues to connect up until reaching line termination position and by cable source tail fixed column by cable clamping；Thus it is complete
The wiring of cable into a line, slide unit 2 returns to initial position, and the wiring into next cable is circulated, until all cable wirings are complete
Into the good marking of cables of cloth is bundled into wire harness, that is, completes the self routing process of wire harness.
The operation principle of the utility model automatic wiring machine routing machine people is introduced briefly below：
After column wiring, which inserts disk 15, to be pushed to the wire feeder track of automatic wire feeder, sixdegree-of-freedom simulation driving is more
Functional machinery hand reaches specified location, and the gripping head 505 of manipulator 5 down, consolidate by the cable source that crawl column wiring is inserted on disk 15
Fixed column, as slide unit 2 is moved to the top appropriate location of workbench 8, the cable source fixed column of crawl is inserted work by gripping head 505
Make on platform in the fixing hole of predeterminated position, as slide unit 2 is moved forward, column wiring needed for the crawl the next position of gripping head 505 is put
Put in precalculated position, it is unified, the cable source fixed column successively according to needed for being captured the position of slide unit 2 of gripping head 505, wrapping post or
Cable source tail fixed column and the predeterminated position for being placed on workbench 8.Column wiring is all placed and finished, the correcting action of slide unit 2,
Cloth the end of a thread 501 is transformed into the former position of gripping head 505 by switching mechanism 506, if line outlet 504 is down, and slide unit 2 is provided with circle
Hole, can be such that line outlet 504 inserts in circular hole, until the alignment of incoming line 502 is connected to the card line mechanism 146 of automatic wire feeder 3
Line mouthful 1463 is told, cable enters cloth the end of a thread 501 from incoming line 502, stretched out after cable tray 503 from line outlet 504, slide unit
2 are moved to the default wiring original position of the cable, and manipulator starts wiring, and the cable exported from line outlet 502 passes through cable
Source fixed column is fixed, then according to default wiring route, and passed through wrapping post is bypassed successively, completes to reach termination after cabling
Position and by cable source tail fixed column, that is, complete the once wiring of the cable.The whole work to multifunction manipulator of video camera 8
It is monitored as situation, for example, whether monitoring cloth the end of a thread 501 successfully picks up whether cable, gripping head 505 accurately capture cloth in real time
Whether terminal, cloth the end of a thread 501 are by regulation line layout etc., and host computer is handled detection image, once find machinery by hand
Malfunction, can dispose immediately.
Claims (3)
1. a kind of automatic wiring machine routing machine people, it is characterised in that including sixdegree-of-freedom simulation and installed in six freely
Spend the multifunction manipulator of mechanical arm end；The multifunction manipulator includes cloth the end of a thread, gripping head, switching mechanism, conversion drive
Dynamic motor and video camera；Cloth the end of a thread and gripping head are separately fixed on the bottom surface of switching mechanism and medial surface and position is mutually hung down
Directly, conversion motor is connected to switching mechanism lateral surface, and the drive shaft driving switching mechanism of conversion motor is rotated, and makes wiring
Head and gripping head can change position as needed；Video camera is fixed on above conversion motor and positioned at many by connecting plate
At the top of functional machinery hand, video camera is used to be monitored the working condition of multifunction manipulator.
2. a kind of automatic wiring machine routing machine people as claimed in claim 1, it is characterised in that the crawl cephalic par is provided with
Pneumatic clamping pawl.
3. a kind of automatic wiring machine routing machine people as claimed in claim 1, it is characterised in that described cloth the end of a thread generally in
Hollow structure, it is cable tray that it is internal, and cable tray upper end is provided with incoming line with its perpendicular direction, and the cable tray other end is set
There is line outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211300.3U CN206614553U (en) | 2017-03-07 | 2017-03-07 | A kind of automatic wiring machine routing machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211300.3U CN206614553U (en) | 2017-03-07 | 2017-03-07 | A kind of automatic wiring machine routing machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206614553U true CN206614553U (en) | 2017-11-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720211300.3U Expired - Fee Related CN206614553U (en) | 2017-03-07 | 2017-03-07 | A kind of automatic wiring machine routing machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206614553U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
| CN109906004A (en) * | 2019-03-29 | 2019-06-18 | 北京理工大学 | Self routing machine people |
| CN109917749A (en) * | 2019-03-29 | 2019-06-21 | 北京理工大学 | The wiring method and device of automatic control |
| CN111371041A (en) * | 2018-12-25 | 2020-07-03 | 北京风折科技有限公司 | Intelligent cable assembly system and control method |
| WO2020237476A1 (en) * | 2019-05-27 | 2020-12-03 | 成都飞机工业（集团）有限责任公司 | Fixing device and fixing method for wire end during wire arrangement |
| CN112086901A (en) * | 2020-09-17 | 2020-12-15 | 青岛联合智造科技有限公司 | Intelligent electric power construction device |
| CN113573857A (en) * | 2019-03-15 | 2021-10-29 | 里塔尔有限责任两合公司 | Clamp for automatic wiring of electrical components of an electrical switching apparatus, corresponding robot and corresponding method |
-
2017
- 2017-03-07 CN CN201720211300.3U patent/CN206614553U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
| CN111371041A (en) * | 2018-12-25 | 2020-07-03 | 北京风折科技有限公司 | Intelligent cable assembly system and control method |
| CN111371041B (en) * | 2018-12-25 | 2022-02-18 | 北京风折科技有限公司 | Intelligent cable assembly system and control method |
| CN113573857A (en) * | 2019-03-15 | 2021-10-29 | 里塔尔有限责任两合公司 | Clamp for automatic wiring of electrical components of an electrical switching apparatus, corresponding robot and corresponding method |
| CN113573857B (en) * | 2019-03-15 | 2024-05-14 | 里塔尔有限责任两合公司 | Clamp for automatic wiring of electrical components of an electrical switching apparatus, corresponding robot and corresponding method |
| CN109906004A (en) * | 2019-03-29 | 2019-06-18 | 北京理工大学 | Self routing machine people |
| CN109917749A (en) * | 2019-03-29 | 2019-06-21 | 北京理工大学 | The wiring method and device of automatic control |
| CN109917749B (en) * | 2019-03-29 | 2020-12-04 | 北京理工大学 | Automatic control wiring method and device |
| CN109906004B (en) * | 2019-03-29 | 2024-05-24 | 北京理工大学 | Automatic wiring robot |
| WO2020237476A1 (en) * | 2019-05-27 | 2020-12-03 | 成都飞机工业（集团）有限责任公司 | Fixing device and fixing method for wire end during wire arrangement |
| CN112086901A (en) * | 2020-09-17 | 2020-12-15 | 青岛联合智造科技有限公司 | Intelligent electric power construction device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171107 |
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| CF01 | Termination of patent right due to non-payment of annual fee |