Application of robots in aviation harness automatic wiring equipment
The production of aviation harness features high labor intensity and low automaticity.Against this backdrop,the aviation harness automatic wiring equipment has been developed,which takes the wiring robot as the core actuator and automatically completes the entire wiring process,substantially improving the production efficiency of aviation harness and reducing the labor intensity.This paper investigates the two key links of laying inflection joint columns and wires in the production process of automatic wiring robot.Then,it proposes an inflection joint column insertion method and quadrant judgment routing trajectory planning method based on vision feedback,aiming to reduce the risk of inflection joint column insertion failure and address the problem of robot wiring trajectory planning.In our experiments,a total number of 1014 inflection joint columns are deployed,and no insertion failure has occurred.The deployment of a single inflection joint column is completed in 13.1～13.6 seconds and a total number of 1385 wires with a total length of about 10909 m are laid.The average wiring speed of simple structure harnesses reaches 0.875 m/s,and that of complex structural harnesses 0.652 m/s.
auto routingvision feedbackquadrant judgmenttrack planning
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