Development Of Control System For Wire Harness Warpping Equipment Based On Industrial Robot

Wire harness is the basic component of electrical equipment,which is widely used in various household appliances and automation equipment.Because of the variety of wire harness,the structure forms are various.The wrapping process of wire harness is usually processed manually.At present,most of the equipment used for wire harness tape wrapping at home and abroad are semi-automatic products,which can relieve the burden of operators to some extent,but the automatic processing of wire harness tape wrapping cannot be realized.Industrial robot is an important tool for automatic and intelligent production in modern industry.This research group has designed and developed a kind of automatic wire harness coating equipment based on industrial robot.This paper first introduces the basic composition of automatic wiring harnesses coating equipment based on industrial robots,then analyzes and summarizes the technical requirements and process requirements of wiring harnesses coating,and designs the control system according to the characteristics of automatic wiring harnesses coating equipment.According to the design idea and design scheme,this paper carries on the selection design to the hardware used.In order to meet the technical indicators and related technological requirements of wire harness wrapping,this paper designed the robot's end-effector and the control device of wiring board,and used PLC as the lower machine to coordinate the action of industrial robot,end-effector and wiring board,and realized the wiring harness wrapping action under different technological requirements.In this paper,a mathematical model of wiring harness cladding motion is established,and the overall structure of the control system software based on the automatic wiring harness cladding equipment of industrial robots is proposed.The traditional ant colony algorithm is used to optimize the enveloping path,and Matlab is used to calculate the optimal path,and the interface of fast ant colony algorithm is designed.The system is operated by human machine interface(HMI)to realize the function of automating the coating of wiring harnesses,and achieve the design requirements of reducing production cost and improving production efficiency.Finally,according to the design scheme for construction,installation and connection of each part of the hardware and corresponding debugging.