Methods and apparatus for routing wires of pre-assembled wire harness on form board
Methods and apparatus for automated routing of wires of a wire harness on a form board. A wire harness comprising a wire end connector and a multiplicity of groups of wires is supported and carried by a carrier end effector mounted to an end of a first robotic arm. The wire groups are accessed and then routed on the form board by a routing end effector mounted to an end of a second robotic arm. Initially a wire gripper of the routing end effector is opened. The second robotic arm is then controlled to move the routing end effector so that respective first portions of all wire groups are accessible for gripping by the wire gripper. Then the wire gripper is closed to grip the first portions of wires. Then the second robotic arm is controlled to move the routing end effector to place second portions of the wires of all wire groups in a first elastic retainer wire routing device attached to the form board. Thereafter, the routing end effector routes the first group of wires through a second elastic retainer wire routing device and then routes the second group of wires through a third elastic retainer wire routing device.
1 . A routing end effector comprising:
a housing assembly comprising a hook housing that forms a distal end of the housing assembly, wherein the hook housing comprises internal surfaces which define a channel and a pair of concave curved external surfaces which define a cradle at the distal end of the housing assembly;
a stop block affixed to the hook housing and disposed within the channel, wherein the stop block comprises a convex curved external surface disposed adjacent to the cradle;
a linear actuator which is supported by the housing assembly, wherein the linear actuator comprises a linearly displaceable member; and
a hook which is coupled to the linearly displaceable member, wherein the hook is linearly displaceable in conjunction with the linearly displaceable member in a range from an open position at which a curved section of the hook projects forward of the cradle to a closed position at which the curved section of the hook does not project forward of the cradle,
wherein the stop block, cradle, and hook are configured and arranged such that, as the hook approaches the closed position, the convex curved external surface of the stop block and the curved section of the hook grip any intervening segments of wires which are spanning the cradle.
2 . The routing end effector as recited in claim 1 , wherein the hook further comprises a free end which overlies or underlies the stop block when the hook is in the closed position.
3 . The routing end effector as recited in claim 2 , wherein the free end of the hook and the distal end of the hook housing define a gap when the hook is in the open position, wherein the gap is closed when the hook is disposed at a containment position, and wherein the containment position is between the open position and the closed position.
4 . The routing end effector as recited in claim 1 , wherein a peak of the convex curved external surface of the stop block is level with respective troughs of the pair of concave curved external surfaces which define the cradle.
5 . The routing end effector as recited in claim 1 , wherein the linear actuator is a first pneumatic actuator and the linearly displaceable member is a first piston rod to which the hook is coupled.
6 . The routing end effector as recited in claim 5 , wherein the routing end effector further comprises a second pneumatic actuator comprising a second piston rod.
7 . The routing end effector as recited in claim 6 , further comprising a linear bearing assembly comprising a guide which is mounted inside the channel of the hook housing.
8 . The routing end effector as recited in claim 5 , wherein the hook housing further comprises:
a circular disk integrally formed with the side walls and having an opening; and
a pair of mutually parallel mounting flanges which project from a bottom of the disk,
wherein the first pneumatic actuator is fastened to the mounting flanges.
9 . The routing end effector as recited in claim 5 , wherein the routing end effector further comprises an actuator coupler which couples the first pneumatic actuator to the second piston rod.
10 . The routing end effector as recited in claim 9 , further comprising a linear bearing assembly comprising a carriage which is slidably coupled to the guide, wherein the hook is coupled to the carriage.
11 . The routing end effector as recited in claim 1 , wherein the linear actuator comprises an electric motor and a rotary-to-linear motion conversion mechanism, and wherein the rotary-to-linear motion conversion mechanism comprises a rotatable component which is driven to rotate by the electric motor and the linearly displaceable component to which the hook is coupled.
12 . The routing end effector as recited in claim 1 , wherein the hook housing comprises a pair of side walls having respective distal edges comprising the respective concave curved external surfaces which define the cradle.
13 . The routing end effector as recited in claim 12 , further comprising a wedge feature which projects from an external surface of one of the sidewalls adjacent to the trough of one of the concave curved external surfaces which define the cradle.
14 . The routing end effector as recited in claim 13 , wherein the wedge feature comprises a cylindrical body having a curved external surface.
15 . A routing end effector comprising:
a housing assembly comprising a hook housing that forms a distal end of the housing assembly, wherein the hook housing comprises internal surfaces which define a channel and a pair of concave curved external surfaces which define a cradle at the distal end of the housing assembly;
a stop block affixed to the hook housing and disposed within the channel, wherein the stop block comprises a convex curved external surface disposed adjacent to the cradle;
a first pneumatic actuator comprising a first cylinder affixed to the housing assembly and a first piston rod which is linearly displaceable relative to the first cylinder;
a second pneumatic actuator comprising a second cylinder which is linearly displaceable relative to the housing assembly and a second piston rod which is linearly displaceable relative to the second cylinder;
an actuator coupler which couples the second cylinder to the first piston rod; and
a hook which is coupled to the second piston rod,
wherein the hook is linearly displaceable in conjunction with the second piston rod in a range from an open position at which the hook projects forward of the hook housing to a closed position at which the hook is disposed inside the channel of the hook housing; and
wherein the stop block, cradle, and hook are configured and arranged such that, as the hook approaches the closed position, the convex curved external surface of the stop block and the curved section of the hook grip any intervening segments of wires which are spanning the cradle.
16 . The routing end effector as recited in claim 15 , wherein the hook comprises a curved section having a free end which overlies or underlies the stop block when the hook is in the closed position.
17 . The routing end effector as recited in claim 16 , wherein the free end of the hook and the distal end of the hook guide define a gap when the hook is in the open position, wherein the gap is closed when the hook is disposed at a containment position, and wherein the containment position is between the open position and the closed position.
18 . The routing end effector as recited in claim 15 , further comprising a bearing assembly disposed inside the housing assembly, wherein the bearing assembly supports the second pneumatic actuator during linear displacement of the second cylinder.
19 . An apparatus for automated routing of wires of a wire harness assembly on a form board, the apparatus comprising:
a robotic arm having a distal end;
a routing end effector rotatably coupled to the distal end of the robotic arm; and
a robot controller configured to control movement of the robotic arm and rotation of the routing end effector relative to the robotic arm,
wherein the routing end effector comprises:
a housing assembly comprising a hook housing that forms a distal end of the housing assembly, wherein the hook housing comprises internal surfaces which define a channel and a pair of concave curved external surfaces which define a cradle at the distal end of the housing assembly;
a linear actuator which is supported by the housing assembly, wherein the linear actuator comprises a linearly displaceable member;
a stop block affixed to the hook housing and disposed within the channel, wherein the stop block comprises a convex curved external surface disposed adjacent to the cradle; and
a hook which is coupled to the linearly displaceable member,
wherein the hook is linearly displaceable in conjunction with the linearly displaceable member in a range from an open position at which the hook projects forward of the hook housing to a closed position at which the hook is disposed inside the channel of the hook housing;
wherein the robot controller is further configured to control linear displacement of the hook by sending activation commands to the linear actuator; and
wherein the stop block, cradle, and hook are configured and arranged such that as the hook approaches the closed position, the convex curved external surface of the stop block and the curved section of the hook grip any intervening segments of wires which are spanning the cradle.
20 . The apparatus as recited in claim 19 , wherein the robot controller is further configured to control linear displacement of the hook to adopt any one of three states comprising:
an open state in which the linearly displaceable member of the linear actuator is extended to the open position and a gap exists between the hook housing and a free end of the hook;
a closed state in which the linearly displaceable member of the linear actuator is retracted toward the closed position so that any intervening wire segments are gripped; and
a containment state in which the linearly displaceable member of the linear actuator is disposed at an intermediate position between the open and closed positions so that any captured wire segments are contained.