US 12,030,193 B2
Method for robot-assisted wiring of electrical components of an electrical switchgear arranged on a mounting plate
Andreas Michael Bächler, Haiger (DE)
Assigned to RITTAL GMBH & CO. KG, (DE)
Appl. No. 17/416,640
Filed by RITTAL GMBH & CO. KG, Herborn (DE)
PCT Filed Nov. 27, 2019, PCT No. PCT/DE2019/101017
§ 371(c)(1), (2) Date Jun. 21, 2021,
PCT Pub. No. WO2020/125851, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 10 2018 133 319.6 (DE), filed on Dec. 21, 2018.
Prior Publication US 2022/0072713 A1, Mar. 10, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); H02B 1/20 (2006.01); H02B 3/00 (2006.01)
CPC B25J 9/1687 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1671 (2013.01); B25J 9/1682 (2013.01); B25J 13/08 (2013.01); H02B 1/202 (2013.01); H02B 3/00 (2013.01); G05B 2219/40519 (2013.01); G05B 2219/45097 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for robotically wiring electrical components of an electrical switchgear arranged on a mounting plate, comprising:
Providing a planning of a switchgear comprising at least location information and orientation information about a plurality of electrical components of the switchgear on a mounting plate and wiring information about a plurality of electrical wirings between every two of the electrical components;
Extracting a cable routing including a cable source coordinate, a cable destination coordinate, and a routing path between the cable source coordinate and the cable destination coordinate from the wiring information for at least one of the plurality of wirings;
Generating trajectory and/or vector points along the cable routing and parameterizing the trajectory and/or vector points to generate a robot controller;
Controlling a robot with the robot controller; and
Applying a test routine to the wiring information to determine a degree of automation of the wirings, and adjusting the wiring information to maximize the degree of automation.