EP0348615B1 - Process for automatically mounting electrical conductors with contact elements in connector shells - Google Patents

Process for automatically mounting electrical conductors with contact elements in connector shells Download PDF

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Publication number
EP0348615B1
EP0348615B1 EP89106835A EP89106835A EP0348615B1 EP 0348615 B1 EP0348615 B1 EP 0348615B1 EP 89106835 A EP89106835 A EP 89106835A EP 89106835 A EP89106835 A EP 89106835A EP 0348615 B1 EP0348615 B1 EP 0348615B1
Authority
EP
European Patent Office
Prior art keywords
gripper
electrical conductor
contact part
plug housing
cable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP89106835A
Other languages
German (de)
French (fr)
Other versions
EP0348615A1 (en
Inventor
Max Dipl.-Ing. Eth Koch
Alois Lustenberger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komax AG
Original Assignee
Komax AG
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Filing date
Publication date
Application filed by Komax AG filed Critical Komax AG
Publication of EP0348615A1 publication Critical patent/EP0348615A1/en
Application granted granted Critical
Publication of EP0348615B1 publication Critical patent/EP0348615B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/49117—Conductor or circuit manufacturing
    • Y10T29/49174—Assembling terminal to elongated conductor
    • Y10T29/49181—Assembling terminal to elongated conductor by deforming
    • Y10T29/49185—Assembling terminal to elongated conductor by deforming of terminal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/5313—Means to assemble electrical device
    • Y10T29/532—Conductor
    • Y10T29/53209—Terminal or connector
    • Y10T29/53213—Assembled to wire-type conductor
    • Y10T29/53235—Means to fasten by deformation

Definitions

  • the invention relates to a method for automatically mounting electrical conductors with contact parts in a connector housing with a gripper system, wherein at least one gripping tool carried by a gripper grips at least one connector housing from a connector housing magazine, and a device for carrying out the method.
  • a device for mounting electrical conductors with contact parts in a connector housing has become known, for example, from DE-A-27 40 377.
  • This device in which a crimping device is combined with a plug-in device, is a so-called rigidly linked system.
  • the gripper moved by two piston cylinder units acting perpendicular to each other, the clamping station for a connector housing actuated by a further piston cylinder unit, the connector housing itself and further actuating and holding means are in an interdependent, rigid relationship which is determined by the design and by the predetermined movement paths of the device given is.
  • the invention has for its object to provide a method for assembling electrical conductors with contact parts in connector housings, or a device for performing this method, with which the same or different connector housings with electrical conductors with the same or different contact parts can be fitted fully automatically with the help of an industrial robot can.
  • the advantages achieved by the invention are essentially to be seen in the fact that a single work cycle is sufficient for supplying several identical or different connector housings, for example for the production of a cable harness with three different connector housings on each side, etc. It is also more advantageous for the joining process to plug the connector housing onto the contact parts of the electrical conductors held in a rest position at the end of a processing line. It is then possible without loss of cycle time to bring each newly attached electrical conductor into a desired position by moving the connector housing relative to a fixed stripping device, so that the path is clear for mounting the connector housing on the contact parts of further electrical conductors. Another advantage is that each individual cable harness can be monitored and checked on the one hand when plugging in, and on the other hand during the pull-off test by moving the connector housing, also without loss of cycle time. Another advantage is that program changes can be made at any time and very quickly.
  • the industrial robot 1 has a gripper arm 2 and a gripper 3.
  • Different gripping tools 4 for a plug housing 5 or for several identical or different plug housings 5 can be gripped with the gripper 3.
  • the gripping tools 4 are arranged in a tool magazine 6 in the area of the gripper arm 2, as are the connector housings 5, which are stored in connector housing magazines 7, 7.1, 7.2, 7.3 lying next to one another in parallel and are automatically tracked each time they are removed. With the help of the gripping tool 4, several plug housings 5 can be picked up by the gripper 3 of the industrial robot 1 at the same time.
  • the contact parts 8.1, 8.2 of an electrical conductor 8 are prepared in a processing line 9 which is not part of the subject matter of the invention and are moved forward in cycles by individual transfer modules 10. At the end of the processing line 9, the two contact parts 8.1, 8.2 of the electrical conductor 8 are taken over by a double gripper 11 and kept in a rest position for further processing.
  • the double gripper 11 consists of two outer gripper pairs 11.1 and two inner gripper pairs 11.2. All pairs of grippers 11.1, 11.2 can be moved and controlled independently of one another.
  • the outer pair of grippers 11.1 holds a prepared contact part 8.1, 8.2 of the electrical conductor 8 in such a way that the corresponding recess in the plug housing 5 and a contact part 8.1, 8.2 of the electrical conductor 8 can be joined together; in the case of crimp contacts, the outer pair of grippers 11.1 thus grips in the rear region of the insulation crimp, while the inner pair of grippers 11.2 grips even further back in the region of the insulation of the electrical conductor 8.
  • a fixed wiper 18 is arranged under the double gripper 11, which wipes off the inserted electrical conductors 8 by moving the gripper 3.
  • a storage device 12 for the Recording of the fully assembled cable harnesses 13 set up (Fig. 1), or a transport device 14, as shown in Fig. 2.
  • the transport device 14 can each consist of two extendable, parallel parallel superimposed pairs of rubber bands 15, 16. The rubber bands lying one above the other are driven with different directions of rotation.
  • the cable harnesses 13 are clamped in the stretched state, if possible, between the two central rubber band strands running in the same direction and taken along.
  • at least one binding device 17 can also be set up to bind the finished cable harnesses.
  • the device described here works as follows: on the processing line 9 of an independent cable processing station, the contact parts 8.1, 8.2 of electrical conductors 8 are prepared for the production of cable harnesses 13. At the end of the processing line 9, the contact parts 8.1, 8.2 of the electrical conductors 8 are brought into the desired position by a centering module (not shown) and taken over by the rotatable transfer module 10 with the double grippers 11 for the production of cable harnesses 13. The prepared contact part 8.1, 8.2 is held in a rest position by the outer pair of grippers 11.1 of the double gripper 11 in the area of the insulation crimp and by the inner pair of grippers 11.2 somewhat further inward, in the area of the insulation of the electrical conductor 8.
  • the device set up outside the cable processing station for the automatic assembly of the electrical conductors 8 and the connector housing 5 is in the meantime being prepared for equipping the connector housing 5.
  • the gripper 3 of the industrial robot 1 can grip from the tool magazine 6 the gripping tool 4 corresponding to the intended wiring harness production for receiving the desired connector housing 5, or it will become the gripping tool, since it is only in the case of complete program changes and is therefore proportionate rarely needs to be replaced, attached to the gripper 3 by hand.
  • the gripper arm 2 of the industrial robot 1 swivels to the side of the connector housing magazines 7.1, 7.2, 7.3 arranged in parallel and the gripping tool 4 grips the intended number of connector housings 5.
  • the connector housings 5 removed from the connector housing magazines 7.1, 7.2, 7.3 are replaced by automatically inserted connector housings 5.
  • the gripper arm 2 moves with the gripped connector housings 5 in front of the first contact part 8.1 of the electrical conductor 8 held by a double gripper 11.
  • the axis of the specific recess of the plug housing 5 is aligned with the axis of the held contact part 8.1 of the electrical conductor 8.
  • the gripper 3 now moves with the gripping tool 4 and the plug housing 5 in the axial direction against the contact part 8.1 of the electrical conductor 8 until the contact part 8.1 of the electrical conductor 8 engages in the recess.
  • the one outer pair of grippers 11.1 of the double gripper 11 opens and clears the way so that the connector housing 5 can be pushed entirely onto the contact part 8.1.
  • a pulling movement in the opposite direction with a traction force set and monitored by a sensor checks that the contact point is securely seated, whereupon the inner pair of grippers 11.2 of the double gripper 11 also releases the contact part 8.1.
  • the other contact part 8.2 of the electrical conductor 8 can be fitted with a plug housing 5 at the same time with the aid of a second industrial robot 1, or the electrical conductor 8 is rotated with the help of the rotary module 10 after the fitting of the first contact part 8.1 in a horizontal plane by 180 ° , the second contact part 8.2 being equipped, for example, with a second connector housing 5 of the same industrial robot 1.
  • the gripper moves with the connector housings in such a way that the electrical conductor 8 of the contact part just inserted, possibly together with all the other already inserted electrical conductors 8, is deflected by the fixed wiper 18 so that the necessary space for plugging in further contact parts 8.1, 8.2 electrical conductors 8 is available.
  • Additional electrical connectors 8 are taken over by the double grippers 11 of the rotatable transfer module 10 and combined with plug housings in the same manner described above until all the desired recesses in the plug housing 5 are provided with electrical conductors 8 and a fully assembled cable harness 13 is formed.
  • the finished cable harness 13 can now, for example according to FIG. 1, be placed from the gripper arm 2 into a storage device 12, for example into a tub or, according to FIG. 2, transferred to a transport device 14, the fully equipped cable harness 13 in this case by both Industrial robots 1 is placed between the two middle strands of the rubber bands of the transport device 14 with the aid of the mounted plug housing 5 with electrical conductors 8 that are as extended as possible.
  • the two parallel runs capture the wire harness 13 and transport it to a collection point.
  • the horizontal distance between the two pairs of rubber bands 15, 16 lying one above the other, which is dependent on the length of the electrical connectors 8, can be set beforehand.
  • a binding device 17 can also be activated, which ties the stretched part of the cable harness 13 cleanly at any point. It is but also possible to release the industrial robot faster for other manipulations or shorter cycle times, to provide an additional device in front of the transport device, which takes over the cable harness from the robot to carry out further operations without loss of cycle time for the robot, such as overall electrical testing, labeling of connector housings or for closing protective covers belonging to the plug housings etc. The same additional device would then also be responsible for the subsequent transfer of the cable harnesses to the transport device.
  • each individual plug connector 8 is exposed to a likewise predetermined tensile force. If the pulling force is not reached during the pull-off test, this means a poor contact fit and the tested electrical conductor 8, possibly with other connections already plugged in, is also eliminated.
  • a cross conveyor belt or just a collection container could be arranged under the plug-in device for the disposal of any parts of the cable harness that have been removed.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Manipulator (AREA)

Description

Die Erfindung betrifft ein Verfahren zum automatischen Montieren von elektrischen Leitern mit Kontaktteilen in Steckergehäuse mit einem Greifer-System, wobei mindestens ein von einem Greifer getragenes Greifwerkzeug von einem Steckergehäusemagazin mindestens ein Steckergehäuse ergreift, und eine Vorrichtung zur Durchführung des Verfahrens.The invention relates to a method for automatically mounting electrical conductors with contact parts in a connector housing with a gripper system, wherein at least one gripping tool carried by a gripper grips at least one connector housing from a connector housing magazine, and a device for carrying out the method.

Eine Vorrichtung zum Montieren von elektrischen Leitern mit Kontaktteilen in Steckergehäuse, wie es im Oberbegriff des ersten Anspruchs erwähnt ist, ist beispielsweise mit der DE-A-27 40 377 bekanntgeworden. Diese Vorrichtung, bei welcher eine Crimpvorrichtung mit einer Zusammensteckvorrichtung kombiniert wird, ist ein sogenanntes starr verkettetes System. Der durch zwei senkrecht zueinander wirkende Kolbenzylindereinheiten bewegte Greifer, die durch eine weitere Kolbenzylindereinheit betätigte Spannstation für ein Steckergehäuse, das Steckergehäuse selbst und weitere Betätigungs- und Haltemittel stehen in einer voneinander abhängigen, starren Beziehung, welche durch die Bauart und durch die vorbestimmten Bewegungsbahnen der Vorrichtung gegeben ist. Mit der offenbarten Vorrichtung ist eine flexible Montage von beliebigen Kontaktteilen mit Leitern in beliebige Steckergehäuse nicht möglich.A device for mounting electrical conductors with contact parts in a connector housing, as mentioned in the preamble of the first claim, has become known, for example, from DE-A-27 40 377. This device, in which a crimping device is combined with a plug-in device, is a so-called rigidly linked system. The gripper moved by two piston cylinder units acting perpendicular to each other, the clamping station for a connector housing actuated by a further piston cylinder unit, the connector housing itself and further actuating and holding means are in an interdependent, rigid relationship which is determined by the design and by the predetermined movement paths of the device given is. With the disclosed device, a flexible assembly of any contact parts with conductors in any connector housing is not possible.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Montage von elektrischen Leitern mit Kontaktteilen in Steckergehäusen, bzw. eine Vorrichtung zur Durchführung dieses Verfahrens vorzuschlagen, mit denen gleiche oder unterschiedliche Steckergehäuse mit elektrischen Leitern mit gleichen oder unterschiedlichen Kontaktteilen mit Hilfe eines Industrieroboters vollautomatisch bestückt werden können.The invention has for its object to provide a method for assembling electrical conductors with contact parts in connector housings, or a device for performing this method, with which the same or different connector housings with electrical conductors with the same or different contact parts can be fitted fully automatically with the help of an industrial robot can.

Diese Aufgabe wird durch das im Anspruch 1 gekennzeichnete Verfahren und die im Anspruch 8 gekennzeichnete Vorrichtung gelöst.This object is achieved by the method characterized in claim 1 and the device characterized in claim 8.

Die durch die Erfindung erreichten Vorteile sind im wesentlichen darin zu sehen, dass ein einziger Arbeitstakt für das Zuführen mehrerer gleicher oder unterschiedlicher Steckergehäuse genügt, beispielsweise für die Fertigung eines Kabelbaumes mit auf beiden Seiten je drei unterschiedlichen Steckergehäusen etc. Zudem ist es für den Fügevorgang vorteilhafter, die Steckergehäuse an die am Ende einer Bearbeitungsstrasse in einer Ruhelage gehaltenen Kontaktteile der elektrischen Leiter aufzustecken. Ohne Taktzeitverlust ist es anschliessend möglich, jeden neu aufgesteckten elektrischen Leiter nur durch eine entsprechende Bewegung der Steckergehäuse relativ zu einer festen Abstreifvorrichtung in eine gewünschte Lage zu bringen, damit der Weg frei ist für die Montage der Steckergehäuse an die Kontaktteile weiterer elektrischer Leiter. Ein weiterer Vorteil liegt auch darin, dass jeder einzelne Kabelstrang einerseits beim Aufstecken, anderseits beim Abzugstest durch die Bewegung der Steckergehäuse, ebenfalls ohne Taktzeitverlust, überwacht und geprüft werden kann. Ein weiterer Vorteil liegt noch darin, dass Programmänderungen jederzeit und sehr schnell möglich sind.The advantages achieved by the invention are essentially to be seen in the fact that a single work cycle is sufficient for supplying several identical or different connector housings, for example for the production of a cable harness with three different connector housings on each side, etc. It is also more advantageous for the joining process to plug the connector housing onto the contact parts of the electrical conductors held in a rest position at the end of a processing line. It is then possible without loss of cycle time to bring each newly attached electrical conductor into a desired position by moving the connector housing relative to a fixed stripping device, so that the path is clear for mounting the connector housing on the contact parts of further electrical conductors. Another advantage is that each individual cable harness can be monitored and checked on the one hand when plugging in, and on the other hand during the pull-off test by moving the connector housing, also without loss of cycle time. Another advantage is that program changes can be made at any time and very quickly.

Auf beiliegender Zeichnung ist ein Ausführungsbeispiel der Erfindung dargestellt, das im folgenden näher erläutert wird. Es zeigen:

Fig. 1
einen Aufriss einer Vorrichtung zum automatischen Montieren von Steckergehäusen und elektrischen Leitern mit Kontaktteilen mit einem Industrieroboter und einem drehbaren Greifermodul und
Fig. 2
einen Grundriss einer Vorrichtung zum automatischen Montieren von Steckergehäusen und elektrischen Leitern mit Kontaktteilen mit zwei Industrierobotern und einer Transportvorrichtung für den Wegtransport der fertigen Kabelbäume in teilweise ausgestrecktem Zustand.
An exemplary embodiment of the invention is illustrated in the accompanying drawing, which is explained in more detail below. Show it:
Fig. 1
an elevation of a device for automatically assembling connector housings and electrical conductors with contact parts with an industrial robot and a rotatable gripper module and
Fig. 2
a floor plan of a device for automatically assembling connector housings and electrical conductors with contact parts with two industrial robots and a transport device for transporting away the finished cable harnesses in a partially extended state.

In den Fig. 1 und 2 ist mit 1 ein Industrieroboter bezeichnet. Der Industrieroboter 1 weist einen Greiferam 2 und einen Greifer 3 auf. Mit dem Greifer 3 sind verschiedene Greifwerkzeuge 4 für ein Steckergehäuse 5 oder für mehrere gleiche oder verschiedene Steckergehäuse 5 greifbar. Die Greifwerkzeuge 4 sind in einem Werkzeugmagazin 6 im Bereich des Greiferarmes 2 angeordnet, ebenso die Steckergehäuse 5, welche in parallel nebeneinanderliegenden Steckergehäusemagazinen 7, 7.1, 7.2, 7.3 lagern und bei jeder Entnahme automatisch nachgeführt werden. Mit Hilfe des Greifwerkzeuges 4 können gleichzeitig mehrere Steckergehäuse 5 vom Greifer 3 des Industrieroboters 1 aufgenommen werden. Die Kontaktteile 8.1, 8.2 eines elektrischen Leiters 8 werden in einer nicht zum Erfindungsgegenstand gehörenden Bearbeitungsstrasse 9 vorbereitet und durch einzelne Transfermodule 10 taktweise vorwärtsbewegt. Am Ende der Bearbeitungsstrasse 9 werden beide Kontaktteile 8.1, 8.2 des elektrischen Leiters 8 durch einen Doppelgreifer 11 übernommen und für die weitere Verarbeitung in einer Ruhelage gehalten. Der Doppelgreifer 11 besteht aus zwei äusseren Greiferpaaren 11.1 und zwei inneren Greiferpaaren 11.2. Alle Greiferpaare 11.1, 11.2 sind unabhängig voneinander beweg-und steuerbar. Das äussere Greiferpaar 11.1 fasst ein vorbereitetes Kontaktteil 8.1, 8.2 des elektrischen Leiters 8 derart, dass die entsprechende Aussparung des Steckergehäuses 5 und ein Kontaktteil 8.1, 8.2 des elektrischen Leiters 8 aneinandergefügt werden können; bei Crimpkontakten fasst das äussere Greiferpaar 11.1 somit im hinteren Bereich des Isolationscrimps, während das innere Greiferpaar 11.2 noch weiter hinten im Bereich der Isolation des elektrischen Leiters 8 greift. Unter dem Doppelgreifer 11 ist ein fester Abstreifer 18 angeordnet, welcher durch eine Bewegung des Greifers 3 die gesteckten elektrischen Leiter 8 abstreift.1 and 2, 1 denotes an industrial robot. The industrial robot 1 has a gripper arm 2 and a gripper 3. Different gripping tools 4 for a plug housing 5 or for several identical or different plug housings 5 can be gripped with the gripper 3. The gripping tools 4 are arranged in a tool magazine 6 in the area of the gripper arm 2, as are the connector housings 5, which are stored in connector housing magazines 7, 7.1, 7.2, 7.3 lying next to one another in parallel and are automatically tracked each time they are removed. With the help of the gripping tool 4, several plug housings 5 can be picked up by the gripper 3 of the industrial robot 1 at the same time. The contact parts 8.1, 8.2 of an electrical conductor 8 are prepared in a processing line 9 which is not part of the subject matter of the invention and are moved forward in cycles by individual transfer modules 10. At the end of the processing line 9, the two contact parts 8.1, 8.2 of the electrical conductor 8 are taken over by a double gripper 11 and kept in a rest position for further processing. The double gripper 11 consists of two outer gripper pairs 11.1 and two inner gripper pairs 11.2. All pairs of grippers 11.1, 11.2 can be moved and controlled independently of one another. The outer pair of grippers 11.1 holds a prepared contact part 8.1, 8.2 of the electrical conductor 8 in such a way that the corresponding recess in the plug housing 5 and a contact part 8.1, 8.2 of the electrical conductor 8 can be joined together; in the case of crimp contacts, the outer pair of grippers 11.1 thus grips in the rear region of the insulation crimp, while the inner pair of grippers 11.2 grips even further back in the region of the insulation of the electrical conductor 8. A fixed wiper 18 is arranged under the double gripper 11, which wipes off the inserted electrical conductors 8 by moving the gripper 3.

Anschliessend an die Vorrichtung zum automatischen Montieren der Steckergehäuse 5 und der elektrischen Leiter 8 mit den Kontaktteilen 8.1, 8.2 kann eine Ablagevorrichtung 12 für die Aufnahme der fertig zusammengefügten Kabelbäume 13 aufgestellt sein (Fig. 1), oder eine Transportvorrichtung 14, wie sie in Fig. 2 dargestellt ist. Die Transportvorrichtung 14 kann aus je zwei auseinanderfahrbaren, je parallel übereinanderliegenden endlosen Gummibandpaaren 15, 16 bestehen. Die übereinanderliegenden Gummibänder sind mit unterschiedlichem Drehsinn angetrieben. Die Kabelbäume 13 werden möglichst im gestreckten Zustand zwischen den beiden mittleren, in der gleichen Richtung laufenden Gummibandtrums eingeklemmt und mitgenommen. Am Anfang der Transportvorrichtung kann auch mindestens eine Abbindvorrichtung 17 zum Abbinden der fertig erstellten Kabelbäume aufgestellt sein.Following the device for automatically mounting the plug housing 5 and the electrical conductor 8 with the contact parts 8.1, 8.2, a storage device 12 for the Recording of the fully assembled cable harnesses 13 set up (Fig. 1), or a transport device 14, as shown in Fig. 2. The transport device 14 can each consist of two extendable, parallel parallel superimposed pairs of rubber bands 15, 16. The rubber bands lying one above the other are driven with different directions of rotation. The cable harnesses 13 are clamped in the stretched state, if possible, between the two central rubber band strands running in the same direction and taken along. At the beginning of the transport device, at least one binding device 17 can also be set up to bind the finished cable harnesses.

Die vorliegend beschriebene Vorrichtung arbeitet wie folgt: Auf der Bearbeitungsstrasse 9 einer unabhängigen Kabelbearbeitungsstation werden die Kontaktteile 8.1, 8.2 von elektrischen Leitern 8 für die Herstellung von Kabelbäumen 13 vorbereitet. Am Ende der Bearbeitungsstrasse 9 werden die Kontaktteile 8.1, 8.2 der elektrischen Leiter 8 durch ein nicht dargestelltes Zentriermodul in die gewünschte Lage gebracht und vom drehbaren Transfermodul 10 mit den Doppelgreifern 11 für die Herstellung von Kabelbäumen 13 übernommen. Der vorbereitete Kontaktteil 8.1, 8.2 wird dabei je vom äusseren Greiferpaar 11.1 des Doppelgreifers 11 im Bereich des Isolationscrimps und je vom inneren Greiferpaar 11.2 etwas weiter innen, im Bereich der Isolation des elektrischen Leiters 8, in einer Ruhelage gehalten. Die ausserhalb der Kabelverarbeitungsstation aufgestellte Vorrichtung für das automatische Montieren der elektrischen Leiter 8 und der Steckergehäuse 5 wird in der Zwischenzeit für die Bestückung der Steckergehäuse 5 vorbereitet. Der Greifer 3 des Industrieroboters 1 kann vom Werkzeugmagazin 6 das für die vorgesehene Kabelbaumfertigung entsprechende Greifwerkzeug 4 für die Aufnahme der gewünschten Steckergehäuse 5 ergreifen oder das Greifwerkzeug wird, da es nur bei ganzen Programmänderungen und somit verhältnismässig selten ausgetauscht werden muss, von Hand am Greifer 3 angebracht. Der Greiferarm 2 des Industrieroboters 1 schwenkt auf die Seite der parallel angeordneten Steckergehäusemagazine 7.1, 7.2, 7.3 und das Greifwerkzeug 4 ergreift die vorgesehene Anzahl Steckergehäuse 5. Die aus den Steckergehäusemagazinen 7.1, 7.2, 7.3 entfernten Steckergehäuse 5 werden durch automatisch nachgeschobene Steckergehäuse 5 ersetzt. Der Greiferarm 2 verschiebt sich mit den gefassten Steckergehäusen 5 vor den ersten, durch einen Doppelgreifer 11 gehaltenen Kontaktteil 8.1 des elektrischen Leiters 8. Dabei fluchtet die Achse der bestimmten Aussparung des Steckergehäuses 5 mit der Achse des gehaltenen Kontaktteiles 8.1 des elektrischen Leiters 8. Der Greifer 3 verschiebt sich nun mit dem Greifwerkzeug 4 und den Steckergehäusen 5 in der Achsrichtung gegen den Kontaktteil 8.1 des elektrischen Leiters 8, bis der Kontaktteil 8.1 des elektrischen Leiters 8 in die Aussparung eingreift. Das eine äussere Greiferpaar 11.1 des Doppelgreifers 11 öffnet sich und gibt den Weg frei, damit das Steckergehäuse 5 gänzlich auf den Kontaktteil 8.1 aufgeschoben werden kann. Eine Abzugbewegung in der Gegenrichtung mit einer von einem Sensor überwachten, eingestellten Zugkraft prüft den sicheren Sitz der Kontaktstelle, worauf auch das innere Greiferpaar 11.2 des Doppelgreifers 11 den Kontaktteil 8.1 frei gibt. Der andere Kontaktteil 8.2 des elektrischen Leiters 8 kann gleichzeitig mit Hilfe eines zweiten Industrieroboters 1 mit einem Steckergehäuse 5 bestückt werden, oder der elektrische Leiter 8 wird mit Hilfe des Drehmoduls 10 anschliessend an die Bestückung des ersten Kontaktteiles 8.1 in einer horizontalen Ebene um 180° gedreht, wobei das zweite Kontaktteil 8.2 beispielsweise mit einem zweiten Steckergehäuse 5 des gleichen Industrieroboters 1 ausgerüstet wird. Während der zweite Kontaktteil 8.2 des elektrischen Leiters 8 dem Steckergehäuse zugedreht oder ein weiterer neuer elektrischer Leiter 8 zugeführt wird, bewegt sich der Greifer mit den Steckergehäusen derart, dass der elektrische Leiter 8 des soeben gesteckten Kontaktteiles, eventuell zusammen mit allen übrigen bereits gesteckten elektrischen Leitern 8, von dem fest angeordneten Abstreifer 18 abgelenkt wird, damit der nötige Freiraum zum Stecken weiterer Kontaktteile 8.1, 8.2 elektrischer Leiter 8 vorhanden ist.The device described here works as follows: on the processing line 9 of an independent cable processing station, the contact parts 8.1, 8.2 of electrical conductors 8 are prepared for the production of cable harnesses 13. At the end of the processing line 9, the contact parts 8.1, 8.2 of the electrical conductors 8 are brought into the desired position by a centering module (not shown) and taken over by the rotatable transfer module 10 with the double grippers 11 for the production of cable harnesses 13. The prepared contact part 8.1, 8.2 is held in a rest position by the outer pair of grippers 11.1 of the double gripper 11 in the area of the insulation crimp and by the inner pair of grippers 11.2 somewhat further inward, in the area of the insulation of the electrical conductor 8. The device set up outside the cable processing station for the automatic assembly of the electrical conductors 8 and the connector housing 5 is in the meantime being prepared for equipping the connector housing 5. The gripper 3 of the industrial robot 1 can grip from the tool magazine 6 the gripping tool 4 corresponding to the intended wiring harness production for receiving the desired connector housing 5, or it will become the gripping tool, since it is only in the case of complete program changes and is therefore proportionate rarely needs to be replaced, attached to the gripper 3 by hand. The gripper arm 2 of the industrial robot 1 swivels to the side of the connector housing magazines 7.1, 7.2, 7.3 arranged in parallel and the gripping tool 4 grips the intended number of connector housings 5. The connector housings 5 removed from the connector housing magazines 7.1, 7.2, 7.3 are replaced by automatically inserted connector housings 5. The gripper arm 2 moves with the gripped connector housings 5 in front of the first contact part 8.1 of the electrical conductor 8 held by a double gripper 11. The axis of the specific recess of the plug housing 5 is aligned with the axis of the held contact part 8.1 of the electrical conductor 8. The gripper 3 now moves with the gripping tool 4 and the plug housing 5 in the axial direction against the contact part 8.1 of the electrical conductor 8 until the contact part 8.1 of the electrical conductor 8 engages in the recess. The one outer pair of grippers 11.1 of the double gripper 11 opens and clears the way so that the connector housing 5 can be pushed entirely onto the contact part 8.1. A pulling movement in the opposite direction with a traction force set and monitored by a sensor checks that the contact point is securely seated, whereupon the inner pair of grippers 11.2 of the double gripper 11 also releases the contact part 8.1. The other contact part 8.2 of the electrical conductor 8 can be fitted with a plug housing 5 at the same time with the aid of a second industrial robot 1, or the electrical conductor 8 is rotated with the help of the rotary module 10 after the fitting of the first contact part 8.1 in a horizontal plane by 180 ° , the second contact part 8.2 being equipped, for example, with a second connector housing 5 of the same industrial robot 1. While the second contact part 8.2 of the electrical conductor 8 is turned towards the connector housing or another new electrical conductor 8 is fed, the gripper moves with the connector housings in such a way that the electrical conductor 8 of the contact part just inserted, possibly together with all the other already inserted electrical conductors 8, is deflected by the fixed wiper 18 so that the necessary space for plugging in further contact parts 8.1, 8.2 electrical conductors 8 is available.

Weitere elektrische Verbinder 8 werden von den Doppelgreifern 11 des drehbaren Transfermoduls 10 taktweise übernommen und in der gleichen, oben beschriebenen Art mit Steckergehäusen kombiniert, bis alle gewünschten Aussparungen der Steckergehäuse 5 mit elektrischen Leitern 8 versehen sind und ein fertig bestückter Kabelbaum 13 gebildet ist. Dazu ist es jeweils zusätzlich nötig, den Greifer 3 mit den Steckergehäusen von einer Aussparung der Steckergehäuse 5 zu einer beliebigen anderen zu verschieben, wobei die Achse der jeweiligen Aussparung mit der Achse des gefassten Kontaktteiles 8.1, 8.2 des elektrischen Leiters 8 fluchtend übereinstimmt.Additional electrical connectors 8 are taken over by the double grippers 11 of the rotatable transfer module 10 and combined with plug housings in the same manner described above until all the desired recesses in the plug housing 5 are provided with electrical conductors 8 and a fully assembled cable harness 13 is formed. For this purpose, it is additionally necessary in each case to move the gripper 3 with the plug housings from one recess in the plug housing 5 to any other, the axis of the respective recess coinciding with the axis of the mounted contact part 8.1, 8.2 of the electrical conductor 8.

Der fertige Kabelbaum 13 kann nun, beispielsweise gemäss Fig. 1, vom Greiferarm 2 in eine Ablagevorrichtung 12, beispielsweise in eine Wanne gelegt oder, gemäss Fig. 2, einer Transportvorrichtung 14 übergeben werden, wobei der fertig bestückte Kabelbaum 13 in diesem Falle von beiden Industrierobotern 1 mit Hilfe der gefassten Steckergehäuse 5 mit möglichst ausgestreckten elektrischen Leitern 8 zwischen die beiden mittleren Trums der Gummibänder der Transportvorrichtung 14 gelegt wird. Die beiden gleichlaufenden Trums erfassen den Kabelbaum 13 und transportieren ihn zu einer Sammelstelle. Der von der Länge der elektrischen Verbinder 8 abhängige, horizontale Abstand zwischen den beiden übereinander liegenden Gummibandpaaren 15, 16 kann vorgängig eingestellt werden.The finished cable harness 13 can now, for example according to FIG. 1, be placed from the gripper arm 2 into a storage device 12, for example into a tub or, according to FIG. 2, transferred to a transport device 14, the fully equipped cable harness 13 in this case by both Industrial robots 1 is placed between the two middle strands of the rubber bands of the transport device 14 with the aid of the mounted plug housing 5 with electrical conductors 8 that are as extended as possible. The two parallel runs capture the wire harness 13 and transport it to a collection point. The horizontal distance between the two pairs of rubber bands 15, 16 lying one above the other, which is dependent on the length of the electrical connectors 8, can be set beforehand.

Vor der Übergabe des Kabelbaums vom Industrieroboter 1 zur Transportvorrichtung 14 kann auch eine Abbindvorrichtung 17 angesteuert werden, welche den gestreckten Teil des Kabelbaums 13 an beliebiger Stelle sauber abbindet. Es ist aber auch möglich, um den Industrieroboter für andere Manipulationen oder kürzere Taktzeiten schneller freizusetzen, eine zusätzliche Einrichtung vor der Transportvorrichtung vorzusehen, welche den Kabelbaum vom Roboter übernimmt, um weitere Operationen, ohne Taktzeitverluste für den Roboter, durchzuführen, wie elektrische Gesamtprüfung, Beschriftung von Steckergehäusen oder für das Schliessen von zu den Steckergehäusen zugehörigen Schutzdeckeln etc. Die gleiche zusätzliche Einrichtung wäre dann auch zuständig für die anschliessende Ubergabe der Kabelbäume an die Transportvorrichtung.Before the cable harness is transferred from the industrial robot 1 to the transport device 14, a binding device 17 can also be activated, which ties the stretched part of the cable harness 13 cleanly at any point. It is but also possible to release the industrial robot faster for other manipulations or shorter cycle times, to provide an additional device in front of the transport device, which takes over the cable harness from the robot to carry out further operations without loss of cycle time for the robot, such as overall electrical testing, labeling of connector housings or for closing protective covers belonging to the plug housings etc. The same additional device would then also be responsible for the subsequent transfer of the cable harnesses to the transport device.

Es kann vorkommen, dass ein zentrierter und vom Doppelgreifer 11 richtig gefasster Kontaktteil 8.1, 8.1 des elektrischen Leiters 8 Mängel aufweist, welche das einwandfreie Aufstecken eines Steckergehäuses 5 auf den Kontaktteil 8.1, 8.1 verhindern, beispielsweise wenn Teile eines beschädigten Kontaktteiles vorstehen und am Körper des Steckergehäuses 5 anstehen. Störungen dieser Art werden dadurch ausgeschlossen, dass ein am Greifer 3 angeordneter, nicht dargestellter Sensor die Aufsteckkraft überwacht. Beim Überschreiten einer vorgegebenen Kraft wird, bevor eine weitere Beschädigung eintritt, eine Rückwärtsbewegung des Greifers 3 und ein erneuter Steckversuch eingeleitet. Scheitert auch der zweite, oder eventuell ein dritter Steckversuch, wird der defekte elektrische Leiter 8 ausgeschieden. Der gleiche, oder ein zusätzlicher Sensor wird zur Prüfung der zusammengefügten Steckverbindung eingesetzt, indem man jeden einzelnen gesteckten Verbinder 8 einer ebenfalls vorgegebenen Zugkraft aussetzt. Wird die Zugkraft beim Abzugtest nicht erreicht, bedeutet dies einen schlechten Kontaktsitz und der geprüfte elektrische Leiter 8, eventuell mit bereits gesteckten anderen Anschlüssen, wird ebenfalls ausgeschieden.It can happen that a centered and correctly gripped by the double gripper 11 contact part 8.1, 8.1 of the electrical conductor 8 has defects that prevent the proper plugging of a connector housing 5 onto the contact part 8.1, 8.1, for example if parts of a damaged contact part protrude and on the body of the Plug housing 5 in line. Malfunctions of this type are excluded in that a sensor (not shown) arranged on the gripper 3 monitors the push-on force. If a predetermined force is exceeded, before the further damage occurs, a backward movement of the gripper 3 and a new attempt to plug it in is initiated. If the second, or possibly a third, connection attempt fails, the defective electrical conductor 8 is eliminated. The same, or an additional sensor is used to check the assembled plug connection by exposing each individual plug connector 8 to a likewise predetermined tensile force. If the pulling force is not reached during the pull-off test, this means a poor contact fit and the tested electrical conductor 8, possibly with other connections already plugged in, is also eliminated.

Für die Entsorgung eventuell ausgeschiedener Kabelbaumteile könnte unter der Zusammensteckvorrichtung ein Querförderband oder lediglich ein Auffangbehälter angeordnet werden.A cross conveyor belt or just a collection container could be arranged under the plug-in device for the disposal of any parts of the cable harness that have been removed.

Claims (15)

  1. Method for the automatic mounting of electrical conductors (8) with contact parts (8.1, 8.2) in plug housings (5) by way of a gripper system, wherein at least one gripper tool (4) carried by a gripper (3) seizes at least one plug housing (5) from a plug housing magazine (7.1, 7.2, 7.3), characterised by the following successive method steps:
    - both the contact parts (8.1, 8.2) of the electrical conductor (8) are centred at the end of a cable-processing line (9) and each held in a rest position by two gripper pairs (11.1, 11.2) of a double gripper (11) at the contact part (8.1, 8.2) and at the insulated conductor (8),
    - at least one gripper (3) moves in the direction of a contact part (8.1, 8.2) of the electrical conductor (8) and pushes a plug housing (5) in alignment with one of its recesses against one contact part (8.1, 8.2) of the electrical conductor (8),
    - a forward gripper pair (11.1), which engages at the contact part (8.1, 8.2) of the electrical conductor (8), of the double gripper (11) opens,
    - the gripper (3) pushes the plug housing (5) fully onto the contact part (8.1, 8.2) of the electrical conductor (8),
    - a rearward gripper pair (11.2) of the double gripper (11) opens and
    - the gripper (3) together with the or each plugged electrical conductor carries out a movement below a fixed stripper (18) for its or their deflection.
  2. Method according to claim 1, characterised thereby, that the pushing-on operation of a plug housing (5) against the contact part (8.1, 8.2) of the electrical conductor (8) is repeated after a rearward movement of the gripper (3) on a preset plugging force being exceeded.
  3. Method according to claim 2, characterised thereby, that the electrical conductor (8) is shunted out after a vain repetition of the pushing-on operation.
  4. Method according to one of the claims 1 and 2, characterised thereby, that the gripper (3) attempts to carry out a movement against the pushing-in direction for checking the plugging-together of the plug housing (5) onto the contact part (8.1, 8.2) of the electrical conductor (8).
  5. Method according to one of the claims 1, 2 and 4, characterised thereby, that the double gripper (11) is turned half a revolution about its longitudinal axis for the plugging-together of the second contact part (8.2) of the electrical conductor (8) with plug housings (5).
  6. Method according to one of the claims 1, 2, 4 and 5, characterised thereby, that the ready equipped cable harness (13) is laced together.
  7. Method according to one of the claims 1, 2, 4, 5 and 6, characterised thereby, that the cable harness (13) is tested electrically.
  8. Device for the performance of the method according to one of the claims 1 to 4, characterised by the following features: The device displays a centring device for the contact parts (8.1, 8.2) of the electrical conductor (8), a double gripper (11), which seizes both the contact parts (8.1, 8.2) of the electrical conductor (8) each time at the contact part and at the insulated conductor, of a rotatable transfer module (10), at least one fixedly arranged stripper (18) for the plugged electrical conductors (8) at the end of the cable-processing line (9) and at least one gripper (3), which is borne to be displaceable towards all sides and carries a gripper tool (4) seizing at least one plug housing (5), of an industrial robot (1) outside the cable-processing station (9).
  9. Device according to claim 8, characterised thereby, that all gripper pairs (11.1, 11.2), both the forward gripper pairs (11.1) as well as also both the rearward gripper pairs (11.2) of the double gripper (11) are movable and controllable one independently of the other.
  10. Device according to one of the claims 8 and 9, characterised thereby, that a sensor, which initiates the repetition of the pushing-on operation of a plug housing (5) against the contact part (8.1, 8.2) of the electrical conductor (8) on a preset plugging force being exceeded, is arranged at the gripper (3).
  11. Device according to claim 10, characterised thereby, that a sensor, which after termination of the plugging-together monitors the withdrawal force of the movement against the pushing-in direction, is arranged at the gripper (3).
  12. Device according to one of the claims 8 to 11, characterised thereby, that a gripper (3), which stretches out the ready equipped cable harness (13), is arranged.
  13. Device according to claim 12, characterised thereby, that a transport device (14) is provided, which takes over the cable harness (13) in the stretched state.
  14. Device according to claim 13, characterised thereby, that a lacing device (17) is arranged between the industrial robot (1) and the transport device (14).
  15. Device according to claim 13, characterised thereby, that an electrical testing device for the cable harnesses (13) is arranged between the industrial robot (1) and the transport device (14).
EP89106835A 1988-07-01 1989-04-17 Process for automatically mounting electrical conductors with contact elements in connector shells Expired - Lifetime EP0348615B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2524/88 1988-07-01
CH252488 1988-07-01

Publications (2)

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EP0348615A1 EP0348615A1 (en) 1990-01-03
EP0348615B1 true EP0348615B1 (en) 1994-06-15

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EP89106835A Expired - Lifetime EP0348615B1 (en) 1988-07-01 1989-04-17 Process for automatically mounting electrical conductors with contact elements in connector shells

Country Status (5)

Country Link
US (1) US5083370A (en)
EP (1) EP0348615B1 (en)
JP (1) JP2792917B2 (en)
DE (1) DE58907877D1 (en)
ES (1) ES2057001T3 (en)

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Also Published As

Publication number Publication date
EP0348615A1 (en) 1990-01-03
ES2057001T3 (en) 1994-10-16
JP2792917B2 (en) 1998-09-03
DE58907877D1 (en) 1994-07-21
US5083370A (en) 1992-01-28
JPH0254884A (en) 1990-02-23

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