EP0420879B1 - Device for connecting up and laying wires - Google Patents
Device for connecting up and laying wires Download PDFInfo
- Publication number
- EP0420879B1 EP0420879B1 EP89906720A EP89906720A EP0420879B1 EP 0420879 B1 EP0420879 B1 EP 0420879B1 EP 89906720 A EP89906720 A EP 89906720A EP 89906720 A EP89906720 A EP 89906720A EP 0420879 B1 EP0420879 B1 EP 0420879B1
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- EP
- European Patent Office
- Prior art keywords
- cable
- laying
- laying tube
- pushing
- gripper
- 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
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- 230000002441 reversible effect Effects 0.000 claims abstract description 4
- 238000005520 cutting process Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 2
- 239000004020 conductor Substances 0.000 abstract 1
- 238000007493 shaping process Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 238000005304 joining Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005405 multipole Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000009864 tensile test Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Classifications
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- 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
- H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
- H01R43/048—Crimping apparatus or processes
- H01R43/052—Crimping apparatus or processes with wire-feeding mechanism
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- 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
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5136—Separate tool stations for selective or successive operation on work
- Y10T29/5137—Separate tool stations for selective or successive operation on work including assembling or disassembling station
- Y10T29/5138—Separate tool stations for selective or successive operation on work including assembling or disassembling station and means to machine work part to fit cooperating work part
-
- 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
- Y10T29/53243—Multiple, independent conductors
Definitions
- a device for contacting and laying lines by means of a multi-axis positioning unit, in which the cable is guided in a laying pipe and is advanced by a feed unit.
- the invention has for its object to provide a practical device for contacting and laying lines by means of a multi-axis positioning unit, in which no restrictions with regard to Cable contacts are given, ie a device that not only allows the production of cable harnesses with so-called cutting / clamping connectors, but also the production of cable harnesses, for example with so-called crimp contacts
- the laying pipe can have a widening, which is used for storing the cable in tangled material.
- This expansion is preferably “pear-shaped”.
- a feed unit is provided on both sides of the widening according to claim 4.
- a further unit with a further feed unit and a cable cutting unit can be provided in the feed direction of the cable in front of the laying pipe, and the jaw gripper can be pivoted relative to the further unit (claim 5).
- This further unit can additionally have a cable clamping unit.
- the feed units can have a friction wheel and a driven wheel which can be acted upon by a loading unit in the direction of the friction wheel.
- Both exemplary embodiments have a tool change flange 1 and a parallel jaw gripper 5.
- the tool change flange 1 is the interface between a handling or
- Positioning device for example an industrial robot, and the actual tool and ensures the transmission of the (electrical, pneumatic and / or hydraulic) energy and the transmission of the various control signals from the controller to the tool or the sensor signals from the tool to the controller.
- the parallel jaw gripper 5 has two gripper jaws 5 'and 5 ⁇ , which are articulated at an intermediate flange 51.
- Each gripper jaw has a "perpendicular to the direction of movement" of the jaws extending recess 52 'or 52', which form a laying pipe 520, the diameter of which is larger than the diameter of the largest cable to be laid.
- the recesses 52 have a “pear-shaped” widening 53 approximately in the center, the function of which will be explained below.
- cable feed units 54 (denoted by 'and ⁇ ) are provided, each consisting of a friction wheel 55 arranged in a gripper jaw and a drive wheel 57 driven by a reversible electric motor 56, which is driven by a pneumatic cylinder 58 in the direction of the " Laying pipe "can be pretensioned.
- V-belt 59 is shown as an example as a connection between the motor 56 and the drive wheel 57.
- a further unit with a cable guide tube 20 which consists of a cable clamping unit 2 with a clamping element 21, a further cable feed unit 3, which can also have elements 55 to 59, and a cutting unit 4 with a cutting element 42, which can be actuated, for example, by a pneumatic unit 41, with a counter element 43.
- the cable clamping unit 2 is used to clamp a cable, not shown, so that it cannot be pulled out by the movement of the tool.
- the cutting unit 4 is used to cut the cable at a defined point, while the feed unit 3 is used to convey the cable in the further unit.
- the parallel jaw gripper 5 can be pivoted by at least 90 ° relative to the further unit by means of a lifting cylinder 7.
- the ends of the laying tube 520 have (divisible) shaped elements 8, which allow the “centered” pulling in of a contact, for example a crimp contact.
- the shaped elements 8 can be interchangeable, for example, by means of a dovetail guide, in order to be able to also mount cable harnesses with different contact elements by replacing corresponding “contact-specific shaped elements”.
- a laying process with the tool shown in FIG. 1 and then with the tool shown in FIG. 2 will first be described:
- Both tools should assume that an industrial robot, a tool magazine with tools, a laying board with laying aids and plug housings, and a striking machine with training known per se are available.
- the robot changes the tool via the interchangeable flange 1 from a magazine and positions it in front of a cable feed unit with a design known per se.
- the cable is inserted into the laying pipe 520 formed.
- the pneumatic cylinder 58 By actuating the pneumatic cylinder 58, the cable between the friction wheel 55 'and the counter roller 57 is clamped.
- the motor 56 ⁇ is not switched on, the cable is thereby fixed in its position.
- the cable is stored from the top of the memory into the memory 57. This is done in that the pneumatic cylinder 58 presses the drive roller 57 against the friction wheel 55 and the electric motor 56 is switched on.
- the advanced cable lies against the wall of the widening. If the desired cable length is in the tool, the cable is cut off in the cable preparation device, not shown.
- the cable is then conveyed so far that it still protrudes a defined distance from the tool.
- the positioning unit now moves with the tool and the cable stored in the tool to a stripping machine that strips the two cable ends protruding from the laying pipe.
- the stripped cable ends are then provided with contacts, in particular crimp contacts.
- the robot now moves to the first connector housing and inserts the centered contact.
- the contact is fully inserted through the electric motor on this side.
- the direction of rotation of the motor is reversed so that a tensile force acts on the cable.
- the current consumption of the motor can be used to determine whether the contact is engaged in the connector housing.
- the robot now runs the cable according to the path it has been given.
- the tool can be tilted by the robot by 90 ° so that the laying pipe is perpendicular to the laying board.
- the joining process at the second cable end then takes place as described above.
- the gripper After joining both contacts, the gripper is opened. so that the laying pipe opens along its longitudinal axis and releases the cable.
- the robot can now pick up a new cable or change a new tool of the same type in which a cable has already been drawn into the supply magazine.
- the robot changes the tool, in which there is already a cable in the cable duct of the "further unit", which is prevented by the cable clamping unit 2 from slipping out of the duct.
- the pneumatic cylinder of the cable feed unit 3 is actuated so that the drive wheel is pressed against the friction wheel.
- the cable is conveyed through the cutting unit into the laying pipe of the gripper 5.
- the diameter of the installation pipe is dimensioned so that the cable has play in the installation pipe.
- the front end of the cable reaches the feed unit in the parallel jaw gripper, which feeds the cable so far that it protrudes a defined distance from the laying pipe.
- the robot now moves to a stripping and stripping machine that provides the protruding cable end with a contact.
- the contact is drawn into the shaped element and centered.
- the robot then moves to a first connector housing and inserts the centered contact.
- the contact is made by the electric motor arranged on this side fully inserted.
- the direction of rotation of the motor is reversed so that a tensile force acts on the cable.
- the current consumption of the motor can be used to determine whether the contact is engaged in the connector housing.
- the joining process can be carried out both in the horizontal and in the vertical position of the laying process. It is possible to "tilt" the gripper accordingly relative to the other unit.
- the robot now runs the cable according to the path it has been given.
- the cable is "pulled” through the tool.
- the cable After laying, the cable is clamped by the clamping mechanism 2 and cut off by the cutting device 3.
- the cable is secured in position by the feed unit 4 in the gripper and is conveyed to such an extent that it protrudes a defined distance from the laying pipe.
- the cable is now provided with a contact as previously described; this contact is then "centered” again by reversing the electric motor.
- the subsequent joining process is also concluded with a "tensile test".
- the gripper is opened and the cable is released.
- the next cable can then be laid in the same way.
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Manufacturing Of Electrical Connectors (AREA)
- Manipulator (AREA)
- Processing Of Terminals (AREA)
- Multi-Conductor Connections (AREA)
- Installation Of Indoor Wiring (AREA)
Abstract
Description
Beschrieben wird eine Vorrichtung zum Kontaktieren und Verlegen von Leitungen mittels einer mehrachsigen Positioniereinheit, bei der das Kabel in einem Verlegerohr geführt ist, und von einer Vorschubeinheit vorgeschoben wird.A device is described for contacting and laying lines by means of a multi-axis positioning unit, in which the cable is guided in a laying pipe and is advanced by a feed unit.
Derartige Vorrichtungen sind aus EP-A- 116 475 und DE-A- 3 611 805 bereits bekannt.Such devices are already known from EP-A-116 475 and DE-A-3 611 805.
Bislang ist keine praxisgerechte Vorrichtung zum automatisierten Kontaktieren und Verlegen von Leitungen insbesondere mit sog. Crimpkontakten bekannt. Lediglich Pilotanlagen sind vereinzelt bekannt geworden, die sich jedoch in der industriellen Praxis nicht durchgesetzt haben.So far, no practical device for automated contacting and laying of lines, in particular with so-called crimp contacts, is known. Only a few pilot plants have become known, but they have not become established in industrial practice.
Bei den Pilotanlagen der Firmen UNIMATION und VEKTRONICs treten insbesondere Probleme beim Speichern der Kabel mit angeschlagenem Crimpkontakt und im Handhaben der (biegeschlaffen) Kabel auf.In the pilot systems of the companies UNIMATION and VEKTRONICs, problems arise in particular when storing the cables with a crimped contact and in handling the (pliable) cables.
Lediglich für die Herstellung von Kabelbäumen mit "Schneid/Klemm-Verbindern" unter Verwendung von Kabeltrommeln sind praxisgerechte Lösungen durch Anmeldungen dieser Anmelderin bekannt geworden.Only for the production of cable harnesses with "cutting / clamping connectors" using cable drums have practical solutions become known through the applications of this applicant.
Der Erfindung liegt die Aufgabe zugrunde, eine praxisgerechte Vorrichtung zum Kontaktieren und Verlegen von Leitungen mittels einer mehrachsigen Positioniereinheit anzugeben, bei der keinerlei Einschränkungen hinsichtlich der Kabelkontakte gegeben sind, d.h. eine Vorrichtung, die nicht nur die Herstellung von Kabelbäumen mit sog. Schneid/Klemm-Verbindern, sondern auch die Herstellung von Kabelbäumen beispielsweise mit sog. Crimpkontakten erlaubtThe invention has for its object to provide a practical device for contacting and laying lines by means of a multi-axis positioning unit, in which no restrictions with regard to Cable contacts are given, ie a device that not only allows the production of cable harnesses with so-called cutting / clamping connectors, but also the production of cable harnesses, for example with so-called crimp contacts
Eine erfindungsgemäße Lösung dieser Aufgabe ist mit ihren Weiterbildungen in den Patentansprüchen gekennzeichnet.A solution to this problem according to the invention is characterized by its developments in the claims.
Überraschenderweise gelingt eine Lösung dieser Aufgabe dadurch, daß von einer Vorrichtung ausgegangen wird, wie sie in Anmeldungen der selben Anmelderin, in denen die Herstellung von Kabelbäumen in Schneid/Klemmtechnik im Vordergrund steht, beschrieben sind, und diese gattungsgemäße Vorrichtung durch die Kombination folgender Merkmale weitergebildet wird:
- die Vorrichtung weist einen Backengreifer auf, dessen Greiferbacken in der Backenebene verlaufende Ausnehmungen aufweisen, die das Verlegerohr bilden,
- die Vorschubeinheit ist in die Greiferbacken integriert und umsteuerbar,
- an den Enden des Verlegerohrs sind Formelemente vorgesehen, die beim Einziehen des Kabels in das Verlegerohr einen Kontakt zentrieren.
- the device has a jaw gripper, the gripper jaws of which have recesses running in the jaw plane, which form the laying pipe,
- the feed unit is integrated in the gripper jaws and can be reversed,
- At the ends of the laying pipe, shaped elements are provided which center a contact when the cable is pulled into the laying pipe.
Weiterbildungen der Erfindung sind in den Unteransprüchen gekennzeichnet:Further developments of the invention are characterized in the subclaims:
Beispielsweise kann gemäß Anspruch 2 das Verlegerohr eine Aufweitung aufweisen, die zur Wirrgut-Speicherung des Kabels dient. Diese Aufweitung ist bevorzugt "birnenförmig" ausgebildet.For example, according to claim 2, the laying pipe can have a widening, which is used for storing the cable in tangled material. This expansion is preferably “pear-shaped”.
Ferner sind gemäß Anspruch 4 beidseits der Aufweitung je eine Vorschubeinheit vorgesehen.Furthermore, a feed unit is provided on both sides of the widening according to claim 4.
Weiterhin kann nach Anspruch 5 in Vorschubrichtung des Kabels vor dem Verlegerohr eine weitere Einheit mit einer weiteren Vorschubeinheit und einer Kabel-Ablängeinheit vorgesehen, und der Backengreifer gegenüber der weiteren Einheit schwenkbar sein (Anspruch 5).Furthermore, according to
Diese weitere Einheit kann gemäß Anspruch 6 zusätzlich eine Kabel-Klemmeinheit aufweisen.This further unit can additionally have a cable clamping unit.
Ferner können die Vorschubeinheiten ein Reibrad und ein angetriebenes Rad aufweisen, das mittels einer Beaufschlagungseinheit in Richtung auf das Reibrad beaufschlagbar ist.Furthermore, the feed units can have a friction wheel and a driven wheel which can be acted upon by a loading unit in the direction of the friction wheel.
Die Erfindung wird nachstehend anhand von Ausführungsbeispielen ohne Beschränkung des allgemeinen Erfindungsgedankens unter Bezugnahme auf die Zeichnung näher beschrieben, in der zeigen:
- Fig. 1a und 1b
- verschiedene Ansichten eines ersten Ausführungsbeispiels der Erfindung, und
- Fig. 2a und 2b
- verschiedene Ansichten eines zweiten Ausführungsbeispiels.
- 1a and 1b
- different views of a first embodiment of the invention, and
- 2a and 2b
- different views of a second embodiment.
Beide Ausführungsbeispiele weisen übereinstimmend einen Werkzeugwechselflansch 1 und einen Parallelbackengreifer 5 auf.Both exemplary embodiments have a tool change flange 1 and a
Der Werkzeugwechselflansch 1 ist in an sich bekannter Weise die Schnittstelle zwischen einer Handhabungs- bzw.The tool change flange 1 is the interface between a handling or
Positioniereinrichtung, beispielsweise einem Industrieroboter, und dem eigentlichen Werkzeug und sorgt für die Übertragung der (elektrischen, pneumatischen und/oder hydraulischen) Energie sowie für die Übertragung der verschiedenen Steuersignale von der Steuerung zum Werkzeug bzw. der Sensorsignale vom Werkzeug zur Steuerung.Positioning device, for example an industrial robot, and the actual tool and ensures the transmission of the (electrical, pneumatic and / or hydraulic) energy and the transmission of the various control signals from the controller to the tool or the sensor signals from the tool to the controller.
Der Parallelbackengreifer 5 weist zwei Greiferbacken 5′ und 5˝ auf, die bei an einem Zwischenflansch 51 angelenkt sind. Jeder Greiferbacken weist eine "senkrecht zur Bewegungsrichtung" der Backen verlaufende Ausnehmung 52′ bzw. 52˝ auf, die ein Verlegerohr 520 bilden, dessen Durchmesser größer als der Durchmesser des größten zu verlegenden Kabels ist.The
Bei dem in Fig. 1 dargestellten Ausführungsbeispiel weisen die Ausnehmungen 52 etwa mittig eine "birnenförmige" Aufweitung 53, deren Funktion noch erläutert wird. Beidseits der Aufweitung 53 sind Kabel-Vorschubeinhelten 54 (mit ′ und ˝ bezeichnet) vorgesehen, die jeweils aus einem in einem Greiferbacken angeordneten Reibrad 55 und einem von einem umsteuerbaren Elektromotor 56 angetriebenen Antriebsrad 57 bestehen, das von einem Pneumatikzylinder 58 in Richtung auf das "Verlegerohr" vorspannbar ist.In the exemplary embodiment shown in FIG. 1, the
Bei dem in Fig. 2 dargestellten Ausführungsbeispiel ist lediglich eine Vorschubeinheit 54 vorgesehen, bei der exemplarisch als Verbindung zwischen dem Motor 56 und dem Antriebsrad 57 ein Keilriemen 59 dargestellt ist.In the exemplary embodiment shown in FIG. 2, only one
Ferner sind bei dem in Fig. 2 dargestellten Ausführungsbeispiel eine weitere Einheit mit einem Kabelführungsrohr 20 vorgesehen, die aus einer Kabel-Klemmeinheit 2 mit einem Klemmelement 21, einer weiteren Kabel-Vorschubeinheit 3, die ebenfalls Elemente 55 bis 59 aufweisen kann, und einer Ablängeinheit 4 mit einem beispielsweise von einer Pneumatikeinheit 41 betätigbaren Ablängelement 42 mit einem Gegenelement 43 besteht.Furthermore, in the exemplary embodiment shown in FIG. 2, a further unit with a
Die Kabel-Klemmeinheit 2 dient zum Festklemmen eines nicht dargestellten Kabels, so daß dieses nicht durch die Bewegung des Werkzeugs herausgezogen werden kann.The cable clamping unit 2 is used to clamp a cable, not shown, so that it cannot be pulled out by the movement of the tool.
Die Ablängeinheit 4 dient zum Abschneiden des Kabels an einer definierten Stelle, während die Vorschubeinheit 3 zum Fördern des Kabels in der weiteren Einheit dient.The cutting unit 4 is used to cut the cable at a defined point, while the feed unit 3 is used to convey the cable in the further unit.
Der Parallelbackengreifer 5 ist bei dem in Fig. 2 gezeigten Ausführungsbeispiel mittels eines Hubzylinders 7 gegenüber der weiteren Einheit um wenigstens 90° schwenkbar.In the exemplary embodiment shown in FIG. 2, the
Die Enden des Verlegerohrs 520 weisen bei beiden Ausführungsbeispielen (teilbare) Formelemente 8 auf, die das "zentrierte" Einziehen eines Kontakts, beispielsweise eines Crimpkontakts erlauben. Die Formelemente 8 können beispielsweise mittels einer Schwalbenschwanzführung austauschbar sein, um durch das Einwechseln entsprechender "kontaktspezifischer Formelemente" auch Kabelbäume mit unterschiedlichen Kontaktelementen montieren zu können. Durch entsprechende Gestaltung der Formelemente 8, die insbesondere über die Kontur der Greifer vorspringen können, ist es möglich, auch komplizierte mehrpolige Stecker ohne Kollisionsprobleme zu bestücken.
Im folgenden soll zunächst ein Verlegevorgang mit dem in Fig. 1 dargestellten Werkzeug und dann mit dem in Fig. 2 dargestellten Werkzeug beschrieben werden:In both exemplary embodiments, the ends of the
In the following, a laying process with the tool shown in FIG. 1 and then with the tool shown in FIG. 2 will first be described:
Dabei soll bei beiden Werkzeugen davon ausgegangen werden, daß ein Industrieroboter, ein Werkzeugmagazin mit Werkzeugen, ein Verlegebrett mit Verlegehilfen und Steckergehäusen sowie eine Anschlagmaschine mit an sich bekannter Ausbildung zur Verfügung stehen.Both tools should assume that an industrial robot, a tool magazine with tools, a laying board with laying aids and plug housings, and a striking machine with training known per se are available.
Der Roboter wechselt das Werkzeug über den Wechselflansch 1 aus einem Magazin ein und positioniert dieses vor einer Kabelzuführungseinheit mit an sich bekannter Ausbildung.The robot changes the tool via the interchangeable flange 1 from a magazine and positions it in front of a cable feed unit with a design known per se.
Bei geschlossenem Parallelbackengreifer 5 wird das Kabel in das gebildete Verlegerohr 520 eingeführt. Durch Betätigung des Pneumatikzylinders 58 wird das Kabel zwischen Reibrad 55′ und Gegenrolle 57 eingeklemmt. Bei nicht eingeschaltetem Motor 56˝ ist das Kabel hierdurch in seiner Lage fixiert.When the
Über den in der Zeichnung rechts befindlichen nicht näher dargestellten Elektromotor 56′ wird das Kabel von der Speicherspitze her in den Speicher 57 eingelagert. Dies geschieht dadurch, daß der Pneumatikzylinder 58 die Antriebsrolle 57 gegen das Reibrad 55 preßt und der Elektromotor 56 zugeschaltet wird.About the electric motor 56 'not shown in the drawing on the right, the cable is stored from the top of the memory into the
Bedingt durch die Form der "birnenförmigen" Aufweitung legt sich das vorgeschobene Kabel an die Wandung der Aufweitung an. Wenn sich die gewünschte Kabellänge in dem Werkzeug befindet, wird das Kabel in der nicht gezeigten Kabelbereitstellungseinrichtung abgeschnitten.Due to the shape of the "pear-shaped" widening, the advanced cable lies against the wall of the widening. If the desired cable length is in the tool, the cable is cut off in the cable preparation device, not shown.
Anschließend wird das Kabel noch so weit gefördert, daß es noch ein definiertes Stück aus dem Werkzeug herausragt.The cable is then conveyed so far that it still protrudes a defined distance from the tool.
Die Positioniereinheit verfährt nun mit dem Werkzeug und dem in dem Werkzeug gespeicherten Kabel zu einer Abisoliermaschine, die die beiden aus dem Verlegerohr herausragenden Kabelenden abisoliert. Die abisolierten Kabelenden werden anschließend mit Kontakten, insbesondere Crimpkontakten versehen.The positioning unit now moves with the tool and the cable stored in the tool to a stripping machine that strips the two cable ends protruding from the laying pipe. The stripped cable ends are then provided with contacts, in particular crimp contacts.
Nun werden die beiden Elektromotore 56 der Vorschubeinheiten 54 zugeschaltet und die beiden Kabelenden mit den Crimpkontakten in die Formelemente 8 an den Enden des Verlegerohrs hineingezogen.Now the two
Der Roboter verfährt nun zum ersten Steckergehäuse und fügt den zentrierten Kontakt. Durch den auf dieser Seite angeordneten Elektromotor wird der Kontakt vollständig eingeschoben. Um sicherzustellen, daß der Kontakt im Stekkergehäuse eingerastet ist, wird die Drehrichtung des Motors umgesteuert, so daß eine Zugkraft auf das Kabel wirkt. Beispielsweise durch die Stromaufnahme des Motors kann erkannt werden, ob der Kontakt im Steckergehäuse eingerastet ist.The robot now moves to the first connector housing and inserts the centered contact. The contact is fully inserted through the electric motor on this side. To ensure that the contact is snapped into the connector housing, the direction of rotation of the motor is reversed so that a tensile force acts on the cable. For example, the current consumption of the motor can be used to determine whether the contact is engaged in the connector housing.
Der Roboter verlegt nun das Kabel entsprechend der ihm vorgegebenen Bahn. Zum Verlegen kann das Werkzeug von dem Roboter um 90° gekippt werden, so daß das Verlegerohr senkrecht zum Verlegebrett steht.The robot now runs the cable according to the path it has been given. For laying, the tool can be tilted by the robot by 90 ° so that the laying pipe is perpendicular to the laying board.
Während des Verlegevorgangs wird der zugeordnete Fördermechanismus entspannt, so daß das Kabel aus dem Speicher herausgezogen wird.During the laying process, the associated conveyor mechanism is relaxed, so that the cable is pulled out of the storage.
Der Fügevorgang beim zweiten Kabelende erfolgt dann wie vorstehend beschrieben.The joining process at the second cable end then takes place as described above.
Nach dem Fügen beider Kontakte wird der Greifer geöffnet. so daß sich das Verlegerohr entlang seiner Längsachse öffnet und das Kabel freigibt.After joining both contacts, the gripper is opened. so that the laying pipe opens along its longitudinal axis and releases the cable.
Der Roboter kann nun ein neues Kabel aufnehmen oder ein neues gleichartiges Werkzeug einwechseln, in dem in dem Bereitstellungsmagazin bereits ein Kabel eingezogen worden ist.The robot can now pick up a new cable or change a new tool of the same type in which a cable has already been drawn into the supply magazine.
Zuerst wechselt der Roboter das Werkzeug ein, bei dem sich bereits ein Kabel im Kabelschacht der "weiteren Einheit" befindet, das durch die Kabelklemmeinheit 2 am Herausrutschen aus dem Schacht gehindert wird.First, the robot changes the tool, in which there is already a cable in the cable duct of the "further unit", which is prevented by the cable clamping unit 2 from slipping out of the duct.
Nun wird der Pneumatikzylinder der Kabelvorschubeinheit 3 betätigt, so daß das Antriebsrad an das Reibrad angepreßt wird. Durch Ansteuern des Elektromotors wird das Kabel durch die Ablängeinheit in das Verlegerohr des Greifers 5 gefördert. Der Durchmesser des Verlegerohrs ist so bemessen, daß das Kabel im Verlegerohr Spiel hat.Now the pneumatic cylinder of the cable feed unit 3 is actuated so that the drive wheel is pressed against the friction wheel. By driving the electric motor, the cable is conveyed through the cutting unit into the laying pipe of the
Nachdem das Kabel ein definierte Stück gefördert worden ist, erreicht das vordere Kabelende die Vorschubeinheit im Parallelbackengreifer, die das Kabel so weit vorschiebt, daß es ein definiertes Stück aus dem Verlegerohr ragt.After the cable has been conveyed a defined distance, the front end of the cable reaches the feed unit in the parallel jaw gripper, which feeds the cable so far that it protrudes a defined distance from the laying pipe.
Der Roboter verfährt nun zu einer Abisolier- und Anschlagmaschine, die das überstehende Kabelende mit einem Kontakt versieht. Durch Umsteuern des Elektromotors wird der Kontakt in das Formelement eingezogen und zentriert.The robot now moves to a stripping and stripping machine that provides the protruding cable end with a contact. By reversing the electric motor, the contact is drawn into the shaped element and centered.
Anschließend verfährt der Roboter zu einem ersten Steckergehäuse und fügt den zentrierten Kontakt. Durch den auf dieser Seite angeordneten Elektromotor wird der Kontakt vollständig eingeschoben. Um sicherzustellen, daß der Kontakt im Steckergehäuse eingerastet ist, wird die Drehrichtung des Motors umgesteuert, so daß eine Zugkraft auf das Kabel wirkt. Beispielsweise durch die Stromaufnahme des Motors kann erkannt werden, ob der Kontakt im Steckergehäuse eingerastet ist.The robot then moves to a first connector housing and inserts the centered contact. The contact is made by the electric motor arranged on this side fully inserted. To ensure that the contact is snapped into the connector housing, the direction of rotation of the motor is reversed so that a tensile force acts on the cable. For example, the current consumption of the motor can be used to determine whether the contact is engaged in the connector housing.
Der Fügevorgang kann sowohl in horizontaler als auch in vertikaler Lage des Verlegevorgangs durchgeführt werden. Dabei ist es möglich, den Greifer gegenüber der weiteren Einheit entsprechend zu "kippen".The joining process can be carried out both in the horizontal and in the vertical position of the laying process. It is possible to "tilt" the gripper accordingly relative to the other unit.
Der Roboter verlegt nun das Kabel entsprechend der ihm vorgegebenen Bahn. Dabei wird das Kabel durch das Werkzeug "durchgezogen".The robot now runs the cable according to the path it has been given. The cable is "pulled" through the tool.
Nach dem Verlegen wird das Kabel durch den Klemmechanismus 2 festgeklemmt und durch die Ablängeinrichtung 3 abgeschnitten.After laying, the cable is clamped by the clamping mechanism 2 and cut off by the cutting device 3.
Das Kabel ist dabei durch die Vorschubeinheit 4 in dem Greifer in seiner Lage gesichert und wird soweit gefördert, daß es ein definiertes Stück aus dem Verlegerohr herausragt. Das Kabel wird nun wie zuvor beschrieben mit einem Kontakt versehen; dieser Kontakt wird anschließend durch Umsteuern des Elektromotors wiederum "zentriert".The cable is secured in position by the feed unit 4 in the gripper and is conveyed to such an extent that it protrudes a defined distance from the laying pipe. The cable is now provided with a contact as previously described; this contact is then "centered" again by reversing the electric motor.
Der sich anschießende Fügevorgang wird ebenfalls mit einem "Zugtest" abgeschlossen. Nach Beendigung des Fügevorgangs wird der Greifer geöffnet und so das Kabel freigegeben.The subsequent joining process is also concluded with a "tensile test". At the end of the joining process, the gripper is opened and the cable is released.
Anschließend kann das nächste Kabel in gleicher Weise verlegt werden.The next cable can then be laid in the same way.
Claims (12)
- Device for contacting and laying of cables by means of a multi-axis positioning element with which the cable is inserted in a laying tube (520) and is pushed forwards by a pushing element (54), characterised by the combination of the following features:- the device is provided with a jaw grip (5), the gripping jaws (5′, 5˝) of which are provided with recesses (52′, 52˝) running along the plane of the jaws, which form the laying tube (520),- the pushing element (54) is integral with the gripping jaws, and is reversible,- forming elements (8) are provided at the ends of the laying tube (520), which centre a contact when the cable is being pushed through the laying tube (520).
- Device according to claim 1, characterised in that the laying tube (520) is provided with a widening (53) which serves as coil storage.
- Device according to claim 2, characterised in that the widening (53) is "pear-shaped".
- Device according to claim 2 or 3, characterised in that on both sides of the widening (53) a pushing element (54′, 54˝) is provided.
- Device according to claim 1, characterised in that in front of the laying tube (520), the pushing element for the cable is provided with a further element (2, 3, 4) with a further pushing element (3) and a cable-cutting element (4), and in that the jaw grip (5) is pivotable with respect to the further element.
- Device according to claim 5, characterised in that the further element (2, 3, 4) is additionally provided with a cable clamping element (2).
- Device according to one of claims 1 to 6, characterised in that the pushing elements (3, 54) are provided with a friction wheel (55) and a driven wheel (57) which can be prestressed in the direction of the friction wheel (55) by means of a pressure element (58).
- Device according to claim 7, characterised in that the pressure element (58) is a pneumatic cylinder.
- Device according to claim 7 or 8, characterised in that a reversible electric motor (56) drives the driven wheel (57).
- Device according to one of claims 1 to 9, characterised in that the jaw grip (5) is a parallel jaw grip (5′, 5˝)
- Device according to one of claims 1 to 10, characterised in that on the ends of the laying tube formed by the gripping jaws, forming elements for centring the contacts are provided.
- Device according to claim 11, characterised in that the forming elements are replaceable.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3820636 | 1988-06-18 | ||
DE3820636A DE3820636A1 (en) | 1988-06-18 | 1988-06-18 | DEVICE FOR CONTACTING AND LAYING CABLES |
PCT/DE1989/000400 WO1989012919A1 (en) | 1988-06-18 | 1989-06-16 | Device for connecting up and laying wires |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0420879A1 EP0420879A1 (en) | 1991-04-10 |
EP0420879B1 true EP0420879B1 (en) | 1994-11-02 |
Family
ID=6356740
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP89906720A Expired - Lifetime EP0420879B1 (en) | 1988-06-18 | 1989-06-16 | Device for connecting up and laying wires |
Country Status (6)
Country | Link |
---|---|
US (1) | US5144733A (en) |
EP (1) | EP0420879B1 (en) |
JP (1) | JPH04501783A (en) |
AT (1) | ATE113763T1 (en) |
DE (2) | DE3820636A1 (en) |
WO (1) | WO1989012919A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4218741C2 (en) * | 1992-06-06 | 1994-10-20 | Vossloh Schwabe Gmbh | Method for wiring connection points of electrical devices or assembly elements |
DE4312777C2 (en) | 1993-04-20 | 1995-10-19 | Vossloh Schwabe Gmbh | Line laying tool |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2033169B (en) * | 1978-09-29 | 1983-05-18 | Yazaki Corp | Wire harness |
DE2939360C2 (en) * | 1979-09-28 | 1982-05-13 | Messerschmitt-Bölkow-Blohm GmbH, 8000 München | Assembly device for the production of cable harnesses |
GB2095134B (en) * | 1981-03-25 | 1984-11-07 | Lansing Bagnall Ltd | Wire-laying tool |
GB8304103D0 (en) * | 1983-02-15 | 1983-03-16 | British Aerospace | Filament laying apparatus |
FR2546705A1 (en) * | 1983-05-26 | 1984-11-30 | Zentrum Forschung Technologie | Device for guiding and centring a metal wire in a machine for laying made-up (shaped) cables |
SU1185666A1 (en) * | 1983-08-26 | 1985-10-15 | Vladimir N Gusev | Device for laying wires |
US4715100A (en) * | 1983-10-07 | 1987-12-29 | The Boeing Company | Wire routing tool for robotic wire harness assembly |
US4677734A (en) * | 1983-10-07 | 1987-07-07 | The Boeing Company | Robotic wire harness assembly system |
US4549347A (en) * | 1984-05-16 | 1985-10-29 | Univ States Of America | Contact insertion and wire lay robotic end effector apparatus |
JPS6171575A (en) * | 1984-09-13 | 1986-04-12 | 日本圧着端子製造株式会社 | One side end automatic pressure welding machine |
US4653159A (en) * | 1984-11-13 | 1987-03-31 | Westinghouse Electric Corp. | Flexible automated manufacturing system |
US4607430A (en) * | 1984-11-13 | 1986-08-26 | Westinghouse Electric Corp. | Method and apparatus for high density wire harness manufacture |
US4593452A (en) * | 1985-02-26 | 1986-06-10 | Amp Incorporated | Robotic harness maker |
US4669162A (en) * | 1985-04-25 | 1987-06-02 | Grumman Aerospace Corporation | Method and apparatus for rapidly stripping cable wires and crimping contacts thereon |
DE3611805A1 (en) * | 1986-02-25 | 1987-10-15 | Fraunhofer Ges Forschung | Tool for laying and cutting cables to length with the aid of an industrial robot |
JP2628631B2 (en) * | 1986-04-09 | 1997-07-09 | アポロ精工株式会社 | Wire stripper device and automatic wiring device using the same |
-
1988
- 1988-06-18 DE DE3820636A patent/DE3820636A1/en active Granted
-
1989
- 1989-06-16 EP EP89906720A patent/EP0420879B1/en not_active Expired - Lifetime
- 1989-06-16 JP JP1506511A patent/JPH04501783A/en active Pending
- 1989-06-16 DE DE58908606T patent/DE58908606D1/en not_active Expired - Fee Related
- 1989-06-16 AT AT89906720T patent/ATE113763T1/en not_active IP Right Cessation
- 1989-06-16 WO PCT/DE1989/000400 patent/WO1989012919A1/en active IP Right Grant
- 1989-06-16 US US07/623,919 patent/US5144733A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPH04501783A (en) | 1992-03-26 |
DE3820636A1 (en) | 1989-12-21 |
WO1989012919A1 (en) | 1989-12-28 |
ATE113763T1 (en) | 1994-11-15 |
US5144733A (en) | 1992-09-08 |
DE58908606D1 (en) | 1994-12-08 |
DE3820636C2 (en) | 1993-08-05 |
EP0420879A1 (en) | 1991-04-10 |
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