EP0420879B1 - Device for connecting up and laying wires - Google Patents

Device for connecting up and laying wires Download PDF

Info

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
Authority
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
Application number
EP89906720A
Other languages
German (de)
French (fr)
Other versions
EP0420879A1 (en
Inventor
Herbert Emmerich
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.)
Merz Metall und Kunststoffverarbeitungs GmbH
Original Assignee
Merz Metall und Kunststoffverarbeitungs GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Merz Metall und Kunststoffverarbeitungs GmbH filed Critical Merz Metall und Kunststoffverarbeitungs GmbH
Publication of EP0420879A1 publication Critical patent/EP0420879A1/en
Application granted granted Critical
Publication of EP0420879B1 publication Critical patent/EP0420879B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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
    • H01R43/04—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
    • 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.

Abstract

PCT No. PCT/DE89/00400 Sec. 371 Date Dec. 17, 1990 Sec. 102(e) Date Dec. 17, 1990 PCT Filed Jun. 16, 1989 PCT Pub. No. WO89/12919 PCT Pub. Date Dec. 28, 1989.An apparatus is described for bonding and laying conductors by means of a multi-axial positioning unit in which the cable is guided in a laying tube and is advanced by a feed unit. The apparatus according to the invention is characterized by the combination of the following features: the apparatus comprises a jaw gripper, of which the gripper jaws comprise, extending in the plane of the jaws, recesses which form the laying tube; the feed unit is integrated into the gripper jaws and is reversible; provided at the ends of the laying tube are shaping elements which center a contact as the cable is drawn into the laying tube.

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.
Surprisingly, this object is achieved by starting from a device as described in applications by the same applicant, in which the manufacture of cable harnesses in cutting / clamping technology is in the foreground, and developing this generic device by combining the following features becomes:
  • 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 claim 5, 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).

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.

Kurze Beschreibung der ZeichnungBrief description of the drawing

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.
The invention is described in more detail below on the basis of exemplary embodiments without restricting the general inventive concept with reference to the drawing, in which:
1a and 1b
different views of a first embodiment of the invention, and
2a and 2b
different views of a second embodiment.

Beschreibung von AusführungsbeispielenDescription of exemplary embodiments

Beide Ausführungsbeispiele weisen übereinstimmend einen Werkzeugwechselflansch 1 und einen Parallelbackengreifer 5 auf.Both exemplary embodiments have a tool change flange 1 and a parallel jaw gripper 5.

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 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.

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 recesses 52 have a “pear-shaped” widening 53 approximately in the center, the function of which will be explained below. On both sides of the widening 53, 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.

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 feed unit 54 is provided, in which a V-belt 59 is shown as an example as a connection between the motor 56 and the drive wheel 57.

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 cable guide tube 20 is provided, 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.

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 parallel jaw gripper 5 can be pivoted by at least 90 ° relative to the further unit by means of a lifting cylinder 7.

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 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”. By appropriate design of the shaped elements 8, which can protrude in particular over the contour of the gripper, it is possible to equip even complicated multi-pole plugs without collision problems.
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.

1. Ausführungsbeispiel1st embodiment

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 parallel jaw gripper 5 is closed, the cable is inserted into the laying pipe 520 formed. By actuating the pneumatic cylinder 58, the cable between the friction wheel 55 'and the counter roller 57 is clamped. When the motor 56˝ is not switched on, the cable is thereby fixed in its position.

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 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.

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 electric motors 56 of the feed units 54 are switched on and the two cable ends with the crimp contacts are drawn into the shaped elements 8 at the ends of the laying pipe.

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.

2. Ausführungsbeispiel2nd embodiment

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 gripper 5. The diameter of the installation pipe is dimensioned so that the cable has play in the installation pipe.

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)

  1. 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).
  2. Device according to claim 1, characterised in that the laying tube (520) is provided with a widening (53) which serves as coil storage.
  3. Device according to claim 2, characterised in that the widening (53) is "pear-shaped".
  4. Device according to claim 2 or 3, characterised in that on both sides of the widening (53) a pushing element (54′, 54˝) is provided.
  5. 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.
  6. Device according to claim 5, characterised in that the further element (2, 3, 4) is additionally provided with a cable clamping element (2).
  7. 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).
  8. Device according to claim 7, characterised in that the pressure element (58) is a pneumatic cylinder.
  9. Device according to claim 7 or 8, characterised in that a reversible electric motor (56) drives the driven wheel (57).
  10. Device according to one of claims 1 to 9, characterised in that the jaw grip (5) is a parallel jaw grip (5′, 5˝)
  11. 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.
  12. Device according to claim 11, characterised in that the forming elements are replaceable.
EP89906720A 1988-06-18 1989-06-16 Device for connecting up and laying wires Expired - Lifetime EP0420879B1 (en)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2109644B (en) * 1978-09-29 1983-10-12 Yazaki Corp Wiring head for use in the manufacture of a 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
US4677734A (en) * 1983-10-07 1987-07-07 The Boeing Company Robotic wire harness assembly system
US4715100A (en) * 1983-10-07 1987-12-29 The Boeing Company Wire routing tool for robotic wire harness assembly
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

Also Published As

Publication number Publication date
ATE113763T1 (en) 1994-11-15
DE58908606D1 (en) 1994-12-08
WO1989012919A1 (en) 1989-12-28
JPH04501783A (en) 1992-03-26
EP0420879A1 (en) 1991-04-10
DE3820636C2 (en) 1993-08-05
DE3820636A1 (en) 1989-12-21
US5144733A (en) 1992-09-08

Similar Documents

Publication Publication Date Title
DE102008013591B4 (en) Tool, plant and method for producing a wiring harness
EP0703646B1 (en) Process and device for wiring the terminals of components of electrical apparatus
DE102010017981B4 (en) Setup and procedure for merging ladders
EP0419524B1 (en) Method and device for the manufacture of wiring harnesses
DE3544219C2 (en)
EP3938153B1 (en) Gripper for the automated wiring of electrical components of an electrical switching station, a corresonding robot and a corresponding method
EP0420879B1 (en) Device for connecting up and laying wires
EP0303724A1 (en) Apparatus for cutting and stripping wires and for applying crimp, plug and screw terminals, as well as for manufacturing chain structures
EP2779327B1 (en) Cable rotating pincer and method of guiding an electrical conductor
EP1342248B1 (en) Method for producing cable harnesses and device for carrying out this method
EP1251605B1 (en) Apparatus and method for the insertion of cable ends into connector housings
DE3822166C2 (en)
WO1988005967A1 (en) Device for mounting contact parts with their leads into plug housings
EP0444032B1 (en) A method and device for producing wiring harnesses
DE3820635C2 (en)
DE3721634A1 (en) TOOL FOR STORING, LAYING AND CONTACTING CABLES WITH THE HELP OF AN INDUSTRIAL ROBOT
DE3822136C2 (en)
WO1989000349A1 (en) Fully automatic cablemaking and cable-transfer unit for stripping, fastening, and storing cables using crimp technology
DE3841826C2 (en) Device for mounting cable harnesses
CH655816A5 (en) DEVICE FOR FEEDING AND MACHINING ELECTRIC LADDERS.
DE3912894C1 (en) Cable handling and its contacts soldering tool - uses robot to transfer cut lengths of cable to soldering station
EP0052815A2 (en) Method of manufacturing a single or flat ribbon cable having a connector of one end
DE102016015717A1 (en) twisting

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19901212

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH DE FR GB IT LI NL SE

17Q First examination report despatched

Effective date: 19930709

ITF It: translation for a ep patent filed

Owner name: STUDIO INGG. FISCHETTI & WEBER

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE CH DE FR GB IT LI NL SE

REF Corresponds to:

Ref document number: 113763

Country of ref document: AT

Date of ref document: 19941115

Kind code of ref document: T

ET Fr: translation filed
GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 19941107

REF Corresponds to:

Ref document number: 58908606

Country of ref document: DE

Date of ref document: 19941208

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Effective date: 19950616

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Effective date: 19950630

Ref country code: CH

Effective date: 19950630

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 19960524

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 19960528

Year of fee payment: 8

Ref country code: BE

Payment date: 19960528

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19960529

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 19960530

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 19960723

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19970616

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Effective date: 19970617

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Effective date: 19970630

BERE Be: lapsed

Owner name: MERZ METALL- UND KUNSTSTOFFVERARBEITUNGS G.M.B.H.

Effective date: 19970630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Effective date: 19980101

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19970616

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19980227

EUG Se: european patent has lapsed

Ref document number: 89906720.1

NLV4 Nl: lapsed or anulled due to non-payment of the annual fee

Effective date: 19980101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19980303

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20050616