EP0420879B1 - Vorrichtung zum kontaktieren und verlegen von leitungen - Google Patents

Vorrichtung zum kontaktieren und verlegen von leitungen Download PDF

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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)
English (en)
French (fr)
Other versions
EP0420879A1 (de
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/de
Application granted granted Critical
Publication of EP0420879B1 publication Critical patent/EP0420879B1/de
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
    • H01R43/04—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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Processing Of Terminals (AREA)
  • Multi-Conductor Connections (AREA)
  • Installation Of Indoor Wiring (AREA)
  • Manipulator (AREA)
EP89906720A 1988-06-18 1989-06-16 Vorrichtung zum kontaktieren und verlegen von leitungen Expired - Lifetime EP0420879B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE3820636A DE3820636A1 (de) 1988-06-18 1988-06-18 Vorrichtung zum kontaktieren und verlegen von leitungen
DE3820636 1988-06-18
PCT/DE1989/000400 WO1989012919A1 (fr) 1988-06-18 1989-06-16 Dispositif de mise en contact et de pose de lignes

Publications (2)

Publication Number Publication Date
EP0420879A1 EP0420879A1 (de) 1991-04-10
EP0420879B1 true EP0420879B1 (de) 1994-11-02

Family

ID=6356740

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89906720A Expired - Lifetime EP0420879B1 (de) 1988-06-18 1989-06-16 Vorrichtung zum kontaktieren und verlegen von leitungen

Country Status (6)

Country Link
US (1) US5144733A (enrdf_load_stackoverflow)
EP (1) EP0420879B1 (enrdf_load_stackoverflow)
JP (1) JPH04501783A (enrdf_load_stackoverflow)
AT (1) ATE113763T1 (enrdf_load_stackoverflow)
DE (2) DE3820636A1 (enrdf_load_stackoverflow)
WO (1) WO1989012919A1 (enrdf_load_stackoverflow)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4218741C2 (de) * 1992-06-06 1994-10-20 Vossloh Schwabe Gmbh Verfahren zum Verdrahten von Anschlußstellen elektrischer Geräte oder Baugruppenelemente
DE4312777C2 (de) * 1993-04-20 1995-10-19 Vossloh Schwabe Gmbh Leitungsverlegewerkzeug

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2033169B (en) * 1978-09-29 1983-05-18 Yazaki Corp Wire harness
DE2939360C2 (de) * 1979-09-28 1982-05-13 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Montagevorrichtung zur Fertigung von Kabelbäumen
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 (fr) * 1983-05-26 1984-11-30 Zentrum Forschung Technologie Dispositif de guidage et centrage d'un fil metallique dans une machine de pose de cables faconnes
SU1185666A1 (ru) * 1983-08-26 1985-10-15 Vladimir N Gusev Устройство для укладки проводов
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
US4631882A (en) * 1985-02-26 1986-12-30 Sease R Gregg Molding strips and assembly thereof for mounting a flexible covering onto a support surface
US4549347A (en) * 1984-05-16 1985-10-29 Univ States Of America Contact insertion and wire lay robotic end effector apparatus
JPS6171575A (ja) * 1984-09-13 1986-04-12 日本圧着端子製造株式会社 片端自動圧接機
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
US4669162A (en) * 1985-04-25 1987-06-02 Grumman Aerospace Corporation Method and apparatus for rapidly stripping cable wires and crimping contacts thereon
DE3611805A1 (de) * 1986-02-25 1987-10-15 Fraunhofer Ges Forschung Werkzeug zum verlegen und ablaengen von kabeln mit hilfe eines industrieroboters
JP2628631B2 (ja) * 1986-04-09 1997-07-09 アポロ精工株式会社 ワイヤストリツパー装置及びこれを用いた自動配線装置

Also Published As

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

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