EP0440955B1 - Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise - Google Patents

Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise Download PDF

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Publication number
EP0440955B1
EP0440955B1 EP19900124728 EP90124728A EP0440955B1 EP 0440955 B1 EP0440955 B1 EP 0440955B1 EP 19900124728 EP19900124728 EP 19900124728 EP 90124728 A EP90124728 A EP 90124728A EP 0440955 B1 EP0440955 B1 EP 0440955B1
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EP
European Patent Office
Prior art keywords
gripper
electrical conductor
equipment according
stationary
double
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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EP19900124728
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German (de)
English (en)
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EP0440955A1 (fr
Inventor
Max Dipl.-Ing. Koch (Eth)
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TTC Tech Trading Co
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TTC Tech Trading Co
TTC Tech Trading Co
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Publication of EP0440955A1 publication Critical patent/EP0440955A1/fr
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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
    • H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve

Definitions

  • the invention relates to a device for automatically assembling electrical conductors with contact parts and connector housings, between a cable processing line with a step-by-step transfer module and a gripper system with at least one industrial robot with a robot gripper that can be moved on all sides, an additional rotatable transfer module being one of the two Has ends of an electrical conductor each with an outer and an inner pair of grippers gripping double grippers and at least one centering device and at least one fixed scraper are available.
  • a method and such a device for the automatic assembly of electrical conductors with contact parts in the connector housing is known from the earlier patent application CH 02 524 / 88-6 (EP-A-0 348 615), to which the present application is a supplement.
  • a method and a device are described in which the connector housings are attached by a robot gripper to the ends of a finished cable gripped by a double gripper at the end of a cable processing line. Both ends of the cable are gripped with a double gripper, with the front part of the double gripper on the plug contact and the rear part of the gripper on the insulation of the cable. Both grippers of the double gripper can be controlled independently of one another.
  • both grippers of the double gripper are closed and hold the end of the cable in the direction of insertion of the connector housing.
  • the one or more connector housings are or are held by a gripper of a robot arm and are intermittently connected to the end of a cable.
  • the sensor attached to the robot gripper is used to compare the plug-in force in order to determine defective parts on the plug contact or on the plug housing and to rule out incorrect plug-in. If no defects are found, the front part of the double gripper is opened and spread away and the connector housing is finally pushed onto the end of the cable with the help of the robot arm.
  • the correct seating of the plug connection is checked by a withdrawal movement of the robot arm, which is monitored by a further sensor arranged on the robot gripper.
  • a swiveling movement of the robot gripper serves to bring the attached cable under a deflector in order to clear the connector for attaching it to the end of a new cable gripped by the double gripper.
  • a disadvantage of this plug-on device is that the robot gripper is made heavier by the construction of the two sensors, which causes the required high accuracy of its movements to suffer.
  • Another disadvantage is that the time required for the robot movements required to connect and plug the connector housing onto one end of a cable, for monitoring the insertion force and the pulling force and for rejecting the cable connected to the connector housing is greater than the cycle time of the cables - Processing line, which reduces the capacity of the cable processing line.
  • the invention is therefore based on the object of proposing an improvement in the device for plugging together plug housings and electrical conductors, in which the cycle time for connecting, plugging in and checking a plug housing on one end of an electrical conductor is not greater than the cycle time of the cables -Machining line and in which the accuracy of the movements of the robot gripper is not impaired.
  • This object is achieved by the invention characterized in the first claim.
  • the advantages achieved by the invention are essentially to be seen in the fact that by interposing two fixed grippers for receiving the two ends of a finished cable, which at the same time the correct plugging in and the correct plugging in of the plug housing by pneumatic monitoring of the plugging pressure or control of the trigger pressure, the cycle time for the robot gripper is reduced on the one hand and adaptable to the cycle time of the cable production, and on the other hand the shifting of the monitoring devices for the correct connection and fitting of a connector housing on the end of a cable, from the robot gripper to the double gripper or on the stationary gripper, no increase in weight for the robot gripper and therefore no impairment of the movements of the robot gripper.
  • the industrial robot 1 has a gripper arm 2 and a robot gripper 3. Different gripping tools 4 for a plug housing 5 or for several identical or different plug housings 5 can be gripped with the robot gripper 3. The arrangement of the gripper tool 4 on the robot gripper 3 is shown more clearly in FIGS. 7 and 8.
  • the robot gripper 3 of the industrial robot 1 can grasp from the tool magazine 6 the gripping tool 4 corresponding to each intended wiring harness production for receiving the desired plug housing 5, with snap locks as a connection between the robot gripper 3 and gripping tool 4 serve. This connection is not the subject of the invention, which is why it is not described in detail.
  • the gripper tool 4 shown has three identical gripper modules 4.1 with grippers 4.2, which are arranged at the same distance from one another and each hold an identical connector housing 5.
  • the connector housings 5 are mounted in a connector housing magazine 7 in the gripping area of the industrial robot 1 with, for example, 3 connector housing magazines 7.1, 7.2, 7.3 lying next to one another in parallel, which are at the same distance as the gripping modules 4.1 of the gripping tool 4.
  • robot gripper 3 new connector housings 5 are automatically tracked in connector housing magazines 7.1, 7.2, 7.3.
  • the supply of the connector housing 5 is not the subject of the invention, which is why this detail is not discussed in detail.
  • the robot gripper 3 several identical or, if appropriately configured, several different connector housings 5 can thus be accommodated simultaneously in one work step. 7 and 8, a console 52 is also indicated, which is provided if the electrical conductors 8 of a finished cable bundle connected to the connector housings 5 are to be additionally secured.
  • the robot gripper 3 sits on the bracket 52 with a locking pin of the gripping tool 4 engaging in a recess 51, and a pneumatically operated manipulator 50 locks the electrical conductors 8 in the plug housing 5.
  • the contact parts 8.1, 8.2 of an electrical conductor 8 are prepared in a processing line 9 which is not part of the subject matter of the invention and are moved forward in cycles by a first transfer module 10.
  • a first transfer module 10 At the end of processing line 9, both contact parts 8.1, 8.2 of the electrical conductor 8 and the electrical conductor 8 itself in a transfer position 30 taken over by a stationary intermediate module 33.
  • the area between the processing line for the production of the electrical conductors 8 and the fitting of these electrical conductors 8 with plug housings by industrial robots 1, in which the device for automatically assembling these parts is set up, is shown in FIG. 3.
  • an additional transfer module 40 is arranged above a conductor level 31.
  • the additional transfer module 40 is arranged on sliding guides 43 between the transfer position 30 and a loading position 32.
  • a pneumatic actuator 44 is responsible for the reciprocation.
  • a double gripper 11 with a rotary module 45 is attached to the transfer module 40. In the transfer position 30, the double gripper 11 takes over both ends of the electrical conductor 8 from the stationary intermediate module 33.
  • Two stationary grippers 20 are also arranged on the support console 42 of the yoke 41, which grips the ends of the electrical conductors 8 in the loading position 32 from the double gripper 11 of the additional one Take over transfer module 40.
  • a fixed scraper 18 is also attached to each stationary gripper 20 for deriving the electrical conductors 8 connected to a plug housing 5.
  • the centering device 19 In the transfer position 30 there is also a centering device 19 with a centering module 34 for each end of the electrical conductor 8, by means of which the contact part 8.1, 8.2 of the electrical conductor 8 can be brought into a desired position.
  • the arrangement of the centering device 19 is shown in more detail in FIG. 5.
  • the centering device 19 consists of a bracket 39, the centering module 34, a rotary module 34.1, a sliding guide 35 arranged perpendicular to the axis of the mounted electrical conductor 8, a pneumatic sliding device 36, a sliding guide 37 arranged parallel to the axis of the mounted electrical conductor 8, and a pneumatic sliding device 38.
  • the centering module 34 is thus displaceably mounted in two planes and can be pneumatically advanced to the end of the electrical conductor 8 held by the intermediate module 30. It has two gripping pairs 34.2, 34.3 offset by 180 °, with which the contact part 8.1 of the electrical conductor 8 can be brought into the desired position.
  • the rotary module 34.1 can rotate the contact part 8.1, for example by 90 °, 180 ° or 270 ° in its longitudinal axis, before the electrical conductor 8 is taken over by the double gripper 11 of the additional transfer module 40. With the help of the additional transfer module 40, the double gripper 11 is moved back and forth between the transfer position 30 and the loading position 32, the contact parts 8.1, 8.2 of a gripped electrical conductor 8 lying in the conductor plane 31.
  • the double gripper 11 is shown in detail in FIG. 4. It consists of two outer gripper pairs 11.1, two inner gripper pairs 11.2 and is connected to the rotary module 45 and the additional transfer module 40.
  • the additional transfer module 40 is moved with the pneumatic actuator 44.
  • the outer pairs of grippers 11.1 are slidably mounted perpendicular to the axis of the gripped electrical conductor 8 on a slide guide 11.6 on the inner pair of grippers 11.2 and can be moved up and down with a pneumatic device 11.3 to move them into or out of the work area, or to open or close them with a further pneumatic device 11.7.
  • the inner pairs of grippers 11.2 have a pneumatic device 11.4 for pivoting away (opening) or closing the grippers.
  • the inner and outer pairs of grippers 11.1, 11.2 are slidably mounted on a common guide rail 11.5 parallel to the axis of the gripped ends of the electrical conductor 8 and held in a working position by the force of a prestressed spring 24.
  • Sensors 25 monitor a possible shift of the two pairs of grippers in the axial direction of the gripped electrical conductor.
  • the outer pair of grippers 11.1 grips a prepared end of the electrical conductor 8 in the rear area of the contact part 8.1, 8.2 after it has been aligned as desired by the centering device 19, while the inner pair of grippers 11.2 grips in the region of the insulation of the electrical conductor 8.
  • the two pairs of grippers 11.1, 11.2 of the double gripper 11 are spaced apart from one another such that the stationary gripper 20 for taking over the electrical conductor 8 in the loading position 32 each end of the electrical conductor 8 between the two pairs of grippers 11.1, 11.2 of the double gripper 11 directly behind the contact part 8.1, 8.2 summarizes.
  • the stationary gripper 20 is shown in more detail in FIG. 6.
  • a stationary gripper 20 is arranged on the support bracket 42 of the yoke 41 for each contact part 8.1, 8.2 of the electrical conductor 8.
  • Each stationary gripper 20 is slidably guided on a slide rail 20.1 parallel to the axis of the gripped electrical conductor 8 and held in a working position by a pneumatic control device 21.
  • the pneumatic control device 21 When the plug housing 5 is plugged in with the robot gripper 3 onto a contact part 8.1, 8.2 of the electrical conductor 8, the plugging force or, after the definitive plugging in, the pulling force is monitored.
  • a contactless sensor 46 responds to a possible displacement of the stationary gripper 20 when the push-on force exceeds the predetermined, fixed value. The electrical conductor is eliminated.
  • a blow-out device 26 is arranged in the area of the gripping device of the stationary gripper 20, with the aid of which a discharged electrical conductor 8 is blown out of the working area. If a connector housing 5 can be pulled off the contact part 8.1, 8.2 of the electrical conductor 8 when the pulling force is checked with a smaller pulling force than the fixed pulling force, the electrical conductor 8 also becomes blown out.
  • the fixed wiper 18 is fastened to the support bracket 42 in the area of the stationary grippers 20, for deriving the electrical conductors 8 connected to a plug housing 5.
  • a storage device 12 can be set up for receiving the fully assembled cable harnesses 13 (FIG. 1), or a transport device 14 can be provided, as they are is shown in Fig. 2. All of these additional variants do not belong directly to the subject matter of the invention, which is why they are only hinted at here.
  • the transport device 14 can be a double belt drive, which consists of two extendable, parallel parallel superimposed pairs of rubber bands 15, 16. The rubber bands lying one above the other are driven with different directions of rotation.
  • the cable harnesses 13 are clamped in the stretched state as far as possible between the two central rubber belt runs of the double belt drive, which run in the same direction, and are carried along.
  • at least one binding device 17 can also be set up for binding the finished cable harnesses.
  • an additional storage gripper (not shown) could also be arranged, which takes over the finished and also the poorly equipped cable harnesses from the gripper 3 of the industrial robot 1.
  • This storage gripper for example, pushes the perfect cable bundles hanging onto a first slide rail of a hanging bearing and the poorly fitted ones, which are subsequently checked and retrofitted by hand, onto a second sliding rail of the hanging bearing. Regardless of its length, each cable bundle hangs with one Plug housing in the slide rail, ready for further use.
  • Such a solution has the advantage that the robot gripper 3 of the industrial robot 1 has to travel a short way to the handover of the cable bundle to the storage gripper and is therefore more quickly ready for use again for gripping new, empty plug housings.
  • FIGS. 9-15 show the different phases in succession when plugging or plugging a connector housing 5 onto an end of an electrical conductor 8 equipped with a contact part 8.1, 8.2.
  • the individual parts shown in these figures are given the same reference numbers as in FIGS. 1 to 8.
  • the electrical conductor 8 is held by the intermediate module 33.
  • the centering module 34 with the gripping pairs 34.2 and 34.3 offset by 180 ° is brought up to the contact part 8.1, 8.2 and the gripping pairs 34.2 and 34.3 grip the contact part 8.1.
  • the outer and the inner pair of grippers 11.1, 11.2 of the double gripper can grip the electrical conductor 8 on both sides next to the intermediate module 33.
  • the electrical conductor 8 and the contact part 8.1 are gripped by the outer and inner pair of grippers 11.1, 11.2 and moved between the open grippers of the stationary gripper 20.
  • the connector housing 5, which is gripped by the gripper tool 4 of the robot gripper 3, is equipped with a contact part 8.1 which has already been plugged in and which is moved to the contact part 8.1.
  • Fig. 11 the connector housing is plugged into the contact part 8.1.
  • the slidably mounted double gripper 11 with the outer and the inner pair of grippers 11.1, 11.2 is held in the working position by the force of the prestressed spring 24.
  • the sensor 25 monitors a possible movement of the double gripper 11 with the aid of a sheet metal tab 11.8.
  • the end of the electrical conductor 8 is gripped by the stationary gripper 20, while the outer double gripper 11.1 is opened and moved away from the electrical conductor 8 and the inner double gripper 11.2 is pivoted away.
  • the pneumatic control device 21 with the push-on pressure P1 or the pull-off pressure P2 is shown in principle and assigned to the stationary gripper 20.
  • the stationary gripper 20 has a blow-out device 26 for blowing out defective electrical conductors 8 from the work area.
  • Fig. 15 it is indicated how the properly inserted electrical conductor 8 is placed when the stationary gripper 20 is opened by a wiping movement of the plug housing 5 under the fixed wipers 18 also shown in FIGS. 12, 13 and 14.
  • the device described here works as follows: On the processing line 9 of an independent cable processing station, electrical conductors 8 are cut to length for the production of cable harnesses 13, the conductor ends are prepared and provided with contact parts 8.1, 8.2. At the end of the processing line 9, the electrical conductors 8 are transferred to a stationary intermediate module 33 by a first transfer module 10 in the transfer position 30. In this position, the contact parts 8.1, 8.2 of the electrical conductors 8 are brought into the desired position by a centering module 34 of a centering device 19 with the pairs of grippers 34.2 and 34.3 offset by 180 °, and then the electrical conductors 8 of the double gripper 11 taken over (phase 1).
  • the prepared contact part 8.1, 8.2 is gripped by the outer pair of grippers 11.1 of the double gripper 11 in the rear area of the contact part 8.1, 8.2, while the inner pair of grippers 11.2 engages in the area of the insulation of the electrical conductor 8.
  • the electrical conductor 8 thus gripped by the double gripper 11 is moved in a movement cycle with the additional transfer module 40 into the transfer position, where the two stationary grippers 20 protrude between the outer and inner double grippers 11.1, 11.2.
  • the device set up outside the cable processing station for the automatic assembly of the electrical conductors 8 and the connector housing 5 is in the meantime being prepared for equipping the connector housing 5.
  • the gripper arm 2 of each of the two industrial robots 1 pivots with the robot gripper 3 and the gripper tool 4 against the end face of the parallel connector housing magazines 7.1, 7.2, 7.3.
  • the gripping tool 4 grips with the grippers 4.2 of the gripping modules 4.1, for example, three of the connector housings 5 presented in a line from the connector housing magazine 7.
  • the connector housings 5 removed from the connector housing magazines 7.1, 7.2, 7.3 are immediately replaced by automatically inserted connector housings 5.
  • the gripper arm 2 of the industrial robot 1 moves with the gripped plug housings 5 in the conductor level 31 into the area of the mounting position 32 in front of the first contact part 8.1, 8.2 of the electrical conductor 8 held by the double gripper 11.
  • the axis of the specific recess of the plug housing is aligned 5 with the axis and the shape of the contact part 8.1, 8.2 of the electrical conductor 8 which is held and aligned with the aid of the inserted centering device 19 (phase 2).
  • the robot gripper 3 now moves with the gripping tool 4 and the gripped connector housings 5 in the axial direction against the contact part 8.1, 8.2 of the electrical conductor 8 until the contact part 8.1, 8.2 of the electrical conductor 8 engages in the recess (phase 3).
  • a metal tab 11.8 of the gripper pairs 11.1, 11.2 covers the end face of the contactless sensor 25; the sensor 25 responds and the plug-in movement of the connector housing 5 with the robot gripper 3 is interrupted.
  • a second push-on attempt is initiated after a short backward movement of the plug housing 5, wherein the robot gripper 3 can possibly carry out additional relative movements with the gripped plug housing 5 for easier plugging in. If this manipulation also fails, the electrical conductor 8 is eliminated and a new electrical conductor 8, which has been manufactured in the meantime, is waited for and activated.
  • the biasing force of the spring 24 is selected so that the spring is not influenced by the frictional force when a connector housing 5 is plugged into the flawless contact part 8.1, 8.2 of an electrical conductor 8 and the working position of the two double grippers 11.1, 11.2 is maintained.
  • the stationary grippers 20 close and take over the electrical conductor 8 from the double gripper 11.
  • the outer and inner pair of grippers 11.1, 11.2 of the double gripper 11 open and the outer pair of grippers 11.1 are displaced with the aid of the pneumatic device 11.3 and the sliding guide 11.6 from the conductor level 31, so that the end of the electrical conductor 8 is only held by the stationary gripper 20.
  • the connector housing 5 is plugged onto the contact part 8.1, 8.2 and at the same time the plug-in force is monitored with the pneumatic control device 21 of the stationary gripper 20, for example. If the push-on pressure P1 exceeds a fixed, selectable value, the contact part 8.1, 8.2 of the electrical conductor 8 has defects and the electrical conductor 8 is eliminated (phase 4). If the set value of P1 is not reached, the connector housing is pushed completely onto the contact part 8.1, 8.2 of the electrical conductor 8 with the aid of the robot gripper.
  • the trigger force is then also monitored with the pneumatic control device 21 of the stationary gripper 20 (phase 5). If the trigger pressure P2 does not reach a selectable, permanently set value, the holder of the plug connection is insufficient and the electrical conductor 8 is eliminated, for example by the plug housing being pulled off the contact part 8.1, 8.2 of the electrical conductor 8, and the electrical conductor 8 when open stationary gripper 20 is blown out of the work area by the blow-out device 26. If the trigger pressure P2 reaches the set value, the stationary gripper 20 opens and releases the electrical conductor 8.
  • the connector housing 5, together with the electrical conductor 8, is pulled away from the stationary gripper by the robot gripper 3 in a direction opposite to the plugging direction, and the last electrical conductor 8 connected to the connector housing is, together with any further connected conductors 8, by a corresponding stripping movement of the robot gripper 3 the fixed scraper 18 placed so that the necessary space for plugging the connector housing 5 on further contact parts 8.1, 8.2 electrical conductor 8 is available. Additional electrical conductors 8 are taken over by the double gripper 11 of the additional transfer module 40 in cycles, transferred to the stationary grippers 20 and combined with connector housings 5 in the same manner described above, until all desired recesses of the connector housing 5 are provided with electrical conductors 8 and a fully assembled wiring harness is formed.
  • the second contact part 8.2 of the electrical conductor 8 is normally fitted with a plug housing 5 at the same time as described with the aid of a second industrial robot 1. However, it would be possible without further ado, but with cycle time losses, with the help of the double gripper 11 or the rotary module 45, following the assembly of the first contact part 8.1, the electrical conductor 8 in an intermediate position between the transfer position 30 and the assembly position 32 in a horizontal plane by 180 ° to equip the second contact part 8.2 using the same industrial robot 1 in the manner described above with a plug housing 5.
  • the grippers of the outer pair of grippers 11.1 of the double gripper 11 according to FIG. 16 have more than one recess for receiving a Equip contact part 8.1, 8.2, for example to accommodate different contact parts with corresponding cutouts 22, 23.
  • the grippers can be moved perpendicular to the axial direction of the gripped electrical conductor 8 in at least two positions.

Claims (10)

  1. Dispositif pour le montage automatique de conducteurs électriques (8) pourvus d'éléments de contact (8.1, 8.2), et d'enveloppes de fiches (5), entre une chaîne de traitement de câbles pourvue d'un module de transfert (10) apte à avancer pas à pas, et un système de préhension comportant un robot industriel (1) pourvu d'un organe de préhension de robot (3) disposé mobile de tous les côtés, étant précisé qu'un module de transfert tournant supplémentaire (40) comporte un organe de préhension double (11) qui saisit les deux extrémités d'un conducteur électrique (8) à l'aide de paires d'organes de préhension extérieures et intérieures (11.1, 11.2), et qu'il est prévu au moins un dispositif de centrage (19) et au moins un élément de déviation fixe (18), caractérisé en ce que l'organe de préhension double (11) présente de chaque côté un dispositif de contrôle d'amorce d'emboîtement, et en ce qu'il est prévu un organe de préhension stationnaire (20) qui saisit les extrémités du conducteur électrique (8) entre les paires d'organes de préhension extérieure et intérieure (11.1, 11.2) de l'organe de préhension double (11), et qui comporte un dispositif de contrôle (21) pour contrôler la liaison par emboîtement.
  2. Dispositif selon la revendication 1, caractérisé en ce que les paires d'organes de préhension extérieures et intérieures (11.1, 11.2) de l'organe de préhension double (11) sont montées mobiles sur un rail de guidage commun (11.5), parallèlement à l'axe du conducteur électrique (8) saisi, et comportent chacune un ressort précontraint (24) maintenant une position de travail, et un détecteur (25) qui réagit lorsque les paires d'organes de préhension extérieure et intérieure (11.1, 11.2) sortent de la position de travail.
  3. Dispositif selon la revendication 2, caractérisé en ce que le détecteur (25) est un capteur sans contact qui réagit grâce au recouvrement de son côté frontal par une languette de tôle (11.8).
  4. Dispositif selon la revendication 1, caractérisé en ce que le dispositif de contrôle (21) de l'organe de préhension stationnaire (20) comporte une unité piston-cylindre pneumatique destinée à contrôler la pression d'emboîtement (P1) et la pression de traction (P2).
  5. Dispositif selon la revendication 1, caractérisé en ce que les paires d'organes de préhension extérieures (11.1) de l'organe de préhension double (11) comportent plus d'un creux (22, 23) pour recevoir un conducteur électrique (8).
  6. Dispositif selon la revendication 4, caractérisé en ce que les creux (22, 23) prévus pour recevoir des éléments de contact (8.1, 8.2) différents présentent des tailles différentes, et en ce que la paire d'organes de préhension extérieure (11.1) est montée mobile perpendiculairement au sens axial du conducteur électrique (8) saisi.
  7. Dispositif selon la revendication 2, caractérisé en ce qu'il est prévu une commande qui, lorsque le détecteur (25) réagit, déclenche un mouvement de recul et un nouveau mouvement d'amorce d'emboîtement de l'organe de préhension de robot (3) avec l'enveloppe de fiche (5), avec ou sans mouvements relatifs.
  8. Dispositif selon la revendication 4, caractérisé en ce que l'organe de préhension stationnaire (20) est monté mobile dans une glissière (20.1), parallèlement à l'axe d'un conducteur électrique (8) saisi, et est maintenu dans une position de travail par le dispositif de contrôle pneumatique (21).
  9. Dispositif selon la revendication 8, caractérisé en ce qu'il est prévu, sur une console de support (42), un détecteur sans contact (46) qui surveille un déplacement de l'organe de préhension stationnaire (20).
  10. Dispositif selon la revendication 4, caractérisé en ce qu'il est prévu, sur l'organe de préhension stationnaire (20), un dispositif à soufflante (26) qui évacue les conducteurs électriques (8) défectueux.
EP19900124728 1990-02-06 1990-12-19 Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise Expired - Lifetime EP0440955B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH372/90 1990-02-06
CH37290 1990-02-06

Publications (2)

Publication Number Publication Date
EP0440955A1 EP0440955A1 (fr) 1991-08-14
EP0440955B1 true EP0440955B1 (fr) 1995-03-15

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EP19900124728 Expired - Lifetime EP0440955B1 (fr) 1990-02-06 1990-12-19 Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise

Country Status (3)

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EP (1) EP0440955B1 (fr)
JP (1) JP3076079B2 (fr)
DE (1) DE59008720D1 (fr)

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CN109742635A (zh) * 2019-02-28 2019-05-10 许昌学院 一种smt贴片连接器全自动装配工艺
CN110459933A (zh) * 2019-08-23 2019-11-15 陈君辉 一种用于新能源的接线机
DE102019106710A1 (de) * 2019-03-15 2020-09-17 Rittal Gmbh & Co. Kg Greifer für die automatisierte Verdrahtung elektrischer Komponenten einer elektrischen Schaltanlage, ein entsprechender Roboter und ein entsprechendes Verfahren
US11276992B2 (en) 2017-11-29 2022-03-15 Rittal Gmbh & Co. Kg Method for electrical cabling with a cable sequence of electronic components in switchgear construction and a corresponding robot arrangement

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DE102019106710B4 (de) 2019-03-15 2022-03-17 Rittal Gmbh & Co. Kg Greifer für die automatisierte Verdrahtung elektrischer Komponenten einer elektrischen Schaltanlage, ein entsprechender Roboter und ein entsprechendes Verfahren
CN110459933A (zh) * 2019-08-23 2019-11-15 陈君辉 一种用于新能源的接线机
CN110459933B (zh) * 2019-08-23 2021-06-08 浙江蓝特新能源科技股份有限公司 一种用于新能源的接线机

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EP0440955A1 (fr) 1991-08-14
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JPH0831538A (ja) 1996-02-02

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