EP0650232B1 - Device and machine for inserting connection elements into connectors - Google Patents

Description

The present invention relates to a device for connecting connection elements in connector housings, and to a machine for automatically connecting said connection elements.

More particularly, the device according to the invention is intended for plugging in male or female pins, which are previously mounted, generally by crimping, on the ends of the conductors of electric cables, in the corresponding receptacles for connectors which can be of various shapes such as circular, rectangular or other, and the operation of plugging in or inserting the pins is usually carried out by their rear transverse face.

The aeronautical field constitutes a preferred application of the connection device and of the automatic machine of the invention. Indeed, the multitude of electric cables, intended to connect, by means of specific connectors, the various apparatuses and equipments of the aircraft to ensure their good functioning, implies numerous preliminary operations of connection of the pins, terminating the conductors said cables, in the corresponding housings of specific connectors in order to constitute, subsequently, wiring harnesses or harnesses. The connectors of each harness, fitted with pins, are then engaged in complementary connectors provided on the equipment or on other harnesses.

Of course, the device and the connection machine according to the invention could be applied to other industrial fields, for example automotive, from the moment when numerous connections between connection elements and connectors have to be made.

• un corps déplaçable en direction dudit connecteur ;
• un outil d'insertion associé, par des moyens de liaison amovibles, audit corps et pourvu de moyens de préhension dudit élément de connexion à introduire dans le logement correspondant du connecteur ; et
• des moyens pour commander l'ouverture ou la fermeture des moyens de préhension, associés audit corps et permettant, respectivement, le montage de l'élément de connexion à brancher dans ledit outil puis le retrait dudit outil après branchement dudit élément dans le logement du connecteur, ou le maintien dudit élément durant son insertion dans ledit logement.

We already know, in particular by the publication of French patent FR-A-2 681 987 of the applicant, such a device for connecting pins, crimped to the stripped ends of electric cables, in the corresponding housings of connectors. This device and the machine that is equipped with it make it possible in particular to reduce manual intervention, to avoid the risk of errors in the choice between the different pins, the insertion tools available and the connections in the connector housings. For this, the device includes:

• a body movable towards said connector;
• an insertion tool associated, by removable connection means, with said body and provided with means for gripping said connection element to be introduced into the corresponding housing of the connector; and
• means for controlling the opening or closing of the gripping means, associated with said body and allowing, respectively, the mounting of the connection element to be plugged into said tool then the removal of said tool after plugging said element into the connector housing , or maintaining said element during its insertion into said housing.

This device described in the aforementioned patent application gives satisfactory and even excellent results, compared in particular to prior manual insertion tools, but, however, it can occur again because of the considerable number of connections to be made (several thousand on a helicopter, for example), difficult or even faulty connections, mainly due to geometric errors between the spindle and the housing.

Indeed, a first orientation error can appear when the longitudinal axis of the spindle, corresponding to that of the tool, is angularly offset with respect to the axis of the housing, so that the spindle is introduced slightly at an angle in the housing, risking coming into abutment in an internal shoulder thereof, or of being excessively deformed. A second positioning error can also come from the fact that the axis of the spindle is then offset parallel to the axis of said housing, so that its end abuts against the entry edge of the housing preventing connection, or else reaches, in the best of cases, following the insertion effort, to deform to engage in housing.

It should also be mentioned, since the connection is made in an unguided manner (absence in particular of a chamfer in the entry edge of the housings), the risks of blocking of the spindle in different places, for example at the internal shoulder which is provided in the housing and against which is applied, in the usual way, the collar of the spindle after having passed through an elastic sleeve making it possible to maintain it axially in the connected position. Such risks of blocking, corresponding to hard points encountered during the introduction of the spindle, very often lead to insertion failure.

The present invention aims to remedy these drawbacks and relates to a device and a connection machine making it possible to take account of these possible risks of error.

To this end, the connection device of the type described above is remarkable, according to the invention, in that it comprises elastic means disposed between said tool and its gripping means, to be capable of acting according to the longitudinal axis of insertion of said element of connection in said connector housing, in that said removable connecting means are defined by an articulation with center of rotation, which connects said tool to said body and whose center of rotation is substantially coincident with said longitudinal axis of the connection element , and in that indexing means are associated with said body to act on said articulation so as to align said tool on said body, parallel to said housing.

Thus, thanks to the invention, the insertion of the pins into the respective housings of the connectors is carried out without difficulty for all of the connections to be made, even when geometric errors may appear, for some connections, initially before the introduction of spindle. In fact, by means of the articulation with center of rotation and the associated indexing means, the insertion tool and, therefore, the spindle gripped by the gripping means, are automatically readjusted at least parallel to the 'axis of said housing. Also, even if, after this registration, the tool is slightly offset parallel to the axis of the housing, the spindle can still "self-center" in said housing, thanks to the freedom of movement offered by the articulation with center of rotation, said indexing means being deleted. Furthermore, even when hard points are encountered by the spindle when it is inserted into the housing, the elastic means make it possible to detect them in order to move the device back and then reintroduce it differently, in order to insert the spindle without deformation thereof.

Consequently, thanks to the axial elastic means and to the articulation with center of rotation, the connection between the insertion tool and the body of the device is flexible and not more rigid as previously, so that the pins engage and fit properly into the housing connectors, ensuring reliable connections for use.

Advantageously, the device further comprises means for detecting and analyzing the forces during the insertion of said pins into the respective housings of said connectors, said means being associated with said movable body. Thus, it is possible to constantly monitor the force of insertion of the spindle into the housing and to detect a possible anomaly during insertion, such as a hard point, by means of axial elastic means.

Preferably, said body is hollow and, inside thereof, is housed and maintained the insertion tool by said removable articulation connection means, said gripping means of said tool projecting from said body. The device then has an appreciable compactness.

In a preferred embodiment, said articulation with center of rotation is spherical and comprises a ball joint coaxially with said tool, opposite its gripping means, and mounted in a corresponding ring fixed to said body. One thus notices the simplicity of construction and the reliability of operation of the connection means. For example, said indexing means may be defined by a jack or the like, carried coaxially by said body and capable of acting on the ball of said joint to align said tool, capable of holding a spindle by its gripping means, coaxially to this one.

In this case, the connection between said cylinder and said ball can be achieved by means of a conical imprint, which is formed in the ball and with which the end, of complementary shape, of the rod of said cylinder can cooperate.

In a preferred embodiment, said elastic means comprise springs which are associated with said tool, in the vicinity of its transverse end face turned towards said gripping means, and with which the latter cooperate so as to be capable of sliding axially between two positions extremes corresponding to the stroke of said springs. Thus, by this simple embodiment, the springs allow, when they compress following an anomaly during insertion, to store energy which they restore to the spindle if the latter manages to unlock , by means of the gripping means, to force it, in flexibility, to continue its progression in the housing of the connector. Otherwise, if the effort reaches a predetermined threshold, the device is removed to carry out the necessary checks.

For example, said gripping means are defined by two jaws relatively angularly movable relative to one another under the action of said control means.

In this case, said springs are arranged in housings of said tool, emerging from its transverse end face, and said jaws are provided with rods respectively engaging in said housings by axially passing through said springs, and comprising external shoulders against which abuts one of the ends of said springs, while their other end is applied against a stop of said housings.

In addition, one of said jaws is mounted on a pivoting arm of said tool, with which said corresponding springs are associated. The control means of said gripping means are defined by a jack or the like linked to said movable body and capable of acting then on said pivoting arm of said tool to open at least said jaw mobile of said gripping means. The movable jaw returns to the closed position, for example by an elastic return of the pivoting arm to apply against the other jaw, possibly holding a pin.

Advantageously, said insertion tool is provided with a longitudinal slot which opens out from its transverse face, in the direction of said gripping means, and in which the end of said cable to be connected is capable of being received, so as to guide it up to 'to said gripping means gripping the spindle. In addition, a jack or the like is provided on said displaceable body for traversing, when actuated, radially the longitudinal slot of said tool and holding the end of said cable in said slot during insertion of the spindle.

Furthermore, said body may be associated with a jack or the like which is capable of blocking said cable in said insertion tool, in order to carry out a retention test of said cable to check the locking of the pin in the connector housing.

• un bâti, sur lequel sont aptes à être reçus lesdits connecteurs ;
• un équipage mobile lié audit bâti et susceptible de se déplacer selon les trois axes d'un repère orthonormé ;
• au moins un dispositif de branchement qui comprend un corps porté par ledit équipage mobile, et un outil d'insertion associé, de façon amovible, audit corps ;
• une zone de changement desdits outils, choisis en fonction des caractéristiques géométriques desdits éléments à brancher ; et
• une unité de pilotage programmable, contenant les informations relatives aux différents branchements à réaliser en fonction des éléments de connexion et des logements des connecteurs, et susceptible de commander ledit équipage mobile et ledit dispositif de branchement.

The invention also relates to a machine for automatically connecting connection elements, such as pins fitted to the ends of electric cables, in connector housings, of the type comprising:

• a frame, on which said connectors are adapted to be received;
• a moving assembly linked to said frame and capable of moving along the three axes of an orthonormal reference frame;
• at least one connection device which comprises a body carried by said mobile assembly, and an insertion tool associated, detachably, with said body;
• a zone for changing said tools, chosen as a function of the geometric characteristics of said elements to be connected; and
• a programmable control unit, containing the information relating to the various connections to be made as a function of the connection elements and the housings of the connectors, and capable of controlling said mobile equipment and said connection device.

Advantageously, the latter is of the type specified above.

Said means for detecting and analyzing forces, associated with said connection device, are then connected to said programmable control unit and are defined by a strain gauge attached to the body of said device.

According to another characteristic, the machine further comprises display means which are mounted on said mobile assembly to identify the connectors to be connected and determine the coordinates of the various reception housings, and which are defined by at least one camera connected to said programmable control unit.

• d'une tête montée coulissante le long de l'axe OZ dudit repère, parallèle auxdits logements desdits connecteurs, et portant, dans son prolongement, ledit dispositif de branchement ;
• d'un chariot sur lequel est disposée ladite tête et qui est monté coulissant le long de l'axe OY dudit repère ; et
• d'une poutre sur laquelle peut se déplacer ledit chariot et qui est montée coulissante le long de l'axe OX dudit repère sur deux rails de guidage fixés audit bâti.

More particularly, said mobile equipment can consist of:

• a head mounted sliding along the axis OZ of said reference, parallel to said housings of said connectors, and carrying, in its extension, said connection device;
• a carriage on which said head is disposed and which is slidably mounted along the axis OY of said reference; and
• a beam on which said carriage can move and which is slidably mounted along the axis OX of said reference mark on two guide rails fixed to said frame.

Thus, this mobile equipment plays the role of a three-axis robot, the movements of which are controlled from the control unit.

In addition, a mechanism is provided for spreading the cables already connected and guiding the cable to be plugged into the corresponding housing of the chosen connector, said mechanism being slidably mounted on said movable assembly and having a funnel-shaped member. , which is substantially coaxial with said connection device and which is capable of being traversed by the pin carried by the gripping means.

Preferably, the machine comprises a zone for predestining the cables after connection, which is located on said frame and which comprises a plurality of elastic clamps able to receive said cables by means of gripping mechanisms associated respectively with said clamps. Thus, the cables are directed along the path of the beam to be obtained, as and when they are connected.

The figures of the appended drawing will make it clear how the invention can be implemented. In these figures, identical references designate similar elements.

Figure 1 shows in schematic perspective an automatic connection machine provided with a connection device according to the invention.

Figure 2 shows a connection device as it is arranged on the machine.

Figures 3A and 3B are respectively opposite side views of the insertion tool of said device.

FIGS. 4A and 4B show the alignment of the tool with respect to said body, thanks to the removable connection means.

FIGS. 5A and 5B illustrate the two extreme positions capable of being occupied by the gripping means, thanks to the axial elastic means.

Figures 6A and 6B illustrate the operation of the gripping means under the action of the control means.

Figures 7A, 7B, 7C, 7D, 7E and 7F schematically show the main operating phases of said machine for inserting a pin in the connector housing.

FIGS. 8A and 8B show more particularly and on an enlarged scale, the insertion of pins, respectively male and female, by means of the device, into corresponding housings of connectors.

Figure 9 shows a wiring harness or harness obtained.

FIG. 10 is a diagram representing the force to be exerted during the insertion of a spindle into the housing and illustrates the two curves obtained respectively with a conventional device and the device according to the invention.

FIG. 11 represents examples of anomalies which may occur during the insertion of a spindle, which appear on said curve obtained and which are corrected by said machine.

The purpose of the connection machine 1, shown in FIG. 1, is the automatic mounting of connection elements, such as pins provided at the ends of the electric cables, in housings of electrical connectors. The pins 2 of the electric cables 3 and the housings 4 of the connectors 5 are more particularly shown with reference to FIGS. 8A and 8B.

In this exemplary embodiment, the machine 1 comprises in particular a frame 6, a mobile assembly 7, a connection device 8 and a programmable control unit integrated into a control console 9 symbolized in dashed lines in FIG. 1 and grouping the equipment IT necessary (screens, printer, microcomputers) for the operation of the machine. More particularly, the moving element 7 is mounted on the frame 6 and carries the connection device 8. This element is capable of moving along the three axes OX, OY and OZ of an orthonormal reference frame linked to the frame of the machine. For this, it consists of a head 10 which is slidably mounted relative to a carriage 11, along the corresponding OZ axis, in this example, vertically and at the end of which is located the connection device 8. The carriage 11 is, in turn, mounted sliding, along the axis OY of the reference frame, on a beam 12 then horizontal, the ends of which are carried by two parallel and opposite guide rails 14, along the axis OX of said reference frame. These rails 14 are fixed to the frame of the machine. Thus, the beam 12, the carriage 11 and the head 10 form the movable assembly 7, which thus corresponds to a three-axis robot.

On the table 6A of the frame 6, supports 15 are arranged for receiving and fixing the connectors 5 to be connected, the dimensions and shapes of which are various and the arrangement of which on the supports is such that the receiving housings 4 are parallel to the axis OZ of said reference, that is to say parallel to the connection device carried by the head 10 of said movable element 7. The rear transverse faces 5A of the connectors, by which the inserts are made, are obviously turned towards the outside, in the XOY plane. Furthermore, as shown in this figure 1, display means 16 are provided on the carriage 11 of the crew. They are constituted by a 16A video camera which makes it possible in particular to identify the various connectors to be connected and to determine, by OX and OY movements, the exact coordinates of the housings provided in each connector. Obviously, the various information on these connectors and housings are entered and integrated in said control unit, which makes it possible to constitute a database of connectors, constantly updated with each new connector, different from those already memorized.

The connection device 8 comprises, as shown in FIG. 2, a body 17 which is fixed, by any suitable means, to the head 10 of the mobile assembly, and an insertion tool 18 attached, in a removable manner, in the body 17 and intended to ensure the mounting of the pins 2 in the housings 4 of the connectors. Also, because of the numerous dimensional and shape characteristics of said pins, a plurality of insertion tools 18 adapted to each type of pins must be provided. Consequently, the machine 1 comprises an area 19 equipped with the various necessary insertion tools. FIG. 1 shows, by way of example, two insertion tools 18 held respectively by brackets 19A by means of appropriate holding elements 19B, while an insertion tool 18 is already mounted in the body of the connection device 8 located at the end of the head 10 of said movable assembly 7.

In addition, the machine 1 is provided with a mechanism 20 to facilitate the mounting of the pins in the housings of the connectors and a zone 21 for predestining the connected cables. This mechanism 20 and this zone 21 will be described more particularly during the operation of the machine.

The body 17 of the device shown in Figure 2 is hollow and has, for example, a polygonal section, such as square, although any other section shape is structurally possible. The insertion tool 18 has a generally parallelepiped shape and it is mounted inside the hollow body 17 by being associated with it by removable connection means 22. It is moreover provided with controllable gripping means 23 making it possible to grasp the pin of the cable to be connected. Relative to the orthonormal reference of the machine, the hollow body 17 is aligned along the axis OZ, along which the head 10 of the crew 7 can slide and on which said housings 4 of the connectors are also aligned in parallel. The gripping means 23 protrude relative to the open end 17A of the body, and the removable connecting means 22, arranged on the side of the transverse face 18A opposite to that 18B of the tool extended by the gripping means, are facing the bottom 17B of the body, which closes the other end of the body.

The connection device 8 comprises, according to the invention, elastic means 24 disposed between the tool 18 and its gripping means 23, the purpose of which is to act along the longitudinal axis of insertion of the spindle into the housing of the connector, and the removable connection means 22 are advantageously defined by an articulation 22A with center of rotation C, which connects the tool 18 to the body 17 and whose center C coincides with the longitudinal axis of insertion, as is will see it later. Indexing means 25 are then associated with the body 17 to act on the articulation 22A so as to allow the alignment of said insertion tool along the axis of the body 17, that is to say along OZ. More particularly, the articulation 22A is spherical, so that it consists of a ball joint 22B situated in the axial extension of the tool 18 and coming from its transverse face 18A, and of a ring 22C fixed to the wall lateral 17C of the body and having an internal annular surface 22D in V receiving said ball joint. The center of this defines the center of rotation C of the joint. The ring 22C can be made of an elastically deformable material so as to allow, when the tool has to be changed, the disengagement of the ball joint from the body 17 secured to the head 10 of the moving assembly. For example, the tool change operation can be performed automatically. In this case, the tool engages in the holding elements 19B of the corresponding bracket 19, then the body 17 of the device is moved by the moving element 7 to release the ball joint 22B from the ring 22C and leave said tool d insertion on its stem. At this time, the moving assembly is brought opposite another tool to be used, so that the ring 22C of the body 17 engages the selected tool by cooperation of its ball joint with the ring, and disengages said tool from the elements of link 19B by an appropriate movement of the moving assembly 7.

Of course, the tool change operation can also be done manually.

Also, this ball joint connecting the tool to the body of the connection device makes it possible to align, before each connection, the insertion tool 18 in the longitudinal axis of the body 17, that is to say according to the 'OZ axis. For this, there is shown in Figure 4A, the case where the tool is angularly offset by an angle A relative to the longitudinal axis of the body of the device, corresponding to the axis OZ. In order to avoid this angular offset error mentioned previously, indexing means 25 are provided and they consist of a jack 25A linked to the bottom 17B of the body and arranged along the longitudinal axis. Thus, when the jack is actuated, controlled from said console before each connection to be made, the conical end 25C of its rod 25B engages in a similar imprint 22E formed in the spherical ball 22B, so as to automatically readjust the insertion tool 18 along said axis, as shown in FIG. 4B. Thus, by the combination of the removable connection means 22 with spherical articulation and of the indexing means 25, the tool of the device is perfectly aligned with respect to the longitudinal axis of insertion. Before each connection, the rod 25B of the jack is retracted so that the aligned tool advantageously has degrees of freedom around the center C, necessary for the progression of the spindle in the housing of the connector.

Furthermore, the axial elastic means 24 of the device make it possible to participate advantageously in the insertion of the pins into the housings, in particular when they encounter hard points, as mentioned previously. In this embodiment illustrated in FIG. 5A, the elastic means 24 are defined by compression springs 24A which are received in housings 18C provided in the insertion tool 18 and emerging from its transverse face 18B, towards the means gripping 23, cooperating with them. Indeed, the gripping means are defined by two jaws 23A, 23B relatively angularly movable relative to each other to grip the pin to be inserted and they come from parallel rods 23C, for example two by jaws, which s 'then engage in the respective housings 18C of the tool. Each rod, which is surrounded by the spring 24A, is provided with an external shoulder 23D which is pressed elastically by the spring against a plate 18D, ending the transverse face 18B of the tool and crossed by the corresponding rods. The springs 24A are initially in the relaxed position, bearing, on one side, on the external shoulders of the rods and, on the other side, on internal stops 18E provided in the housings, so that the gripping means 23 and , therefore, spindle 2 can slide coaxially on a stroke C, as shown in FIG. 5B, between the relaxed position and the compressed position of the springs 24A. Thus, in the case where the spindle encounters a hard point during its insertion, the latter compress and store energy, which they can restore if the spindle manages to unblock, thus allowing its smooth insertion and removing the jerky integration efforts that appear very often. If the spindle remains blocked, the springs compress to a maximum force threshold, which stops the progression of the device, as will be seen later.

Regarding the gripping means 23, one of the jaws, for example the jaw 23A, is mounted on a pivoting arm 18F integrated into the tool and then carrying the two corresponding springs 24A which surround the rods 23C of said jaw. The arm 18F is mounted on an axis 18G orthogonal to the longitudinal axis of the device and it is angularly movable around this axis under the action of control means 26, so as to open or close the movable jaw 23A relative to the jaw 23B, as shown in Figures 6A and 6B. The control means 26 are defined by a jack 26A which is fixed perpendicular to the side wall 17C of the body and whose rod 26B, passing through a radial passage 18H of said tool, can act on the arm 18F to make it pivot around the axis 18G and in this case open the gripping means. The jaws 23A and 23B being spaced from one another, the end 3A of a cable 3 to be connected can then be disposed in said tool 18 and, more particularly, in a longitudinal central slot 18I formed in the tool and emerging from the transverse face 18B. Thus, the end of the cable is guided so as to present the pin 2 in the axis of the gripping means. At this time, as shown in Figure 6B, the rod 26B of the cylinder 26 is retracted and the movable jaw 23A is returned to its initial position, for example by means of a not shown return spring provided in the axis of 18G articulation of the 18F arm, so that the two jaws grip the pin 2. To hold the end of the cable in the longitudinal slot 18I of said tool, a jack 27 is fixed radially to the side wall 17C of the body, so that its rod 27A, when actuated, passes through a radial passage 18J of the tool to engage in the slot and prevent the end 3A of the cable from coming out of it.

In addition, it is noted that, in addition to the jacks 26A and 27, another jack 28 is fixed radially to the side wall 17C of the body 17. The aim of this jack 28 is to block the end of the cable in the tool for carrying out , after inserting the pin into the connector housing, a retention test and check whether the pin-housing connection is correct. For this, as shown in FIG. 6B, the rod 28A of the jack passes through a radial passage 18K of the tool to open into the longitudinal slot 18I and lock the cable therein.

FIGS. 3A and 3B make it possible in particular to highlight the profile of the slot 18I, the various radial passages 18H, 18J and 18K, and the axis of articulation 18G of the pivoting arm 18F of said tool 18.

The operation of the automatic connection machine 1, equipped with the connection device 8 according to the invention, takes place as follows.

First of all, it is assumed that, as shown in FIG. 7A, cables 3 are already connected in the housings of a connector 5 fixed to its support 15 linked to the table 6A of the frame. These cables 3 are directed towards the predestination zone 21 which consists in routing the cables according to the configuration of the bundle to be produced, thereby giving a rough outline to said final configuration. These cables are then presented above elastic clamps 21A and introduced into them by a jack mechanism 21B which engages the cable inside the clamp, as shown in Figures 7E and 7F. Furthermore, we note in FIG. 7A the mechanism 20, facilitating the insertion of the pins to be mounted and protecting the cables already connected, which hinder the passage of the insertion tool towards the connector. In an exemplary embodiment, the mechanism 20 comprises a flared member 20A in the form of a funnel, which is disposed substantially coaxially with the device 8 so as to be traversed by the spindle held by the gripping means 23 of the insertion tool 18. The flared shape of the member 20A thus contributes to gently spreading the cables 3 already connected and moreover providing an ideal passage for pin 2 of the cable to be connected. This member 20A is provided at the end of a bent arm 20B capable of sliding, along the axis OZ of the reference frame, relative to the carriage 11 of said movable assembly 7.

Advantageously, means 30 for detecting and analyzing the forces during the insertion of the pins into the respective housings of the connectors are arranged between the bottom 17B of the body and the head 10 of the moving assembly and they are defined by a strain gauge connected, by a link 30A, to the programmable control unit of said console 9 of the machine.

Before starting an operating cycle, the characteristics of the pin of the new cable to be connected are checked. If this spindle requires the use of an insertion tool 18, in particular its gripping means, different from the previous one, its replacement is carried out in the manner indicated above. Otherwise, the tool 18 is held in the body 17 of the device by the connection 22. The head 10 of the movable assembly is then in the high position and the operator can then mount the spindle 2 in the insertion tool 18. For this, the cylinder 26A is actuated so that its rod 26B pivots the arm 18F of the tool and angularly displaces the movable jaw 23A, opening the gripping means 23. The operator then places the spindle against the fixed jaw 23B taking care to guide the end 3A of the cable into the longitudinal slot 18I of the tool and controls the jack to retract the rod 26B, which causes closing the movable jaw 23A.

As can be seen in particular in FIG. 8A, the jaws grip the rear part 2A of the spindle 2, behind its flange 2B, so as to best present its active part 2C for connection.

Then, the movable assembly 7 is moved to bring the connection device 8 according to the coordinates of the corresponding housing 4 of the connector and the automatic angular realignment of the insertion tool 18 is carried out relative to the longitudinal axis of the body 17 aligned with OZ, by the action of the indexing cylinder 25A which acts on the ball 22B of the joint 22A. As shown in Figure 7A, the tool 18 is then properly aligned. Meanwhile, the rod 27A of the jack 27 is actuated to hold the end 3A of the cable in the longitudinal slot 18I of the tool 18.

At this point, the actual insertion phase can begin. For this, the mechanism 20 is controlled to bring the flared member 20A in the axis of the chosen housing, near the rear transverse face 5A of the connector, allowing the cables already connected to be released, as shown in FIG. 7B. Then, after a rapid stroke along the axis OZ, from the head 10 bringing the spindle 2 to the vicinity of the flared member 20A, the insertion takes place in a slow stroke of the head carrying the connection device 8. During throughout this insertion stroke, the reaction forces on the tool are analyzed, in real time, by means of the strain gauge 30 connected to the control unit, in order to detect the locking of the pin in its housing or to detect any anomaly, as will be seen later with reference to Figures 10 and 11.

To return to the insertion phase shown in FIG. 7C and in detail in FIG. 8A, we see the flange 2B of the male pin 2 crossing and spreading, in the usual way, the elastic tabs 4A of a socket 4B located in the housing 4. The connection is finally established when the flange 2B of the spindle has crossed the legs 4A to come into abutment against a shoulder 4C of said housing, said legs then spontaneously returning to position to be applied behind the collar and the then immobilize axially in position against the shoulder 4C, ensuring connection. Figure 8B shows the insertion of a female pin 2.1 in the housing 4.1 of another connector 5.1.

When the connection is established, a retention test is performed. For this, the rod 28A of the jack 28 is controlled to block the end 3A of the cable in the longitudinal slot 18I of the tool 18. Then, a slight axial recoil of the tool is carried out via the body 17 of the device and the head 10 of the moving assembly. If the test proves conclusive, that is to say if the spindle remains locked, the tool 18 is released by the return to the high position of the head 10 of said movable assembly, the jaws of said gripping means sliding on the rear part 2A of the spindle, otherwise the operator is warned by means of a signal appearing on the control console so that it intervenes. When the head 10 is in the high position, the rod 27A of the jack 27 is retracted and the movable jaw 23A is open to release the cable 3 from the longitudinal slot 18I of said tool and, by means of the flared member 20A of the mechanism, through which the cable passes, the latter is brought to the predestination zone to be introduced into the chosen elastic clamp 21A, via the jack 21B.

The connection cycle being completed with regard to the first end of this cable 3, the movable assembly 7 makes a tool change if necessary and, then, the operator sets up the pin of the second end of the cable and starts a new cycle. When all the cables have been treated, their pins having been inserted into the connectors, after predestination and final routing of the cables according to the desired arrangement, a wiring harness or harness 31 is obtained ready to connect the various pieces of equipment or connectors together. other beams, such as that illustrated by way of example in FIG. 9.

The diagram shown in FIG. 10 shows the force exerted, expressed in newtons, as a function of the displacement, expressed in millimeters, during the insertion of a pin in the housing of the connector, until it is locked. Curve C, in thick lines, corresponds to that obtained by the connection device 8 of the invention mounted on the machine 1, while curve C1 corresponds to that obtained by a prior connection device. It can be seen that the curve C1 has a jerky profile resulting essentially from the fact that the connection between the insertion tool and the body of the device is rigid. The insertion is then carried out continuously in fits and starts because of the different positioning errors and the hard points encountered. One of these P has been shown by way of example, on this curve C1. On the other hand, the connection device of the invention allows, thanks to a flexible connection (axial elastic means 24 and ball joint 22A) between the tool 18 and the body 17 of the device, to "smooth" the curve to obtain the curve C where it is observed that the force varies regularly, without abrupt change, during the insertion of the spindle.

Indeed, according to the invention, we manage to reproduce an insertion made manually by an operator who modifies the forces he transmits to the tool as well as its orientation, according to his own sensations.

Furthermore, the curves obtained can be divided into three zones in order to interpret them. A first zone I, delimited by the points O, DO and F1, corresponds to the start of the insertion and makes it possible to detect an anomaly originating from the positioning of the spindle relative to the housing, and in particular a parallel shift of the latter. A second zone II, delimited by the points DO, D1 and F1, corresponds to the insertion of the spindle into the housing and makes it possible to detect a possible blocking of the latter during its progression, due to a hard point represented for example on the curve C1 in FIG. 10 and requiring a high effort to surpass it, which can cause deterioration of the spindle. Finally, a third zone III, delimited by the points D1, D2 and F2, corresponds to the locking of the spindle in the housing by the elastic bushing and makes it possible to detect the end of the insertion.

There are shown on curve C of FIG. 11, similar to that illustrated in FIG. 10, anomalies liable to appear during insertion into zones I and II. For example, in zone I, the pin can be applied to the rear transverse face 5A of the connector and, more particularly, to an elastomer gasket fixed to it, in the case of a parallel offset thereof. relative to the housing that does not compensate for the ball joint to "readjust" the spindle to its housing. In this case, the axial springs 24A are compressed by the advance of the insertion tool, until the forces measured by means of the gauge 30 reach, along the line D shown, the threshold of admissible force F1. The moving equipment 7 then immediately stops its progression and then backwards, so that the operator is thus warned of the anomaly and makes the necessary corrections before restarting the connection cycle.

In zone II, the spindle being inserted may jam due to a hard point P1. The axial springs 24A compress, until the forces measured by the gauge reach the threshold F1. The mobile assembly stops its progression, then the device performs a rotation around the insertion axis (rotation relative to the ball joint 22B of the joint). If the spindle succeeds in disengaging, the mechanical energy stored by the springs is restored, so that the spindle is then inserted into the housing. The measured forces becoming again below the threshold F1, the head of the moving assembly resumes its normal progression along the axis of insertion OZ. If, after this first rotation, the spindle is still not released, then corresponding to a new hard point P2, the head performs a slight axial recoil to reduce the energy stored by the springs, and a new rotation is then carried out, until the spindle manages to cross the hard point. Then, when the spindle comes into contact with the internal shoulder of the housing, the elastic springs are compressed and, as soon as the forces measured via the gauge reach the threshold F2, the head of the moving assembly stops its progression then releases the tool by axial recoil. At this time, the aforementioned retention test is carried out.

Claims (20)

1. Device for connecting connection elements, such as pins equipping the ends of electric conductors, into receiving housings of connectors, of the type including:

   - a body (17) which can be moved in the direction of the said connector;

   - an insertion tool (18) which is associated, via removable linkage means (22), with the said body and is provided with means (23) for gripping the said connection element to be introduced into the corresponding housing of the connector; and

   - means (26) for controlling the opening or closure of the said gripping means, which are associated with the said body and respectively allow the connection element to be connected to be mounted in the said tool, then the said tool to be withdrawn after the said element has been connected into the housing of the connector, or the said element to be held during its insertion into the said housing,

   characterized in that it comprises elastic means (24) located between the said tool and its gripping means, in order to be capable of acting along the longitudinal axis of insertion of the said connection element into the said housing of the connector, in that the said removable linkage means (22) are defined by an articulation with the centre of rotation (22A) which joins up the said tool to the said body and the centre of rotation of which is substantially coincident with the said longitudinal axis of the connection element, and in that indexing means (25) are associated with the said body in order to act on the said articulation such as to align the said tool (18) with the said body, parallel to the said housing.
2. Device according to Claim 1, characterized in that it additionally comprises means (30) for detecting and analyzing the forces during insertion of the said pins into the respective housings of the said connectors, the said means being associated with the said movable body (17).
3. Device according to either of the preceding Claims 1 and 2, characterized in that the said body (17) is hollow and the insertion tool (18) is housed and held inside it by the said removable linkage means (22) with articulation, the said means (23) for gripping the said tool projecting with respect to the said body.
4. Device according to any one of Claims 1 to 3, characterized in that the said articulation with the centre of rotation is spherical and comprises a ball joint (22B) linked coaxially to the said tool, opposite its gripping means, and mounted in a corresponding ring (22C) which is fixed to the said body (17).
5. Device according to Claim 4, characterized in that the said indexing means (25) are defined by a jack (25A) or the like, carried coaxially by the said body and capable of acting on the ball joint (22B) of the said articulation in order to align the said tool, capable of holding a pin by its gripping means, coaxially with the said tool.
6. Device according to Claim 5, characterized in that the link between the said jack (25A) and the said ball joint (22B) may be formed by means of a conical recess (22E) which is formed in the ball joint and with which the end (25C), of complementary shape, of the rod of the said jack may interact.
7. Device according to any one of the preceding Claims 1 to 6, characterized in that the said elastic means (24) comprise springs (24A) which are associated with the said tool, in the vicinity of its transverse end face (18B) pointing towards the said gripping means, and with which the latter interact in order to be capable of sliding axially between two extreme positions corresponding to the travel of the said springs.
8. Device according to any one of the preceding Claims 1 to 7, characterized in that the said gripping means (23) are defined by two jaws (23A, 23B) capable of relative angular movement with respect to each other under the action of the said control means (26).
9. Device according to Claims 7 and 8, characterized in that the said springs (24A) are located in housings (18C) of the said tool, emerging from its transverse end face, and in that the said jaws (23A, 23B) are equipped with rods (23C) engaging respectively into the said housings, passing axially through the said springs, and including external shoulders (23D) against which one of the ends of the said springs comes to bear, while their other end is applied against a limit stop (18E) of the said housings.
10. Device according to Claim 8, characterized in that one (23A) of the said jaws is mounted on a pivoting arm (18F) of the said tool, with which the said corresponding springs (24A) are associated.
11. Device according to Claim 10, characterized in that the control means (26) of the said gripping means (23) are defined by a jack (26A) or the like linked to the said movable body and capable of acting therefore on the said pivoting arm (18F) of the said tool in order to open at least the said moving jaw (23A) of the said gripping means.
12. Device according to any one of Claims 1 to 11, characterized in that the said insertion tool (18) is provided with a longitudinal slit (18I) which emerges from its transverse face, towards the said gripping means, and in which the end of the said cable to be connected may be accommodated so as to guide it as far as the said gripping means (23) gripping the pin.
13. Device according to Claim 12, characterized in that a jack (27) or the like is provided on the said movable body (17) in order, when it is actuated, to pass radially through the longitudinal slit (18I) of the said tool and to hold the end of the said cable in the said slit during the insertion of the pin.
14. Device according to any one of the preceding Claims 1 to 13, characterized in that a jack (28) or the like which is capable of immobilizing the said cable in the said insertion tool (18), in order to carry out a test of retention of the said cable in order to check the locking of the pin in the housing of the connector, is associated with the said body (17).
15. Machine for automatically connecting connection elements, such as pins equipping the ends of electrical cables, into housings of connectors, of the type including:

    - a supporting structure (6) on which the said connectors may be accommodated;

    - moving equipment (7) linked to the said supporting structure and capable of moving along the three axes of an orthonormal reference frame;

    - at least one connecting device (8) which comprises a body (17) carried by the said moving equipment, and an insertion tool (18) which is associated, removably, with the said body;

    - an area (19) for changing the said tools, which are chosen as a function of the geometric characteristics of the said elements to be connected; and

    - a programmable control unit (9), containing data relating to the various connections to be made as a function of the connection elements and of the housings of the connectors, and capable of controlling the said moving equipment and the said connecting device,

    characterized in that the said connecting device (8) is of the type specified according to any one of the preceding Claims 1 to 14.
16. Machine according to Claim 15, characterized in that the said means (30) for detecting and analyzing forces which are associated with the said connecting device are joined up to the said programmable control unit and are defined by a strain gauge attached to the body (17) of the said device.
17. Machine according to either of Claims 15 and 16, characterized in that it additionally comprises viewing means (16) which are mounted on the said moving equipment (7) in order to identify the connectors to be connected and to determine the coordinates of the various receiving housings, and which are defined by at least one camera (26A) linked to the said programmable control unit.
18. Machine according to any one of Claims 15 to 17, characterized in that the said moving equipment (7) is composed:

    - of a head (10) mounted so that it can slide along the axis OZ of the said reference frame, parallel to the said housings of the said connectors, and carrying, in its extension, the said connecting device (8);

    - of a slide (11) on which the said head is located and which is mounted so that it can slide along the axis OY of the said reference frame; and

    - of a beam (12) on which the said slide can move and which is mounted so that it can slide along the axis OX of the said reference frame on two guide rails (14) which are fixed to the said supporting structure.
19. Machine according to any one of Claims 15 to 18, characterized in that it is provided with a mechanism (20) for moving apart the cables which have already been connected and guiding the cable to be connected into the corresponding housing of the chosen connector, the said mechanism being mounted, so that it can slide, on the said moving equipment (7) and exhibiting a member (20A) in the form of a funnel which is substantially coaxial with the said connecting device (8) and which is capable of having the pin carried by the gripping means passed through it.
20. Machine according to any one of the preceding Claims 15 to 19, characterized in that it comprises an area (21) for prearranging of the cables after connection, which area is situated on the said supporting structure and which comprises a plurality of elastic clips (21A) capable of receiving the said cables via gripping mechanisms (21B) which are associated respectively with the said clips.

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