EP1317031B1 - Manipulateur de fil conducteur, machine et procédé d'insertion incorporant un tel manipulateur - Google Patents

Manipulateur de fil conducteur, machine et procédé d'insertion incorporant un tel manipulateur Download PDF

Info

Publication number
EP1317031B1
EP1317031B1 EP20020023328 EP02023328A EP1317031B1 EP 1317031 B1 EP1317031 B1 EP 1317031B1 EP 20020023328 EP20020023328 EP 20020023328 EP 02023328 A EP02023328 A EP 02023328A EP 1317031 B1 EP1317031 B1 EP 1317031B1
Authority
EP
European Patent Office
Prior art keywords
wire
sensor
force
connector
lug
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
EP20020023328
Other languages
German (de)
English (en)
Other versions
EP1317031A1 (fr
Inventor
Claudio Dipl. El.-Ing. Meisser
Jean Revel
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.)
Komax Holding AG
Original Assignee
Komax Holding AG
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 Komax Holding AG filed Critical Komax Holding AG
Priority to EP20020023328 priority Critical patent/EP1317031B1/fr
Publication of EP1317031A1 publication Critical patent/EP1317031A1/fr
Application granted granted Critical
Publication of EP1317031B1 publication Critical patent/EP1317031B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/20—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 present invention relates to a wire handling apparatus, to a method for inserting an end of a portion of a wireline into a socket of a connector, and to an insertion machine incorporating such a handling apparatus.
  • the technical field of the invention is that of the production of automatic machines for the production of cable strands.
  • a device for automatically inserting a cable lug into a socket is known.
  • the wire with the cable lug is gradually introduced in several phases in the socket.
  • the wire with the cable lug is bent by a certain angle by means of a guide.
  • the cable lug by a forward movement against the edge pressed the socket.
  • the cable lug is moved sideways until one side of the cable lug bears against the lateral edge of the bushing.
  • the cable lug is pushed into the socket.
  • the object of the present invention is to propose such improved tongs, insertion methods and devices.
  • An object of the invention is to propose a reliable and inexpensive system that systematically controls the quality of insertion of a wire into a socket of a component, regardless of whether the wire has previously been connected by crimping or the like to a cable lug.
  • the piezoelectric ceramic sensors whose sensitivity is on the order of 100 or several hundred pico-coulombs / newton when provided for measuring a crimp force, which is generally greater than 2000 Newton, are for the measurement of an insertion force - is generally in a range of 1 to 100 Newton, poorly suited.
  • a dynamic force sensor of this type is inertial forces because of its low response time sensitive resulting from detected accelerations of movable organs of the crimping press with which it is associated; Now, the search for high duty cycles causes large accelerations and, consequently, large inertial forces that interfere with the measurement to be performed.
  • the signals provided by the piezoelectric sensors are often disturbed when the organs - such as connectors and wire leads - are subjected to movement to connect the sensor to an electronic device for processing sensor-supplied signal, such as a charge amplifier; namely, these movements can generate parasitic electrical charges, in particular by the triboelectric effect; therefore, it is difficult to use such sensors which are "embedded" (mounted) in moving parts of the machine; this point becomes particularly important as soon as the results of force measurement are used as a criterion for assessing the quality of the relevant (introductory) operation.
  • a wire handling apparatus comprising a body and a wire-holding member movably mounted on the body, the wire-holding member having a sensor sensitive to a force exerted by that member.
  • the invention proposes a pair of pliers for inserting one end of a wireline into a socket of a connector which includes a body and an arm provided with a wire jaw and movably mounted with respect to the body, the arm being a piezoelectric Has sensor for the measurement of an insertion force.
  • the sensitivity of the sensor to the force required to insert the end into a socket is increased while at the same time reducing the sensitivity of the sensor to parasitic forces resulting, in particular, from inertial effects and mechanisms for displacing and opening the forceps (handling device).
  • the senor includes two rings - or thin pieces in plate or disc form - of a polarized ceramic material which are identical, juxtaposed and pressure biased between two parallel faces of two parts belonging to the arm or manipulator; this allows the realization of a simple and compact sensor in which each disc is sensitive to compressive forces of the ring as well as to axial expansion forces of the disc; thus allowing the measurement of an insertion force (conventionally positive) and a force in the opposite direction (and of opposite sign); this allows the measurement of a tensile force exerted on the wire after its insertion to check that the insertion has been made correctly and completely, in particular in the case of insertion into a bushing of a Cable lug, which is provided with locking tongues.
  • each equipotential surface is preferably connected - via a coaxial conductor - to a corresponding input of a charge amplifier which converts the changes in charge of the sensor into a voltage or a current; this in particular makes it possible to reduce the number of electrical connections on the input side of the amplifier and thus to limit the disturbance of the measuring signal which might result from a leakage current resulting from these connections.
  • the forceps or handling device has two arms or wire retainers - which are generally movably mounted with respect to the body - preferably each of them is provided with a force sensor; this allows by summation of the measurement signals to increase the sensitivity of the whole; this can also allow the use of redundancy of the sensors by an OR operation, which replaces the summation and is applied to the two measuring signals, which increases the reliability of the introduction control system;
  • the use of several sensitive elements in particular at least three or four sensitive elements, allows to determine several force components by means of differential measurements, and therefore makes it possible to determine the direction thereof.
  • the force which is at least partially removed from is measured and controlled in real time and controlled, when it is determined that the measurement result deviates from a reference value by a distance which is outside a predetermined maximum deviation range, the stop of an organ for the displacement of the Pliers or the handling device is commanded to stop the introduction procedure, which allows avoiding damage to the connector and / or the cable lug.
  • the senor is used with piezoelectric ceramic having its output connected to a charge amplifier, the input and / or the output of the amplifier being reset to zero prior to each insertion operation to eliminate residual charges resulting from the previous insertion operation and / or one or more gripping movements and / or the approach of the cable lug or the wire end could result.
  • multiple force introduction data measured for each operation is entered into or on a volume of a computer such that statistical data representing the launch quality and its evolution over time can be computed and / or made available ,
  • the insertion machine 1 is specifically designed for insertion of a crimp terminal 2 crimped onto the end 3 of a wire section 4 (partially shown) into one of the sockets 5 of a connector 6.
  • the machine 1 comprises a connector support 7 which is movably mounted about a shaft 10 with respect to a vertical translatory movement pedestal 8 (not shown) and a rotary movement 9; the axis 10 is parallel to the longitudinal axes of the bushes; the insertion of the cable lug 2 into a bushing takes place by an insertion movement by translation along the longitudinal axis of this bushing, such as the axis 11.
  • the cable lug 2 and the end 3 are aligned during this insertion movement substantially held on this axis 11 by the jaws 12, 13 which are provided at the lower ends of the arms 14 and 15 of the insertion pliers 16, which clamps the end 3.
  • the insertion results from a displacement 17 along the axis 11 of the pliers 16 which holds the wire;
  • the pliers with respect to a forceps support 18 along this direction 17 and along a direction perpendicular to the directions 8 and 11 direction 19 is movably mounted.
  • the approach movement 17 of the pincer and connector 6 is under the action of an actuator (such as a motor M) under the control of an electronic unit UC for processing of signals and data in dependence on the one hand of Kraftmeßsignalen and on the other hand of measuring signals with respect to the position of the pliers along the axis 11, which from a position sensor C ( Fig. 8 ) to the unit UC.
  • an actuator such as a motor M
  • an electronic unit UC for processing of signals and data in dependence on the one hand of Kraftmeßsignalen and on the other hand of measuring signals with respect to the position of the pliers along the axis 11, which from a position sensor C ( Fig. 8 ) to the unit UC.
  • the unit UC may contain a memory (or other data carrier) in which for each type of female / cable shoe pairs several data in the form of tables or graphs such as that of Fig. 6 which correspond to (reference) nominal values for force or ranges of force ratings against which the force readings are compared during an induction cycle; these force ratings can be obtained by measuring the force exerted by the sensor integrated into the clamp by learning during preparatory cycles performed under conditions that represent the actual induction conditions.
  • the pliers 16 ( Fig. 1 to 5 and 7 ) comprises a body 20, the two sections include: a rear portion 21 forms a hollow body (cylinder) of a Stellzylindes, which serves to close the jaws 12, 13 of the pliers; To this end, the portion 21 comprises a bore 22 in which a piston 23 is mounted so that it can slide along a longitudinal axis 24 of the body 20 and the pliers 16; this axis 24 is parallel to the axis 11, along which the clamping jaws 12, 13 pinch the end 3 of the wire 4; two sections 25 connect this actuating cylinder with a (not shown) compressed air circuit for the supply of compressed air; the longitudinal end 26 of the piston 23 is profiled to form two cams, which are supported on two corresponding parts 28, 29, which are respectively fixedly connected to the two movable arms 14, 15 of the pliers; a return spring 30 with axis 31 keeps the parts 28, 29 spaced apart from each other when the pneumatic actuating cylinder 22, 23 is not actuated; the front portion
  • the forceps 16 and in particular their organs 14, 15, 28, 29, which are translationally movable along the axis 31, with respect to a longitudinal center plane 33 is substantially symmetrical.
  • each of the two movable units for crimping the wire except the arm 14, 15 and the sliding part 28, 29 includes a force sensor 34 interposed and clamped between the arm and the sliding part.
  • Each sensor 34 comprises two identical annular elements 35 made of zirconate and lead titanate-based ceramic material; On each of the two flat annular surfaces of each element 35 is formed an electrode corresponding to the positive pole and the negative pole of the polarized element, respectively.
  • Each sensor also includes two rectangular plates 36, 37 which are substantially coincident; each plate is supported on two coplanar electrodes provided on the respective annular surfaces of the two elements 35; the plates are at least partially made of an electrically insulating material, further provided on the inner surface 38, 39 of each plate 36, 37 is an electrically conductive coating to form an equipotential surface connecting the electrodes of the elements supporting these equipotential surfaces ;
  • Each plate - and its equipotential surface - can be realized in particular in the form of a printed circuit.
  • Each equipotential surface is connected to a terminal 40 or 41 of a terminal support 42 of the sensor 34; a coaxial cable 43 connects these terminals to the inputs of a charge amplifier 44 which is attached to the portion 21 of the body 20 of the forceps 16 ( Fig. 5 ).
  • Each sensor 34 also includes an intermediate plate 50 (in FIG Fig. 7 not shown) penetrated by two apertures through which the discs extend, this plate forming with the plates 36, 37 a housing enclosing the two sensitive elements; the plates 36 and 37 are each penetrated by two openings 51 whose center distance corresponds to that of the two discs 35, while each part 14, 15 of two openings 52 are separated, which are separated by the same pitch, and each part 28, 29 has two threaded holes 53, which are also separated by the same pitch.
  • each screw rests on an arm 14 or 15; each screw extends through one of the apertures 52, through an aperture 51 of each plate 36, 37, and through the central aperture of an element 35; each screw is engaged in a bore 53; by tightening the screws, each element 35 is sandwiched between the plates 36, 37 and clamped between their faces 38 and 39, the plates also being clamped between the parts 14 and 28 (and 15 and 29 respectively).
  • Each module 44, Fig. 8 comprising an amplifier 45 and a capacitor 46 connected between the negative input of the amplifier 45 and its output; the negative input is connected to a negative terminal 41 of the sensor, while the positive input is connected to the positive terminal 40 of the sensor and to ground; this circuitry forms an integrator which provides at the output a voltage which is proportional to the accumulated charge changes of the two sensitive elements 35 disposed opposite one another between the plates 36, 37.
  • This voltage is supplied to the unit UC via a cable 47.
  • a REED on / off switch 48 or a FET transistor is connected to the terminals of the capacitance 46 so as to be connected in parallel therewith; the closing of the on / off switch 48 (normally open) is controlled by a signal provided by the unit UC prior to each insertion operation to reset the output of the integrator to zero, which corresponds to the point 49 of the graph of FIG Fig. 6 equivalent.
  • the operation of the device is the following:
  • the approach of the cable lug 2 with respect to a socket 5 is effected by the actuator M; due to the cumulative mass of the lug 2, the end 3 of the wire and the part 14 or 15 of the arm suspended on each sensor, the acceleration results in an inertial force 57 exerted on the center of gravity of the system suspended from the sensor, generally located near the center of gravity 56 (FIG. Fig. 7 ) of the arm 14 (or 15); when this force is on the external environment of the part of the plane of Fig. 7 which is exerted between the two axes 55 of the sensitive elements is applied, they are differentially stressed; the element 35, which is left in Fig. 7 is compressed while the second element 35 (located right in FIG Fig.
  • the actual insertion of the lug into the socket requires the application of sufficient force to overcome the friction of the lug on the walls of the socket and, in general, the forces necessary to deform the lug and / or the walls of the socket; this results in a force 61 which is applied to the jaws of each arm of the tong substantially along the wire tensioning axis 11 in the same direction as the inertial force 57; the insertion force 61, in the same way as explained above for the force 57, causes a differential loading of the two elements 35 of each sensor 34, resulting in a force signal, such as that of the part of the graph of FIG Fig.

Claims (14)

  1. Dispositif pour manipuler un fil, avec
    un corps (20),
    un élément (28 ; 29) qui est monté mobile sur le corps (20),
    un organe de fixation de fil (14 ; 15) qui est relié à l'élément (28 ; 29), et
    un capteur (34) qui est sensible à une force exercée par l'organe de fixation de fil (14 ; 15) et qui est disposé entre l'élément (28 ; 29) et l'organe de fixation de fil (14 ; 15).
  2. Dispositif selon la revendication 1, dans lequel le capteur (34) est conçu comme un capteur piézoélectrique (34) pour mesurer la force pour l'introduction d'une extrémité (2, 3) du fil (4) dans une douille (5) d'un connecteur (6).
  3. Dispositif selon la revendication 1 ou 2, dans lequel le capteur (34) comprend deux éléments minces (35) en matériau céramique polarisé.
  4. Dispositif selon la revendication 3, dans lequel les éléments minces (35) sont disposés en sens inverse afin de former un montage inversé.
  5. Dispositif selon l'une des revendications 1 à 4, dans lequel le capteur (34) est sensible à un couple ou à un moment de force qui résulte d'une force (61) exercée près d'une extrémité longitudinale de l'organe de fixation (14 ; 15).
  6. Dispositif selon l'une des revendications 1 à 5, qui comprend un amplificateur (44), raccordé au capteur (34), qui est relié solidement au corps (20).
  7. Dispositif selon l'une des revendications 3 à 6, dans lequel est associé à chaque élément mince (35) au moins un organe de liaison oblong (54), tel qu'une vis, qui traverse une ouverture d'un élément mince (35) sous la forme d'une bague, qui assure une contrainte de pression de l'élément mince (35) et qui forme un ressort agissant à l'encontre de l'extension dudit élément mince (35).
  8. Dispositif selon l'une des revendications 1 à 7, avec un autre organe de fixation de fil (15) et un autre capteur (34), et avec un moyen (70) pour additionner les signaux fournis par les deux capteurs (34).
  9. Dispositif selon l'une des revendications 1 à 8, dans lequel le corps (20) contient un vérin (22, 23) et dans lequel les deux organes de fixation de fil (14, 15) sont installés de telle sorte qu'ils peuvent glisser par rapport au corps (20) entre une position ouverte et une position fermée, sous l'action du vérin (22, 23) et d'un moyen de rappel (30).
  10. Dispositif selon l'une des revendications 1 à 9, dans lequel chacun des organes de fixation de fil (14, 15) présente un bras (14, 15) avec une mâchoire de serrage (12, 13).
  11. Machine avec un dispositif pour manipuler un fil selon l'une des revendications 1 à 10, avec
    un support (7) pour porter un connecteur (6),
    un actionneur (M) pour déplacer le dispositif de manipulation (16) jusqu'au connecteur (6) fixé au support (7), et
    un moyen (44, C, UC) pour commander le déplacement du dispositif de manipulation (16) à l'aide de l'actionneur (M) en fonction d'un signal de mesure de force fourni par le capteur (34) .
  12. Utilisation du dispositif pour manipuler un fil selon l'une des revendications 1 à 10, pour mesurer et contrôler en temps réel la force appliquée lors de l'introduction d'une cosse (2) ou d'une extrémité (3) d'un fil (4) dans une douille (5) d'un connecteur (6).
  13. Procédé pour faire fonctionner le dispositif pour manipuler un fil selon l'une des revendications 1 à 10, selon lequel la force transmise au fil (4) est mesurée et contrôlée en temps réel, étant précisé que quand on constate qu'il y a entre le résultat de mesure et une valeur de référence un écart d'une valeur située en dehors d'une plage d'écart maximale prédéfinie, l'arrêt de l'actionneur (M) est ordonné afin d'arrêter la procédure d'introduction, ce qui évite d'abîmer le connecteur (6) et/ou la cosse (2).
  14. Procédé selon la revendication 13, selon lequel on utilise un capteur (34) en matière céramique piézoélectrique dont la sortie est reliée à un amplificateur de charge (44), l'entrée et/ou la sortie de l'amplificateur de charge (44) étant remises à zéro avant chaque opération d'introduction afin d'éliminer les charges résiduelles qui pourraient résulter de l'opération d'introduction précédente et/ou d'un ou plusieurs mouvements de préhension et/ou de l'approche de la cosse (2) ou de l'extrémité de fil (3).
EP20020023328 2001-10-31 2002-10-18 Manipulateur de fil conducteur, machine et procédé d'insertion incorporant un tel manipulateur Expired - Lifetime EP1317031B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20020023328 EP1317031B1 (fr) 2001-10-31 2002-10-18 Manipulateur de fil conducteur, machine et procédé d'insertion incorporant un tel manipulateur

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP01811057 2001-10-31
EP01811057 2001-10-31
EP20020023328 EP1317031B1 (fr) 2001-10-31 2002-10-18 Manipulateur de fil conducteur, machine et procédé d'insertion incorporant un tel manipulateur

Publications (2)

Publication Number Publication Date
EP1317031A1 EP1317031A1 (fr) 2003-06-04
EP1317031B1 true EP1317031B1 (fr) 2011-01-05

Family

ID=26077432

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20020023328 Expired - Lifetime EP1317031B1 (fr) 2001-10-31 2002-10-18 Manipulateur de fil conducteur, machine et procédé d'insertion incorporant un tel manipulateur

Country Status (1)

Country Link
EP (1) EP1317031B1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3155700B1 (fr) 2014-06-16 2018-07-11 Delphi Technologies, Inc. Procédé et dispositif d'assemblage d'un boîtier de connexion
CN111451741A (zh) * 2020-04-10 2020-07-28 重庆泰美自动化科技有限公司 自动化理线机控制系统

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3301768B1 (fr) 2016-10-03 2021-06-16 Komax Holding AG Procédé et dispositif pour l'alignement d'extrémités de câble préparées d'un faisceau de câbles
RS59998B1 (sr) 2016-10-03 2020-04-30 Komax Holding Ag Uređaj i postupak za opremanje kućišta utikača prethodno sklopljenim krajevima kabla niza kablova
CN108406251A (zh) * 2018-05-09 2018-08-17 立讯精密工业（滁州）有限公司 套管组装设备
CN109317778A (zh) * 2018-11-01 2019-02-12 深圳市德沃先进自动化有限公司 一种基于焊线设备的高速夹线装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5157830A (en) * 1988-07-01 1992-10-27 Ttc Technology Trading Company Method for automatically connecting electric conductors with contact parts to connector shells
US4990815A (en) * 1989-07-11 1991-02-05 Lindner Douglas K Robot gripper control system using PYDF piezoelectric sensors
FR2669156B1 (fr) * 1990-11-14 1993-02-19 Entreprise Ind Sa L Procede et dispositif de guidage pour l'introduction automatique d'une piece male dans une piece femelle.
DE4037883A1 (de) * 1990-11-28 1992-06-04 Hofmann Maschinenbau Gmbh Vorrichtung zum greifen von werkstuecken, insbesondere rotoren
FR2696215B1 (fr) * 1992-09-25 1994-12-02 Serge Bras Elément d'assemblage et procédé et machine d'assemblage.
BE1010707A3 (nl) * 1996-10-23 1998-12-01 Framatome Connectors Belgium Werkwijze voor het indrukken van een elektrische contactpen met een elastische bevestigingszone in een gat van een bedrukte schakelplaat.

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3155700B1 (fr) 2014-06-16 2018-07-11 Delphi Technologies, Inc. Procédé et dispositif d'assemblage d'un boîtier de connexion
CN111451741A (zh) * 2020-04-10 2020-07-28 重庆泰美自动化科技有限公司 自动化理线机控制系统

Also Published As

Publication number Publication date
EP1317031A1 (fr) 2003-06-04

Similar Documents

Publication Publication Date Title
DE3590038C2 (fr)
EP0237598B1 (fr) Elément piézorésistif de mesure de force et son application pour déterminer les forces agissant sur une construction
WO2018077584A1 (fr) Dispositif de préhension de batteries
DE10297410B4 (de) Rollenkontakt mit leitenden Bürsten
EP1317031B1 (fr) Manipulateur de fil conducteur, machine et procédé d'insertion incorporant un tel manipulateur
DE102016111565A1 (de) Elektrisches Leiteranschlusselement
EP0136437A1 (fr) Corps de mesure de la force à plusieurs constituants et corps de mesure du moment avec des jauges de contrainte
DE19581268B4 (de) Dehnungsmesser
DE102016226282B4 (de) Messelement, Messsystem und Verfahren zur Bereitstellung eines Messelements zur Messung von Kräften
DE4013434A1 (de) Elektrodensystem
DE19847355C2 (de) Verfahren und Vorrichtung zum Messen der Verformung eines Anschlußkontaktabschnitts
EP0418766A1 (fr) Elément de transmission de pression pour une borne de connexion
DE2637894B2 (de) Vorrichtung zum Verbinden der AnschluBstifte eines Meßobjekts mit den Anschlußleitungen einer Meßschaltung
DE102012109662A1 (de) Kraftmesseinrichtung
WO2019081712A1 (fr) Dispositif de mesure d'allongement
DE102022130427B3 (de) Vorrichtung zum Halten, Lagern und/oder Führen eines stabförmigen Elements aus einer magnetischen Formgedächtnislegierung
DE3211192C2 (fr)
DE10037448A1 (de) Vorrichtung zum Prüfen und/oder Bearbeiten elektronischer Bauteile
DE102021203858B4 (de) Sensorik zur Lasterfassung an Metallkissen
DE102017221620A1 (de) Befestigungselement für Batteriesensoranordnung
DE202015006438U1 (de) Abgreifzange
DE102016113379B4 (de) Längenveränderbare koaxiale elektrische Kontaktiervorrichtung, sowie Mess- und/oder Prüfeinrichtung mit mehreren Kontaktiervorrichtungen und Verfahren zum Ansteuern dieser Mess- und/oder Prüfeinrichtung
EP0141086B1 (fr) Borne de raccordement pour installation basse tension, en particulier pour interrupteurs
WO2002015337A1 (fr) Appareil electrique comportant au moins un systeme de borne guillotine
DE102019114556A1 (de) Positionierungsvorrichtung

Legal Events

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

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK RO SI

17P Request for examination filed

Effective date: 20031114

AKX Designation fees paid

Designated state(s): CH DE FR GB IT LI

17Q First examination report despatched

Effective date: 20080617

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): CH DE FR GB IT LI

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: INVENTIO AG

REF Corresponds to:

Ref document number: 50214847

Country of ref document: DE

Date of ref document: 20110217

Kind code of ref document: P

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 50214847

Country of ref document: DE

Effective date: 20110217

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

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

26N No opposition filed

Effective date: 20111006

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 50214847

Country of ref document: DE

Effective date: 20111006

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

Effective date: 20111018

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

Ref country code: GB

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

Effective date: 20111018

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 14

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 15

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 16

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 17

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

Ref country code: DE

Payment date: 20211027

Year of fee payment: 20

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

Ref country code: IT

Payment date: 20211020

Year of fee payment: 20

Ref country code: FR

Payment date: 20211027

Year of fee payment: 20

Ref country code: CH

Payment date: 20211022

Year of fee payment: 20

REG Reference to a national code

Ref country code: DE

Ref legal event code: R071

Ref document number: 50214847

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL