EP2317613B1 - Device and method for handling the ends of cables - Google Patents

Device and method for handling the ends of cables Download PDF

Info

Publication number
EP2317613B1
EP2317613B1 EP09174386.4A EP09174386A EP2317613B1 EP 2317613 B1 EP2317613 B1 EP 2317613B1 EP 09174386 A EP09174386 A EP 09174386A EP 2317613 B1 EP2317613 B1 EP 2317613B1
Authority
EP
European Patent Office
Prior art keywords
clamping jaw
movement
cable
gripper
motor
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.)
Active
Application number
EP09174386.4A
Other languages
German (de)
French (fr)
Other versions
EP2317613A1 (en
Inventor
Alfred Braun
Roberto Gasperi
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 EP09174386.4A priority Critical patent/EP2317613B1/en
Priority to JP2010236293A priority patent/JP5745251B2/en
Priority to US12/913,889 priority patent/US8646822B2/en
Publication of EP2317613A1 publication Critical patent/EP2317613A1/en
Application granted granted Critical
Publication of EP2317613B1 publication Critical patent/EP2317613B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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 invention relates to an apparatus and a method for handling the cable ends of cables according to the definition of the independent claims. In particular, it is about the automated loading of connector housings with equipped cable ends of cables.
  • Cable harnesses such as those used in automobiles or aircraft, consist of several cables whose cable ends are inserted into connector housings.
  • the stripped, provided with contact parts cable ends are inserted into the chambers of the connector housing.
  • the cable ends and, in certain assembly processes, additionally the contact parts are usually held and moved by means of pneumatically actuated grippers.
  • this principle is also used for the mechanical loading or assembly of individual cables.
  • Plug housing can be fitted with closely adjacent cable ends, without causing damage or mutual interference.
  • aspects of the invention relate in particular to a novel cable gripper and an improved handling method enabled by this cable gripper.
  • pressure means act on a motion converter which sets a first jaw in motion relative to a second jaw
  • a motor acts on the motion converter in a rotational motion which sets the first jaw in motion relative to the second jaw.
  • An advantage of the invention lies in a combination of high clamping forces on the jaws of the cable gripper by a hydraulically or pneumatically operating system with the possibility for continuous opening and closing of the cable gripper by means of electrically driven motor.
  • the invention enables accurate and non-destructive working even at small grid intervals in the Housing assembly by exploiting a stepless, controlled cable gripper movement.
  • the invention allows in a preferred embodiment, the loading of connector housings with cables with small cross-sections by Nachcode, the respective cable end is briefly taken and introduced into the connector housing. Thereafter, the gripper is moved backwards with the gripper jaws loosened and the cable end gripped again and completely inserted into the connector housing. This can significantly reduce the risk of incorrect assembly or the risk of buckling at the cable end.
  • hydraulic means or "pressure means” are used herein to generally refer to agents that apply pressure by means of a fluid (e.g., a gas or a liquid) to an actuator (e.g., a piston).
  • a fluid e.g., a gas or a liquid
  • an actuator e.g., a piston
  • pneumatic means are used as hydraulic means or pressure means.
  • FIG. 1 A first preferred embodiment is with respect to Fig. 1 described.
  • FIG. 1 An exploded view of a device 100 according to the invention is shown.
  • a first jaw eg, the jaw 4
  • a second fixed jaw eg, the jaw 5
  • the opening and closing takes place only by a corresponding movement of the first jaw.
  • a first jaw 4 and a second jaw 5 are synchronously moved together.
  • the device 100 according to Fig. 1 is designed for equipping a plug housing 20 with a cable end 1.1 of a cable 1. It comprises a cable gripper 50 with a first jaw 4 and a second jaw 5 for gripping the cable end 1.1.
  • Fig. 1 shows a device 100 with synchronously jointly movable jaws 4, 5 (called 2nd variant). However, the following will nevertheless be based on this Fig. 1 also a device 100 with a single-sided movable jaw 4 described (1st variant called).
  • hydraulic means 15 are used to close the cable gripper 50.
  • the device 100 further comprises a carriage device 60 with a guide element 63 (eg in the form of a guide rail, as in FIG Fig. 1 shown, or in the form of a guide groove) and a first carriage 61.
  • This first carriage 61 is associated with the first jaw 4, ie the first carriage 61 is mechanically connected to the first jaw 4.
  • the first jaw 4 together with the associated first slide 61 is slidably mounted with respect to the second jaw 5 along the guide member 63.
  • the mentioned hydraulic means 15 act on the carriage device 60 via a driver in order to be able to trigger a closing coarse movement Sh of the first clamping jaw 4 together with the associated first slide 61 in relation to the second clamping jaw 5.
  • This second jaw 5 performs in the 1st variant no opening or closing movements.
  • the device 100 further comprises a motor 3.
  • a motor 3 is an electrically operated stepping motor or servomotor.
  • a so-called motion converter is used which cooperates with the motor 3 such that a rotational movement R of the motor 3 is converted into a fine movement V2 (for example a fine opening movement and / or a closing fine movement, depending on the embodiment) of the first clamping jaw 4.
  • the motion converter comprises the following elements: motor shaft 2, gear 11 (for example in the form of a spur pinion), rack 13.
  • a rotational movement R of the motor 3 drives the motor shaft 2, at the end of which the gear 11 is seated.
  • This gear 11 engages in the toothing of the rack 13.
  • This rack 13 is movably mounted in a housing (here called pneumatic closing unit 10).
  • the gear 11 sits above the rack 13.
  • the rack 13 is moved out of the pneumatic clamping unit 10. That the rack 13 moves in the positive x-direction.
  • This translational movement of the rack 13 is converted into a corresponding translational movement of the first carriage 61.
  • the first carriage 61 is connected or coupled in terms of motion by a driver with the rack 13.
  • a groove 13.1 is provided on the rack 13. In this groove 13.1 engages a corresponding pin of the carriage 61 to provide the motion-technical connection or coupling.
  • the carriage 61 is also moved in the negative x-direction.
  • the carriage device 60 comprises not only the carriage 61 and the guide element 63 but also a mechanical movement coupling to the first clamping jaw 4.
  • the first clamping jaw 4 performs a corresponding translatory closing movement (eg the translatory closing movement) Closing coarse movement Sh) in the negative x-direction.
  • a coarse movement is distinguished from a fine movement in the following.
  • the coarse movement is caused hydraulically while the fine movement is caused by a motor.
  • the corresponding reference signs are constructed as follows: “S” stands for closing movement, “O” stands for opening movement, “h” stands for hydraulic (respectively pneumatic) and “e” stands for electric (ie motor-driven).
  • embodiment Sh Oh se Oe 1. Yes No No Yes Second Yes No Yes Yes Third Yes Yes Yes No Yes 4th Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
  • Fig. 1 Details of the first embodiment shown in the above table are shown.
  • the closing of the clamping jaw (s) 4, 5 takes place hydraulically and opening electrically.
  • the closing coarse movement Sh is preferably carried out with greater force than the motor-induced opening fine movement Oe.
  • the cable end 1.1 a cable 1 securely between the jaws 4, 5 are clamped.
  • the cable gripper 50 comprises the two mentioned clamping jaws 4, 5.
  • the clamping jaw 4 is fixedly coupled to the movable slide 61 via a first adapter plate 7.1.
  • the second jaw 5 can be connected directly or via a second adapter plate 7.2 with a stationary housing or device part (eg with the pneumatic locking unit 10), since these jaw 5 perform no opening and closing movement in the first variant got to.
  • the guide element 63 (eg in the form of a guide rail, as in Fig. 1 shown, or in the form of a guide groove) may be fixedly connected to the pneumatic closing unit 10.
  • the electric motor 3 can be coupled, for example via an adapter plate 19 with the pneumatic closing unit 10.
  • the motor shaft 2 penetrates the pneumatic locking unit 10.
  • the mentioned gear 11 can be a first rack 13 (in the 1st variant) or two separate racks 12, 13 in the 2nd variant) a carriage 61 (in the 1st variant) or two slides 61, 62 (in the second variant) move and thus the first jaw 4 or both jaws 4, 5 move.
  • the first hydraulic means 15 also act on the first rack 13.
  • a fluid eg compressed air or hydraulic fluid
  • a piston rod 15.1 can be moved. This piston rod 15.1 presses with a punch 15.2 against the rack 13.
  • the fluid can be applied for example via a port 15.3. If the fluid is applied under pressure to the hydraulic means 15, a hydraulic closing coarse movement Sh is triggered.
  • both jaws 4, 5 are moved synchronously.
  • the second variant differs from the first variant in that second hydraulic means 14, a second rack 12 and a second slide 62 are provided.
  • the operation of these means 14, 12 and 62 is analogous to the operation of the means 15, 13, 61 already described.
  • the motor shaft 2 By driving the motor 3 (e.g., by a control signal s (t)), the motor shaft 2 can be rotated in the direction of rotation R, for example.
  • the gear 11 drives the first rack 13 in the x direction and the second rack 12 in the -x direction. That Both racks 12, 13 are moved out of the interior of the pneumatic closing unit 10.
  • the two carriages 61, 62 are moved apart. This movement leads to a synchronous opening fine movement O.e of the two clamping jaws 4, 5.
  • the clamping jaw 4 moves in the x direction and the clamping jaw 5 in the -x direction.
  • a fine opening movement O.e and a closing coarse movement S.h are used.
  • the hydraulic means 14, 15 are depressurized, so that the motor 3 does not have to do against this pressure work.
  • an opening coarse movement Oh may be superimposed or connected downstream of the opening fine movement Oe.
  • the opening coarse movement Oh is canceled by the hydraulic means 14 and 15. It can eg at the same time a negative pressure on the hydraulic means 14, 15 are given to move the racks 12, 13 apart.
  • double-acting cylinders are used, which can be pressurized from both sides in order to be able to perform alternately both opening coarse movements Oh and closing coarse movements Sh. The movement apart of the racks 12, 13 then leads to a synchronous opening coarse movement Oh of the two jaws 4, 5.
  • the closing coarse movement S.h can be superimposed or preceded by a closing fine movement S.e (see the second or fourth embodiment in the table).
  • Fig. 2 is now a perspective view of an inventive cable gripper 50 of a device 100 of the invention during insertion of a cable end 1.1 shown in a housing 20.
  • a housing 20 Preferably, it is a connector housing.
  • the housing 20 is shown in a sectional view to show that the housing 20 has at least one cable channel 22 or a chamber.
  • a closing movement eg a closing coarse movement Sh
  • a common feed movement Z1 of the first clamping jaw 4 and the second clamping jaw 5 is carried out in order to connect the cable end 1.1 of the cable 1 into the cable channel 22 or Insert chamber of the housing 20.
  • this closing movement is performed as a closing coarse movement Sh.
  • FIG. 3 is a perspective view of an inventive cable gripper 50 of a device 100 of the invention during insertion of a cable end of a 1.1 Wiring harness 51 shown in a multi-row housing 20.
  • Several cable ends 1.1 have already been introduced into the corresponding cable channels 22 or chambers of the housing 20.
  • the cable end 1.1 of another cable 1 is just inserted into an adjacent cable channel 22.
  • the clamping jaws 4, 5 taper downwards in order to take up as little installation space as possible.
  • the cable gripper 50 is designed to be able to perform small fine movements and larger coarse movements to prevent the cable gripper 50 from causing, e.g. adjacent cables damaged.
  • Fig. 4 is a perspective view of an inventive cable gripper 50 and other elements of a device 100 of the invention in the handling of a cable end 1.1 shown.
  • this representation one can see the elements of Fig. 1 recognize in assembled (assembled) form.
  • the cable 1 is in the FIGS. 1 and 4 provided with a sleeve, cap, clamp or the like.
  • This sleeve, cap, or clamp serves to make electrical contact between an electrical conductor of the cable 1 and a terminal in the interior of the housing 20.
  • These elements are therefore referred to simply as contact 21.
  • they are contacts 21, as are customary in crimping technology.
  • the invention can also be applied to contacts that are connected to the cable 1 by means of ultrasonic, resistance or laser welding.
  • the invention can also be applied in connection with the insulation displacement technique.
  • An assembly method according to the invention preferably proceeds as follows.
  • the loading is a process in which a prefabricated cable 1 is inserted into a housing chamber or a cable channel 22 of a housing 20.
  • the cable 1 is held with the cable gripper 50 and pushed into the housing chamber or in the cable channel 22.
  • the necessary cable projection L (see Fig. 4 ) must be so long that the cable end 1.1, respectively, the contact 21 at the cable end 1.1 can be fully inserted.
  • This cable projection L is or the thinner and softer a cable, the greater the risk that the cable 1 when handling and inserting kinks. But it can also lead to the kinking of a cable protrusion, if the cable is thin and soft.
  • the post-gripping procedure can reduce the risk of breakage.
  • a housing 20 typically includes a plurality of chambers or conduits 22 as in FIG Fig. 3 can be seen.
  • Each chamber or each cable channel 22 is equipped with a ready-made cable 1. This has the consequence that adjacent chambers, which already contain a cable 1, can hinder the subsequent assembly process.
  • Important is also the chamber or grid spacing.
  • a small chamber spacing obstructs the cable gripper 50 when it performs an opening movement at the end of the loading process to let the clamped cable 1. The smaller the chamber spacing, the less far the cable gripper 50 may open.
  • the "stepwise opening" method described below is used. This method is preferred.
  • a first step the cable 1 is clamped hydraulically by a corresponding closing coarse movement Sh. This step is in Fig. 5A shown.
  • the cable gripper 50 can perform a feed movement Z1 in order to insert the cable end 1.1 with the contact 21 into a housing 20. There snaps the contact 21, or the contact 21 can be soldered or glued there.
  • a 2nd step after completing the mounting process (step 1), the cable gripper 50 becomes only so wide open (level 2), that the cable 1 is no longer clamped. That is, the clamping is released by a fine opening movement Oe.
  • This opening fine movement Oe takes place as a motor-driven movement using the motor 3.
  • a third step the cable gripper 50 is moved away from the housing 20 in the cable direction (ie in the -z direction).
  • the 3rd step is in Fig. 5B shown.
  • Fig. 5B It can be seen that the clamping jaws 4, 5 were slightly moved apart and that a short translational retraction movement -Z1.1 was performed.
  • step 4 the cable gripper 50 is fully opened so that it can move vertically, as in Fig. 5C shown.
  • the opening can be done here by the motor 3 and / or hydraulically (depending on the embodiment). Preference is given to an opening fine movement Oe.
  • the vertical method is also referred to here as a common withdrawal movement -Y.
  • the common retracting movement may have a component of movement in the direction of the negative z-axis and in the direction of the negative y-axis.
  • the post-gripping method is used.
  • the cable projection L is reduced so far that kinking is prevented.
  • the cable 1 is hydraulically clamped with shortened cable projection L1 (with L1 ⁇ L) by a corresponding closing coarse movement Sh is performed.
  • the cable 1 is inserted as far as possible in the housing 20 by a feed movement Z1.
  • the cable gripper 50 is opened by a fine opening movement O.e far enough that the cable 1 is no longer clamped. That the pinching is solved.
  • the cable gripper 50 is moved a small distance away from the housing 20 in a fourth step in the cable direction (i.e., in the negative z direction).
  • a fifth step the cable 1 is hydraulically clamped again by performing a corresponding closing coarse movement S.h and the second step is repeated.
  • steps 2 to 5 are repeated several times.
  • the two jaws 4, 5 are moved synchronously (referred to here as the second variant.
  • a control means 30 e.g., an angle decoder or encoder
  • a controller S which receives information i (t) from the control means 30, controls the actuation of the motor 3, respectively the described motor-driven motion sequences O.e and / or S.e.
  • the mentioned movements in the x-, y- and z-direction can be carried out by conventional drive systems.
  • servomotors can be used as drive systems.
  • Fig. 1 is the microprocessor control symbolized by the controller S.
  • the present invention may e.g. at the end of a cable processing line, the fully automatic assembly of single- or multi-row (plug) housing 20, whether in crimping, insulation displacement, soldering, ultrasonic, resistance welding or laser welding technology run.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Manipulator (AREA)

Description

Die Erfindung betrifft eine Vorrichtung und ein Verfahren zum Handhaben der Kabelenden von Kabeln gemäss der Definition der unabhängigen Patentansprüche. Insbesondere geht es um das automatisierte Bestücken von Steckergehäusen mit bestückten Kabelenden von Kabeln.The invention relates to an apparatus and a method for handling the cable ends of cables according to the definition of the independent claims. In particular, it is about the automated loading of connector housings with equipped cable ends of cables.

Kabelbäume, wie sie beispielsweise in Automobilen oder Flugzeugen eingesetzt werden, bestehen aus mehreren Kabeln, deren Kabelenden in Steckergehäuse eingeführt werden. Dazu werden die abisolierten, mit Kontaktteilen versehenen Kabelenden in die Kammern der Steckergehäuse eingeführt. Die Kabelenden und bei bestimmten Bestückungsverfahren zusätzlich die Kontaktteile, werden üblicherweise mit pneumatisch betätigten Greifern gehalten und bewegt. Dieses Prinzip findet analog auch Anwendung beim maschinellen Bestücken oder Konfektionieren einzelner Kabel.Cable harnesses, such as those used in automobiles or aircraft, consist of several cables whose cable ends are inserted into connector housings. For this purpose, the stripped, provided with contact parts cable ends are inserted into the chambers of the connector housing. The cable ends and, in certain assembly processes, additionally the contact parts are usually held and moved by means of pneumatically actuated grippers. Analogously, this principle is also used for the mechanical loading or assembly of individual cables.

Entsprechende Bestückungsverfahren und -automaten sind beispielsweise aus den Patentanmeldungen EP0708508-A1 und EP0440955-A1 bekannt. Die Patentanmeldung EP0708508-A1 beschreibt eine Bestückungseinheit, die pneumatisch betätigt wird. Die Patentanmeldung EP0440955-A1 bezieht sich auf einen Industrieroboter zum automatischen Montieren von elektrischen Leitern mit Kontaktteilen in Steckergehäusen.Corresponding assembly methods and machines are known, for example, from the patent applications EP0708508-A1 and EP0440955-A1 known. The patent application EP0708508-A1 describes a loading unit that is pneumatically operated. The patent application EP0440955-A1 refers to an industrial robot for automatically mounting electrical conductors with contact parts in connector housings.

Insbesondere bei kleinen Steckergehäusen, die kleine Rasterabstände aufweisen, stossen die bekannten Lösungen an Grenzen, da pneumatische Greifer eingesetzt werden, die aufgrund ihrer Konstruktion entweder geschlossen oder offen sein können. Im offenen Zustand nehmen diese pneumatischen Greifer relativ viel Raum ein und es kann daher beispielsweise zu einer Beschädigung oder zu einem Abknicken benachbarter Kabel kommen.Particularly in the case of small connector housings which have small grid spacings, the known solutions reach their limits, since pneumatic grippers are used which, due to their construction, can either be closed or open. In the open state, these pneumatic grippers take up a relatively large amount of space, and therefore, for example, damage or kinking of adjacent cables can occur.

Es besteht ein Bedarf, einen verbesserten Kabelgreifer zur Handhabung von Kabeln bereit zu stellen. Ausserdem muss die Baugrösse klein sein, damit z.B. Steckergehäuse mit eng benachbarten Kabelenden bestückt werden können, ohne dass es zu Beschädigungen oder gegenseitigen Beeinträchtigungen kommt.There is a need to provide an improved cable gripper for handling cables. In addition, the size must be small so that e.g. Plug housing can be fitted with closely adjacent cable ends, without causing damage or mutual interference.

Aspekte der Erfindung betreffen insbesondere einen neuartigen Kabelgreifer und ein durch diesen Kabelgreifer ermöglichtes, verbessertes Handhabungsverfahren. Bei diesem Kabelgreifer wirken Druckmittel auf einen Bewegungsumsetzer ein, der eine erste Klemmbacke in Bezug zu einer zweiten Klemmbacke in Bewegung versetzt und ein Motor wirkt mit einer Rotationsbewegung auf den Bewegungsumsetzer ein, der die erste Klemmbacke in Bezug zu der zweiten Klemmbacke in Bewegung versetzt.Aspects of the invention relate in particular to a novel cable gripper and an improved handling method enabled by this cable gripper. In this cable gripper, pressure means act on a motion converter which sets a first jaw in motion relative to a second jaw, and a motor acts on the motion converter in a rotational motion which sets the first jaw in motion relative to the second jaw.

Ein Vorteil der Erfindung liegt in einer Kombination von hohen Klemmkräften an den Klemmbacken des Kabelgreifers durch ein hydraulisch oder pneumatisch arbeitendes System mit der Möglichkeit zum stufenlosen Öffnen und Schliessen des Kabelgreifers mittels elektrisch angetriebenem Motor.An advantage of the invention lies in a combination of high clamping forces on the jaws of the cable gripper by a hydraulically or pneumatically operating system with the possibility for continuous opening and closing of the cable gripper by means of electrically driven motor.

Sehr vorteilhaft ist die kompakte Konstruktion des erfindungsgemässen Kabelgreifers.Very advantageous is the compact design of the inventive cable gripper.

Die Erfindung ermöglicht ein genaues und zerstörungsfreies Arbeiten auch bei kleinen Rasterabständen bei der Gehäusebestückung durch Ausnutzen einer stufenlosen, gesteuerten Kabelgreiferbewegung.The invention enables accurate and non-destructive working even at small grid intervals in the Housing assembly by exploiting a stepless, controlled cable gripper movement.

Die Erfindung ermöglicht in einer bevorzugten Ausführungsform das Bestücken von Steckergehäusen mit Kabeln mit kleinen Querschnitten durch Nachgreifen, wobei das jeweilige Kabelende kurz gefasst und in das Steckergehäuse eingeführt wird. Danach wird der Greifer mit gelösten Greiferbacken rückwärts bewegt und das Kabelende erneut gefasst und vollständig in das Steckergehäuse eingeführt. Dadurch kann die Gefahr von Fehlbestückungen oder die Knickgefahr am Kabelende deutlich reduziert werden.The invention allows in a preferred embodiment, the loading of connector housings with cables with small cross-sections by Nachgreifen, the respective cable end is briefly taken and introduced into the connector housing. Thereafter, the gripper is moved backwards with the gripper jaws loosened and the cable end gripped again and completely inserted into the connector housing. This can significantly reduce the risk of incorrect assembly or the risk of buckling at the cable end.

Vorteilhafte Weiterbildungen der Erfindung sind in den abhängigen Patentansprüchen angegeben.Advantageous developments of the invention are specified in the dependent claims.

Im Folgenden werden Einzelheiten und Vorzüge der Erfindung an Hand von Ausführungsbeispielen und mit Bezug auf die Zeichnungen ausführlich beschrieben.In the following, details and advantages of the invention will be described in detail with reference to embodiments and with reference to the drawings.

Es zeigen:

Fig. 1
eine Explosionsansicht einer erfindungsgemässen Vorrichtung in einer ersten Ausführungsform,
Fig. 2
eine Perspektivansicht eines erfindungsgemässen Kabelgreifers einer Vorrichtung der Erfindung beim Einführen eines Kabelendes in ein Gehäuse,
Fig. 3
eine Perspektivansicht eines erfindungsgemässen Kabelgreifers einer Vorrichtung der Erfindung beim Einführen eines Kabelendes eines Kabelbaums in ein mehrreihiges Gehäuse,
Fig. 4
eine Perspektivansicht eines erfindungsgemässen Kabelgreifers und weiterer Elemente einer Vorrichtung der Erfindung bei der Handhabung eines Kabelendes,
Fig. 5A
eine Perspektivansicht eines erfindungsgemässen Kabelgreifers beim Festklemmen und Zustellen eines Kabelendes,
Fig. 5B
eine Perspektivansicht des erfindungsgemässen Kabelgreifers nach Fig. 5A beim Ausführen einer kurzen translatorischen Rückzugsbewegung,
Fig. 5C
eine Perspektivansicht des erfindungsgemässen Kabelgreifers nach Fig. 5A beim Ausführen einer Rückzugsbewegung.
Show it:
Fig. 1
an exploded view of a device according to the invention in a first embodiment,
Fig. 2
a perspective view of a cable gripper according to the invention of a device of the invention when inserting a cable end into a housing,
Fig. 3
1 is a perspective view of a cable gripper according to the invention of a device of the invention when inserting a cable end of a cable harness into a multi-row housing;
Fig. 4
a perspective view of an inventive cable gripper and other elements of a Device of the invention in handling a cable end,
Fig. 5A
a perspective view of a cable gripper according to the invention when clamping and delivering a cable end,
Fig. 5B
a perspective view of the inventive cable gripper after Fig. 5A when performing a short translational retraction movement,
Fig. 5C
a perspective view of the inventive cable gripper after Fig. 5A when performing a withdrawal movement.

Gleiche Bezugszeichen bedeuten gleiche Bauteile oder gleichwirkende Bauteile. Angaben wie rechts, links, oben, unten sind auf die jeweilige Anordnung in den Figuren bezogen. Das gezeigte x-y-z-Koordinatensystem dient nur der besseren Erläuterung der einzelnen Richtungen.The same reference numerals mean the same components or equivalent components. Information such as right, left, top, bottom are related to the respective arrangement in the figures. The shown x-y-z coordinate system is only for better explanation of the individual directions.

Die Begriffe "Hydraulikmittel" oder "Druckmittel" werden hier verwendet, um Mittel allgemein zu umschreiben, die mittels eines Fluids (z.B. ein Gas oder eine Flüssigkeit) Druck ausüben auf ein Stellelement (z.B. einen Kolben). Vorzugsweise kommen pneumatische Mittel als Hydraulikmittel oder Druckmittel zum Einsatz.The terms "hydraulic means" or "pressure means" are used herein to generally refer to agents that apply pressure by means of a fluid (e.g., a gas or a liquid) to an actuator (e.g., a piston). Preferably, pneumatic means are used as hydraulic means or pressure means.

Eine erste bevorzugte Ausführungsform ist in Bezug auf Fig. 1 beschrieben. In dieser Figur ist eine Explosionsansicht einer erfindungsgemässen Vorrichtung 100 gezeigt.A first preferred embodiment is with respect to Fig. 1 described. In this figure, an exploded view of a device 100 according to the invention is shown.

Vorab sei angemerkt, dass es zwei grundlegende Varianten der erfindungsgemässen Vorrichtung 100 gibt. Bei einer ersten Variante wird eine erste Klemmbacke (z.B. die Klemmbacke 4) in Bezug auf eine zweite feststehende Klemmbacke (z.B. die Klemmbacke 5) bewegt. Dass heisst das Öffnen und Schliessen erfolgt nur durch ein entsprechendes Bewegen der ersten Klemmbacke. Bei einer zweiten Variante werden eine erste Klemmbacke 4 und eine zweite Klemmbacke 5 synchron gemeinsam bewegt.It should first be noted that there are two basic variants of the device 100 according to the invention. In a first variant, a first jaw (eg, the jaw 4) is moved relative to a second fixed jaw (eg, the jaw 5). This means that the opening and closing takes place only by a corresponding movement of the first jaw. In a second variant, a first jaw 4 and a second jaw 5 are synchronously moved together.

Letztendlich geht es bei allen Ausführungsformen der Erfindung um das kontrolliert gesteuerte Ausführen der notwendigen Bewegungen eines Kabelgreifers 50, respektive der Klemmbacken 4, 5 des Kabelgreifers 50.Ultimately, it is all embodiments of the invention to the controlled controlled execution of the necessary movements of a cable gripper 50, respectively, of the jaws 4, 5 of the cable gripper 50th

Die Vorrichtung 100 nach Fig. 1 ist zum Bestücken eines Steckergehäuses 20 mit einem Kabelende 1.1 eines Kabels 1 ausgelegt. Sie umfasst einen Kabelgreifer 50 mit einer ersten Klemmbacke 4 und einer zweiten Klemmbacke 5 zum Greifen des Kabelendes 1.1.The device 100 according to Fig. 1 is designed for equipping a plug housing 20 with a cable end 1.1 of a cable 1. It comprises a cable gripper 50 with a first jaw 4 and a second jaw 5 for gripping the cable end 1.1.

Fig. 1 zeigt eine Vorrichtung 100 mit synchron gemeinsam bewegbaren Klemmbacken 4, 5 (2. Variante genannt). Im Folgenden wird aber trotzdem anhand dieser Fig. 1 auch eine Vorrichtung 100 mit einer nur einseitig bewegbaren Klemmbacke 4 beschrieben (1. Variante genannt). Fig. 1 shows a device 100 with synchronously jointly movable jaws 4, 5 (called 2nd variant). However, the following will nevertheless be based on this Fig. 1 also a device 100 with a single-sided movable jaw 4 described (1st variant called).

Bei der 1. Variante kommen Hydraulikmittel 15 zum Schliessen des Kabelgreifers 50 zum Einsatz. Die Vorrichtung 100 umfasst weiterhin eine Schlittenvorrichtung 60 mit einem Führungselement 63 (z.B. in Form einer Führungsschiene, wie in Fig. 1 gezeigt, oder in Form einer Führungsnut) und einen ersten Schlitten 61. Dieser erste Schlitten 61 ist der ersten Klemmbacke 4 zugeordnet, d.h. der erste Schlitten 61 ist mechanisch mit der ersten Klemmbacke 4 verbunden. Die erste Klemmbacke 4 samt dem zugeordneten ersten Schlitten 61 ist in Bezug auf die zweite Klemmbacke 5 entlang des Führungselements 63 verschiebbar gelagert. Die erwähnten Hydraulikmittel 15 wirken über einen Mitnehmer auf die Schlittenvorrichtung 60 ein, um eine Schliessgrobbewegung S.h der ersten Klemmbacke 4 samt dem zugeordneten ersten Schlitten 61 in Bezug zu der zweiten Klemmbacke 5 auslösen zu können. Diese zweite Klemmbacke 5 führt bei der 1. Variante keine Öffnungs- oder Schliessbewegungen aus.In the first variant, hydraulic means 15 are used to close the cable gripper 50. The device 100 further comprises a carriage device 60 with a guide element 63 (eg in the form of a guide rail, as in FIG Fig. 1 shown, or in the form of a guide groove) and a first carriage 61. This first carriage 61 is associated with the first jaw 4, ie the first carriage 61 is mechanically connected to the first jaw 4. The first jaw 4 together with the associated first slide 61 is slidably mounted with respect to the second jaw 5 along the guide member 63. The mentioned hydraulic means 15 act on the carriage device 60 via a driver in order to be able to trigger a closing coarse movement Sh of the first clamping jaw 4 together with the associated first slide 61 in relation to the second clamping jaw 5. This second jaw 5 performs in the 1st variant no opening or closing movements.

Die Vorrichtung 100 umfasst weiterhin einen Motor 3. Vorzugsweise handelt es sich um einen elektrisch betriebenen Schrittmotor oder Stellmotor. Es kommt ein sogenannter Bewegungsumsetzer zum Einsatz, der so mit dem Motor 3 zusammenwirkt, dass eine Rotationsbewegung R des Motors 3 in eine Feinbewegung V2 (z.B. eine Öffnungsfeinbewegung und/oder eine Schliessfeinbewegung, je nach Ausführungsform) der ersten Klemmbacke 4 umgesetzt wird. Der Bewegungsumsetzer umfasst in der gezeigten Ausführungsform folgende Elemente: Motorwelle 2, Zahnrad 11 (z.B. in Form eines Stirnradritzels), Zahnstange 13. Eine Rotationsbewegung R des Motors 3 treibt die Motorwelle 2 an auf deren Ende das Zahnrad 11 sitzt. Dieses Zahnrad 11 greift in die Verzahnung der Zahnstange 13 ein. Diese Zahnstange 13 ist beweglich in einem Gehäuse (hier pneumatische Schliesseinheit 10 genannt) gelagert. Im gezeigten Ausführungsbeispiel sitzt das Zahnrad 11 oberhalb der Zahnstange 13. Wenn sich die Motorwelle 2 und das Zahnrad 11 im Gegenuhrzeigersinn drehen (siehe den Richtungspfeil der Rotationsbewegung R), dann wird die Zahnstange 13 aus der pneumatischen Schliesseinheit 10 hinausbewegt. D.h. die Zahnstange 13 bewegt sich in positiver x-Richtung.The device 100 further comprises a motor 3. Preferably, it is an electrically operated stepping motor or servomotor. A so-called motion converter is used which cooperates with the motor 3 such that a rotational movement R of the motor 3 is converted into a fine movement V2 (for example a fine opening movement and / or a closing fine movement, depending on the embodiment) of the first clamping jaw 4. In the embodiment shown, the motion converter comprises the following elements: motor shaft 2, gear 11 (for example in the form of a spur pinion), rack 13. A rotational movement R of the motor 3 drives the motor shaft 2, at the end of which the gear 11 is seated. This gear 11 engages in the toothing of the rack 13. This rack 13 is movably mounted in a housing (here called pneumatic closing unit 10). In the embodiment shown, the gear 11 sits above the rack 13. When the motor shaft 2 and the gear 11 rotate counterclockwise (see the direction arrow of the rotational movement R), then the rack 13 is moved out of the pneumatic clamping unit 10. That the rack 13 moves in the positive x-direction.

Diese translatorische Bewegung der Zahnstange 13 wird umgesetzt in eine entsprechende translatorische Bewegung des ersten Schlittens 61. Zu diesem Zweck ist der erste Schlitten 61 bewegungstechnisch durch einen Mitnehmer mit der Zahnstange 13 verbunden oder gekoppelt. Im gezeigten Ausführungsbeispiel ist an der Zahnstange 13 eine Nut 13.1 vorgesehen. In diese Nut 13.1 greift ein korrespondierender Zapfen des Schlittens 61, um für die bewegungstechnische Verbindung oder Kopplung zu sorgen. Wenn sich die Zahnstange 13 in negativer x-Richtung bewegt, dann wird der Schlitten 61 auch in negativer x-Richtung mitbewegt.This translational movement of the rack 13 is converted into a corresponding translational movement of the first carriage 61. For this purpose, the first carriage 61 is connected or coupled in terms of motion by a driver with the rack 13. In the embodiment shown, a groove 13.1 is provided on the rack 13. In this groove 13.1 engages a corresponding pin of the carriage 61 to provide the motion-technical connection or coupling. When the rack 13 moves in the negative x-direction, the carriage 61 is also moved in the negative x-direction.

Es können auch andere bekannte Mittel als Bewegungsumsetzer eingesetzt werden.Other known means can also be used as a motion converter.

Die Schlittenvorrichtung 60 umfasst nicht nur den Schlitten 61 und das Führungselement 63 sondern auch eine mechanische Bewegungskopplung zu der ersten Klemmbacke 4. Wenn der Schlitten 61 in negativer x-Richtung bewegt wird, dann führt die erste Klemmbacke 4 eine entsprechende translatorische Schliessbewegung (z.B. die translatorische Schliessgrobbewegung S.h) in negativer x-Richtung aus.The carriage device 60 comprises not only the carriage 61 and the guide element 63 but also a mechanical movement coupling to the first clamping jaw 4. When the carriage 61 is moved in the negative x-direction, then the first clamping jaw 4 performs a corresponding translatory closing movement (eg the translatory closing movement) Closing coarse movement Sh) in the negative x-direction.

Um die hydraulisch verursachte Bewegung von der motorisch verursachten Bewegung unterscheiden zu können, werden im Folgenden eine Grobbewegung von einer Feinbewegung unterschieden. Die Grobbewegung wird hydraulisch verursacht während die Feinbewegung motorisch verursacht wird. Je nach Ausführungsform kann es folgende Kombinationen von Bewegungen geben, wobei jede der Ausführungsformen mindestens eine hydraulisch verursachte translatorische Schliessgrobbewegung S.h und eine motorisch verursachte Öffnungsfeinbewegung O.e aufweist. Die entsprechenden Bezugszeichen sind wie folgt aufgebaut: "S" steht für Schliessbewegung, "O" steht für Öffnungsbewegung, "h" steht für hydraulisch (respektive pneumatisch) und "e" steht für elektrisch (sprich motorisch angetrieben). Ausführungsform S.h O.h S.e O.e 1. Ja Nein Nein Ja 2. Ja Nein Ja Ja 3. Ja Ja Nein Ja 4. Ja Ja Ja Ja In order to be able to distinguish the hydraulically caused movement from the motor-induced movement, a coarse movement is distinguished from a fine movement in the following. The coarse movement is caused hydraulically while the fine movement is caused by a motor. Depending on the embodiment, there may be the following combinations of movements, wherein each of the embodiments has at least one hydraulically caused translatory Schliesgrobbewegung Sh and a motor-induced opening fine movement Oe. The corresponding reference signs are constructed as follows: "S" stands for closing movement, "O" stands for opening movement, "h" stands for hydraulic (respectively pneumatic) and "e" stands for electric (ie motor-driven). embodiment Sh Oh se Oe 1. Yes No No Yes Second Yes No Yes Yes Third Yes Yes No Yes 4th Yes Yes Yes Yes

In Fig. 1 sind Details der in der obigen Tabelle gezeigten 1. Ausführungsform gezeigt. Das Schliessen der Klemmbacke(n) 4, 5 erfolgt hydraulisch und das Öffnen elektrisch. Vorzugsweise wird die Schliessgrobbewegung S.h mit grösserer Kraft ausgeführt als die motorisch hervorgerufene Öffnungsfeinbewegung O.e. Durch eine kraftvolle Schliessgrobbewegung S.h kann das Kabelende 1.1 eines Kabels 1 sicher zwischen den Klemmbacken 4, 5 eingeklemmt werden.In Fig. 1 Details of the first embodiment shown in the above table are shown. The closing of the clamping jaw (s) 4, 5 takes place hydraulically and opening electrically. The closing coarse movement Sh is preferably carried out with greater force than the motor-induced opening fine movement Oe. By means of a powerful closing coarse movement Sh, the cable end 1.1 a cable 1 securely between the jaws 4, 5 are clamped.

Weitere bevorzugte Details werden im Folgenden beschrieben. Im gezeigten Ausführungsbeispiel umfasst der Kabelgreifer 50 die beiden erwähnten Klemmbacken 4, 5. Die Klemmbacke 4 ist über eine erste Adapterplatte 7.1 mit dem beweglichen Schlitten 61 fest gekoppelt. Bei der 1. Variante kann die zweite Klemmbacke 5 direkt oder über eine zweite Adapterplatte 7.2 mit einem stationären Gehäuse- oder Vorrichtungsteil (z.B. mit der pneumatischen Schliesseinheit 10) verbunden sein, da diese Klemmbacke 5 bei der 1. Variante keine Öffnungs- und Schliessbewegung ausführen muss.Further preferred details are described below. In the exemplary embodiment shown, the cable gripper 50 comprises the two mentioned clamping jaws 4, 5. The clamping jaw 4 is fixedly coupled to the movable slide 61 via a first adapter plate 7.1. In the first variant, the second jaw 5 can be connected directly or via a second adapter plate 7.2 with a stationary housing or device part (eg with the pneumatic locking unit 10), since these jaw 5 perform no opening and closing movement in the first variant got to.

Das Führungselement 63 (z.B. in Form einer Führungsschiene, wie in Fig. 1 gezeigt, oder in Form einer Führungsnut) kann fest mit der pneumatischen Schliesseinheit 10 verbunden sein. Der elektrische Motor 3 kann z.B. über eine Adapterplatte 19 mit der pneumatischen Schliesseinheit 10 gekoppelt sein. Die Motorenwelle 2 durchdringt die pneumatische Schliesseinheit 10. Das erwähnte Zahnrad 11 kann über eine erste Zahnstange 13 (bei der 1. Variante) oder über zwei separate Zahnstangen 12, 13 bei der 2. Variante) einen Schlitten 61 (bei der 1. Variante) oder zwei Schlitten 61, 62 (bei der 2. Variante) verschieben und somit die erste Klemmbacke 4 oder beide Klemmbacken 4, 5 bewegen.The guide element 63 (eg in the form of a guide rail, as in Fig. 1 shown, or in the form of a guide groove) may be fixedly connected to the pneumatic closing unit 10. The electric motor 3 can be coupled, for example via an adapter plate 19 with the pneumatic closing unit 10. The motor shaft 2 penetrates the pneumatic locking unit 10. The mentioned gear 11 can be a first rack 13 (in the 1st variant) or two separate racks 12, 13 in the 2nd variant) a carriage 61 (in the 1st variant) or two slides 61, 62 (in the second variant) move and thus the first jaw 4 or both jaws 4, 5 move.

Um der motorisch hervorgerufenen Feinbewegung eine hydraulische Grobbewegung überlagern zu können, wirken die ersten Hydraulikmittel 15 auch auf die erste Zahnstange 13 ein. Mit einem Fluid (z.B. Druckluft oder Hydraulikflüssigkeit) kann z.B. eine Kolbenstange 15.1 verschoben werden. Diese Kolbenstange 15.1 drückt mit einem Stempel 15.2 gegen die Zahnstange 13. Das Fluid kann z.B. über einen Anschluss 15.3 angelegt werden. Wenn das Fluid unter Druck an die Hydraulikmittel 15 angelegt wird, wird eine hydraulische Schliessgrobbewegung S.h ausgelöst.In order to be able to superimpose a coarse hydraulic movement on the fine motion caused by the motor, the first hydraulic means 15 also act on the first rack 13. With a fluid (eg compressed air or hydraulic fluid), for example, a piston rod 15.1 can be moved. This piston rod 15.1 presses with a punch 15.2 against the rack 13. The fluid can be applied for example via a port 15.3. If the fluid is applied under pressure to the hydraulic means 15, a hydraulic closing coarse movement Sh is triggered.

Im Folgenden wird nun die 2. Variante der Erfindung erläutert. Bei dieser Variante werden beide Klemmbacken 4, 5 synchron bewegt. Die 2. Variante unterscheidet sich von der 1. Variante dadurch, dass zweite Hydraulikmittel 14, eine zweite Zahnstange 12 und ein zweiter Schlitten 62 vorgesehen sind. Die Funktionsweise dieser Mittel 14, 12 und 62 ist analog zu der Funktionsweise der bereits beschriebenen Mittel 15, 13, 61.The second variant of the invention will now be explained below. In this variant, both jaws 4, 5 are moved synchronously. The second variant differs from the first variant in that second hydraulic means 14, a second rack 12 and a second slide 62 are provided. The operation of these means 14, 12 and 62 is analogous to the operation of the means 15, 13, 61 already described.

Durch das Ansteuern des Motors 3 (z.B. durch ein Steuersignal s(t)) kann die Motorwelle 2 zum Beispiel in Rotationsrichtung R gedreht werden. Das Zahnrad 11 treibt die erste Zahnstange 13 in x Richtung und die zweite Zahnstange 12 in -x Richtung. D.h. beide Zahnstangen 12, 13 werden aus dem Inneren der pneumatischen Schliesseinheit 10 heraus bewegt. Über entsprechende Mitnehmer (hier aus den Nuten 12.1 und 13.1 und aus entsprechenden Zapfen an den Schlitten 61, 62) werden die beiden Schlitten 61, 62 auseinanderbewegt. Diese Bewegung führt zu einer synchronen Öffnungsfeinbewegung O.e der beiden Klemmbacken 4, 5. Bei dieser synchronen Öffnungsfeinbewegung O.e bewegt sich die Klemmbacke 4 in x Richtung und die Klemmbacke 5 in -x Richtung.By driving the motor 3 (e.g., by a control signal s (t)), the motor shaft 2 can be rotated in the direction of rotation R, for example. The gear 11 drives the first rack 13 in the x direction and the second rack 12 in the -x direction. That Both racks 12, 13 are moved out of the interior of the pneumatic closing unit 10. About corresponding drivers (here from the grooves 12.1 and 13.1 and from corresponding pins on the carriage 61, 62), the two carriages 61, 62 are moved apart. This movement leads to a synchronous opening fine movement O.e of the two clamping jaws 4, 5. In this synchronous opening fine movement O.e, the clamping jaw 4 moves in the x direction and the clamping jaw 5 in the -x direction.

In allen Ausführungsformen kommen eine Öffnungsfeinbewegung O.e und eine Schliessgrobbewegung S.h zum Einsatz. Beim Ausführen der Öffnungsfeinbewegung O.e werden vorzugsweise die Hydraulikmittel 14, 15 drucklos geschaltet, damit der Motor 3 nicht gegen diese Druck Arbeit verrichten muss.In all embodiments, a fine opening movement O.e and a closing coarse movement S.h are used. When performing the opening fine movement O.e preferably the hydraulic means 14, 15 are depressurized, so that the motor 3 does not have to do against this pressure work.

Zusätzlich kann bei Bedarf eine Öffnungsgrobbewegung O.h der Öffnungsfeinbewegung O.e überlagert oder nachgeschaltet werden. Bei der entsprechenden 3. oder 4. Ausführungsform (siehe Tabelle) wird die Öffnungsgrobbewegung O.h durch die Hydraulikmittel 14 und 15 aufgelöst. Es kann z.B. zeitgleich ein Unterdruck auf die Hydraulikmittel 14, 15 gegeben werden, um die Zahnstangen 12, 13 auseinander zu bewegen. In einer vorteilhafteren Ausführungsform, die nicht mit Unterdruck arbeitet, kommen doppelwirkende Zylinder zum Einsatz, die von beiden Seiten mit Druck beaufschlagt werden können, um abwechselnd sowohl Öffnungsgrobbewegungen O.h als auch Schliessgrobbewegungen S.h ausführen zu können. Die Auseinanderbewegung der Zahnstangen 12, 13 führt dann zu einer synchronen Öffnungsgrobbewegung O.h der beiden Klemmbacken 4, 5.In addition, if necessary, an opening coarse movement Oh may be superimposed or connected downstream of the opening fine movement Oe. In the corresponding 3rd or 4th embodiment (see table), the opening coarse movement Oh is canceled by the hydraulic means 14 and 15. It can eg at the same time a negative pressure on the hydraulic means 14, 15 are given to move the racks 12, 13 apart. In a more advantageous embodiment, which does not operate with negative pressure, double-acting cylinders are used, which can be pressurized from both sides in order to be able to perform alternately both opening coarse movements Oh and closing coarse movements Sh. The movement apart of the racks 12, 13 then leads to a synchronous opening coarse movement Oh of the two jaws 4, 5.

Zusätzlich kann bei Bedarf der Schliessgrobbwegung S.h eine Schliessfeinbewegung S.e überlagert oder vorgeschaltet werden (siehe in der Tabelle die 2. oder 4. Ausführungsform).In addition, if necessary, the closing coarse movement S.h can be superimposed or preceded by a closing fine movement S.e (see the second or fourth embodiment in the table).

In Fig. 2 ist nun eine Perspektivansicht eines erfindungsgemässen Kabelgreifers 50 einer Vorrichtung 100 der Erfindung beim Einführen eines Kabelendes 1.1 in ein Gehäuse 20 gezeigt. Vorzugsweise handelt es sich um ein Steckergehäuse. Das Gehäuse 20 ist in einer Schnittdarstellung gezeigt, um sichtbar zu machen, dass das Gehäuse 20 mindestens einen Kabelkanal 22 oder eine Kammer aufweist. Nachdem der Kabelgreifer 50 eine Schliessbewegung (z.B. eine Schliessgrobbewegung S.h) ausgeführt hat und das Kabel 1 eingeklemmt wurde, wird eine gemeinsame Zustellbewegung Z1 der ersten Klemmbacke 4 und der zweiten Klemmbacke 5 ausgeführt, um das Kabelende 1.1 des Kabels 1 in den Kabelkanal 22 oder die Kammer des Gehäuses 20 einzuführen. Um sicherzustellen, dass bei der Schliessbewegung das Kabel 1 fest eingeklemmt wurde, wird diese Schliessbewegung als Schliessgrobbewegung S.h ausgeführt.In Fig. 2 is now a perspective view of an inventive cable gripper 50 of a device 100 of the invention during insertion of a cable end 1.1 shown in a housing 20. Preferably, it is a connector housing. The housing 20 is shown in a sectional view to show that the housing 20 has at least one cable channel 22 or a chamber. After the cable gripper 50 has performed a closing movement (eg a closing coarse movement Sh) and the cable 1 has been clamped, a common feed movement Z1 of the first clamping jaw 4 and the second clamping jaw 5 is carried out in order to connect the cable end 1.1 of the cable 1 into the cable channel 22 or Insert chamber of the housing 20. To ensure that the cable 1 was firmly clamped during the closing movement, this closing movement is performed as a closing coarse movement Sh.

In Fig. 3 ist eine Perspektivansicht eines erfindungsgemässen Kabelgreifers 50 einer Vorrichtung 100 der Erfindung beim Einführen eines Kabelendes 1.1 eines Kabelbaums 51 in ein mehrreihiges Gehäuse 20 gezeigt. Es wurden bereits mehrere Kabelenden 1.1 in die entsprechenden Kabelkanäle 22 oder Kammern des Gehäuses 20 eingeführt. In der gezeigten Momentaufnahme wird soeben das Kabelende 1.1 eines weiteren Kabels 1 in einen benachbarten Kabelkanal 22 eingeführt.In Fig. 3 is a perspective view of an inventive cable gripper 50 of a device 100 of the invention during insertion of a cable end of a 1.1 Wiring harness 51 shown in a multi-row housing 20. Several cable ends 1.1 have already been introduced into the corresponding cable channels 22 or chambers of the housing 20. In the snapshot shown, the cable end 1.1 of another cable 1 is just inserted into an adjacent cable channel 22.

Gemäss Erfindung verjüngen sich die Klemmbacken 4, 5 nach unten hin, um möglichst wenig Bauraum zu beanspruchen. Ausserdem ist der Kabelgreifer 50 so ausgelegt, dass er in der Lage ist kleine Feinbewegungen und grössere Grobbewegungen auszuführen, um zu verhindern, dass der Kabelgreifer 50 z.B. benachbarte Kabel beschädigt.According to the invention, the clamping jaws 4, 5 taper downwards in order to take up as little installation space as possible. In addition, the cable gripper 50 is designed to be able to perform small fine movements and larger coarse movements to prevent the cable gripper 50 from causing, e.g. adjacent cables damaged.

In Fig. 4 ist eine Perspektivansicht eines erfindungsgemässen Kabelgreifers 50 und weiterer Elemente einer Vorrichtung 100 der Erfindung bei der Handhabung eines Kabelendes 1.1 gezeigt. In dieser Darstellung kann man die Elemente der Fig. 1 in zusammengebauter (montierter) Form erkennen. Zum Zwecke der Erläuterung ist auf die Beschreibung der Fig. 1 verwiesen.In Fig. 4 is a perspective view of an inventive cable gripper 50 and other elements of a device 100 of the invention in the handling of a cable end 1.1 shown. In this representation one can see the elements of Fig. 1 recognize in assembled (assembled) form. For the purpose of explanation, please refer to the description of Fig. 1 directed.

Das Kabel 1 ist in den Figuren 1 und 4 mit einer Hülse, Kappe, Klemme oder dergleichen versehen. Diese Hülse, Kappe, oder Klemme dient dazu einen elektrischen Kontakt zwischen einem elektrischen Leiter des Kabels 1 und einer Klemme im Inneren des Gehäuses 20 herzustellen. Diese Elemente werden daher vereinfachend als Kontakt 21 bezeichnet. Vorzugsweise handelt es sich um Kontakte 21, wie sie bei Crimp-Technik üblich sind. Die Erfindung lässt sich auch anwenden auf Kontakte, die mittels Ultraschall-, Widerstands- oder Laserschweissen mit dem Kabel 1 verbunden werden. Die Erfindung kann auch im Zusammenhang mit der Schneid-Klemm-Technik angewendet werden.The cable 1 is in the FIGS. 1 and 4 provided with a sleeve, cap, clamp or the like. This sleeve, cap, or clamp serves to make electrical contact between an electrical conductor of the cable 1 and a terminal in the interior of the housing 20. These elements are therefore referred to simply as contact 21. Preferably, they are contacts 21, as are customary in crimping technology. The invention can also be applied to contacts that are connected to the cable 1 by means of ultrasonic, resistance or laser welding. The invention can also be applied in connection with the insulation displacement technique.

Die Vorrichtung 100 kann in allen Ausführungsformen mindestens folgende Standardfunktionen oder -verfahren ausführen. Dabei können die Klemmbacken 4, 5 auf zwei Arten bewegt werden.

  1. 1. Hydraulisch: Die Schliessbewegung erfolgt in diesem Fall mit einer einzigen hydraulischen Schliessgrobbewegung S.h. Die Position der Klemmbacken 4, 5 wird dabei nicht gesteuert. Die Klemmkraft zum Einklemmen des Kabels 1 wird vom hydraulischen Druck bestimmt. Um eine rein hydraulische Bewegung der Elemente des Kabelgreifers 50 zu ermöglichen, wird der Motor 3 entweder ausgekoppelt (z.B. durch eine Kupplung), oder das Zahnrad 11 wird ausgerückt, oder der Motor 3 dreht leer mit. Die endgültige Klemmkraft wird primär vom hydraulischen Druck bestimmt.
  2. 2. Elektrisch: Die Öffnungsfeinbewegung O.e wird durch den Motor 3 ausgeführt. Dabei wird die Position der Klemmbacken 4, 5, beispielsweise mit einem mit dem Motor 3 mitdrehenden Winkelsensor kontrolliert, der hier als Kontrollmittel 30 (siehe Fig. 1) bezeichnet wird, das z.B. an dem Motor 3 angebaut sein kann. Vorzugsweise sind hier die Hydraulikmittel 14, 15 drucklos geschaltet.
The apparatus 100 may include at least the following standard functions or methods in all embodiments To run. The jaws 4, 5 can be moved in two ways.
  1. 1. Hydraulic: The closing movement takes place in this case with a single hydraulic Schliesgrobbewegung Sh The position of the jaws 4, 5 is not controlled. The clamping force for clamping the cable 1 is determined by the hydraulic pressure. In order to allow a purely hydraulic movement of the elements of the cable gripper 50, the motor 3 is either decoupled (eg by a clutch), or the gear 11 is disengaged, or the motor 3 rotates with empty. The final clamping force is primarily determined by the hydraulic pressure.
  2. 2. Electric: The opening fine movement Oe is performed by the motor 3. In this case, the position of the clamping jaws 4, 5, for example, controlled by a co-rotating with the motor 3 angle sensor, here as a control means 30 (see Fig. 1 ), which may be attached to the engine 3, for example. Preferably, the hydraulic means 14, 15 are depressurized here.

Ein erfindungsgemässes Bestückungsverfahren läuft vorzugsweise wie folgt ab.An assembly method according to the invention preferably proceeds as follows.

Das Bestücken ist ein Vorgang, bei dem ein konfektioniertes Kabel 1 in eine Gehäusekammer oder einen Kabelkanal 22 eines Gehäuses 20 eingeführt wird. Dabei wird das Kabel 1 mit dem Kabelgreifer 50 gehalten und in die Gehäusekammer bzw. in den Kabelkanal 22 geschoben.The loading is a process in which a prefabricated cable 1 is inserted into a housing chamber or a cable channel 22 of a housing 20. The cable 1 is held with the cable gripper 50 and pushed into the housing chamber or in the cable channel 22.

Der notwendige Kabelüberstand L (siehe Fig. 4) muss so lang sein, dass das Kabelende 1.1, respektive der Kontakt 21 am Kabelende 1.1 vollständig eingeführt werden kann. Je länger dieser Kabelüberstand L ist oder je dünner und weicher ein Kabel ist, desto grösser wird das Risiko, dass das Kabel 1 beim Handhaben und Einführen knickt. Es kann aber auch zu dem Abknicken eines Kabelüberstands kommen, wenn das Kabel dünn und weich ist.The necessary cable projection L (see Fig. 4 ) must be so long that the cable end 1.1, respectively, the contact 21 at the cable end 1.1 can be fully inserted. The longer this cable projection L is or the thinner and softer a cable, the greater the risk that the cable 1 when handling and inserting kinks. But it can also lead to the kinking of a cable protrusion, if the cable is thin and soft.

In diesen Fällen kann ein Nachgreif-Verfahren zum Einsatz kommen, das im Folgenden beschrieben wird. Durch das Nachgreif-Verfahren kann das Knickrisiko verringert werden.In these cases a follow-up procedure can be used which will be described below. The post-gripping procedure can reduce the risk of breakage.

Ein Gehäuse 20 umfasst typischerweise mehrere Kammern oder Kabelkanäle 22 wie in Fig. 3 zu erkennen ist. Jede Kammer oder jeder Kabelkanal 22 wird mit einem konfektionierten Kabel 1 bestückt. Dies hat zur Folge, dass Nachbarkammern, die bereits ein Kabel 1 enthalten, den nachfolgenden Bestückungsvorgang behindern können. Wichtig ist dabei auch der Kammer- oder Rasterabstand. Ein kleiner Kammerabstand behindert den Kabelgreifer 50, wenn dieser am Ende des Bestückungsvorganges eine Öffnungsbewegung ausführt, um das eingeklemmte Kabel 1 loszulassen. Je kleiner der Kammerabstand ist, desto weniger weit darf sich der Kabelgreifer 50 öffnen. Als erfindungsgemässe Lösung wird das nachfolgend beschriebene Verfahren zum "stufenweisen Öffnen" verwendet. Dieses Verfahren ist bevorzugt.A housing 20 typically includes a plurality of chambers or conduits 22 as in FIG Fig. 3 can be seen. Each chamber or each cable channel 22 is equipped with a ready-made cable 1. This has the consequence that adjacent chambers, which already contain a cable 1, can hinder the subsequent assembly process. Important is also the chamber or grid spacing. A small chamber spacing obstructs the cable gripper 50 when it performs an opening movement at the end of the loading process to let the clamped cable 1. The smaller the chamber spacing, the less far the cable gripper 50 may open. As a solution according to the invention, the "stepwise opening" method described below is used. This method is preferred.

Beim stufenweisen Öffnen erfolgt das Öffnen der Klemmbacken 4, 5 stufenweise, um Kollisionen oder Beschädigungen mit benachbarten Kabeln 1 zu vermeiden.When stepwise opening the opening of the jaws 4, 5 stepwise to avoid collisions or damage to adjacent cables 1.

In einem 1. Schritt wird das Kabel 1 hydraulisch durch eine entsprechende Schliessgrobbewegung S.h geklemmt. Dieser Schritt ist in Fig. 5A dargestellt. Nachdem das Kabel 1 hydraulisch geklemmt wurde, kann der Kabelgreifer 50 eine Zustellbewegung Z1 ausführen, um das Kabelende 1.1 mit dem Kontakt 21 in ein Gehäuse 20 einzuschieben. Dort rastet der Kontakt 21 ein, oder der Kontakt 21 kann dort verlötet oder verklebt werden.In a first step, the cable 1 is clamped hydraulically by a corresponding closing coarse movement Sh. This step is in Fig. 5A shown. After the cable 1 has been hydraulically clamped, the cable gripper 50 can perform a feed movement Z1 in order to insert the cable end 1.1 with the contact 21 into a housing 20. There snaps the contact 21, or the contact 21 can be soldered or glued there.

In einem 2. Schritt wird nach der Beendigung des Bestückungsvorganges (Schritt 1) der Kabelgreifer 50 nur so weit geöffnet (Stufe 2), dass das Kabel 1 nicht mehr geklemmt wird. D.h. das Klemmen wird durch eine Öffnungsfeinbewegung O.e gelöst. Diese Öffnungsfeinbewegung O.e erfolgt als motorisch angetriebene Bewegung unter Einsatz des Motors 3.In a 2nd step, after completing the mounting process (step 1), the cable gripper 50 becomes only so wide open (level 2), that the cable 1 is no longer clamped. That is, the clamping is released by a fine opening movement Oe. This opening fine movement Oe takes place as a motor-driven movement using the motor 3.

In einem 3. Schritt wird der Kabelgreifer 50 in Kabelrichtung (d.h. in -z Richtung) vom Gehäuse 20 wegbewegt. Der 3. Schritt ist in Fig. 5B dargestellt. In Fig. 5B kann man erkennen, dass die Klemmbacken 4, 5 leicht auseinander bewegt wurden und dass eine kurze translatorische Rückzugsbewegung -Z1.1 ausgeführt wurde.In a third step, the cable gripper 50 is moved away from the housing 20 in the cable direction (ie in the -z direction). The 3rd step is in Fig. 5B shown. In Fig. 5B It can be seen that the clamping jaws 4, 5 were slightly moved apart and that a short translational retraction movement -Z1.1 was performed.

Im Schritt 4 wird der Kabelgreifer 50 ganz geöffnet, so dass dieser vertikal verfahren kann, wie in Fig. 5C gezeigt. Das Öffnen kann hier durch den Motor 3 und/oder hydraulisch erfolgen (je nach Ausführungsform). Bevorzugt ist eine Öffnungsfeinbewegung O.e. Das vertikale Verfahren wird hier auch als gemeinsame Rückzugsbewegung -Y bezeichnet. Die gemeinsame Rückzugsbewegung kann eine Bewegungskomponente in Richtung der negativen z-Achse und in Richtung der negativen y-Achse aufweisen.In step 4, the cable gripper 50 is fully opened so that it can move vertically, as in Fig. 5C shown. The opening can be done here by the motor 3 and / or hydraulically (depending on the embodiment). Preference is given to an opening fine movement Oe. The vertical method is also referred to here as a common withdrawal movement -Y. The common retracting movement may have a component of movement in the direction of the negative z-axis and in the direction of the negative y-axis.

Das Nachgreif-Verfahren wird im Folgenden erläutert. Es kommt dann zum Einsatz, wenn der Kabelüberstand L, der zum vollständigen Einführen in das Gehäuse 20 notwendig ist, zu gross ist, da das Kabel 1 in diesem Fall infolge der Einführkräfte knicken kann. Dies ist vor allem bei dünnen, flexiblen Kabeln 1 oder bei der Verwendung sogenannter Gel-Gehäuse möglich, die über eine mit kleinen Durchgangsbohrungen versehene Dichtmatte verfügen.The follow-up procedure is explained below. It is then used when the cable projection L, which is necessary for complete insertion into the housing 20, is too large, since the cable 1 can buckle in this case due to the insertion forces. This is especially possible with thin, flexible cables 1 or with the use of so-called gel housing, which have a provided with small through holes sealing mat.

Um das Abknicken zu verhindern, wird das Nachgreif-Verfahren angewendet. Dabei wird der Kabelüberstand L soweit verkleinert, dass ein Knicken verhindert wird.To prevent the kinking, the post-gripping method is used. In this case, the cable projection L is reduced so far that kinking is prevented.

In einem 1. Schritt wird das Kabel 1 hydraulisch mit verkürztem Kabelüberstand L1 (mit L1 < L) geklemmt indem eine entsprechende Schliessgrobbewegung S.h ausgeführt wird.In a first step, the cable 1 is hydraulically clamped with shortened cable projection L1 (with L1 <L) by a corresponding closing coarse movement Sh is performed.

In einem 2. Schritt wird das Kabel 1 soweit wie möglich in das Gehäuse 20 durch eine Zustellbewegung Z1 eingeführt.In a second step, the cable 1 is inserted as far as possible in the housing 20 by a feed movement Z1.

In einem 3. Schritt wird der Kabelgreifer 50 durch eine Öffnungsfeinbewegung O.e soweit geöffnet, dass das Kabel 1 nicht mehr eingeklemmt ist. D.h. das Einklemmen wird gelöst.In a third step, the cable gripper 50 is opened by a fine opening movement O.e far enough that the cable 1 is no longer clamped. That the pinching is solved.

Dann wird der Kabelgreifer 50 in einem 4. Schritt in Kabelrichtung (d.h. in negativer z-Richtung) ein kleines Stück vom Gehäuse 20 wegbewegt.Then, the cable gripper 50 is moved a small distance away from the housing 20 in a fourth step in the cable direction (i.e., in the negative z direction).

In einem 5. Schritt wird das Kabel 1 erneut hydraulisch geklemmt indem eine entsprechende Schliessgrobbewegung S.h ausgeführt wird und es wird der 2. Schritt wiederholt.In a fifth step, the cable 1 is hydraulically clamped again by performing a corresponding closing coarse movement S.h and the second step is repeated.

Falls notwendig werden die Schritte 2. bis 5. mehrmals durchgeführt.If necessary, steps 2 to 5 are repeated several times.

In einer bevorzugten Ausführungsform der Erfindung werden die beiden Klemmbacken 4, 5 synchron bewegt (hier als 2. Variante bezeichnet.In a preferred embodiment of the invention, the two jaws 4, 5 are moved synchronously (referred to here as the second variant.

Vorzugsweise kommt ein Kontrollmittel 30 (z.B. ein Winkeldecoder oder Weggeber) zum Einsatz, um die aktuelle Position der ersten Klemmbacke 4 und der zweiten Klemmbacke 5 zu ermitteln. Eine Steuerung S, die Information i(t) von dem Kontrollmittel 30 erhält, regelt das Betätigen des Motors 3, respektive der beschriebenen motorisch angetriebenen Bewegungsabläufe O.e und/oder S.e.Preferably, a control means 30 (e.g., an angle decoder or encoder) is used to determine the current position of the first jaw 4 and the second jaw 5. A controller S, which receives information i (t) from the control means 30, controls the actuation of the motor 3, respectively the described motor-driven motion sequences O.e and / or S.e.

Die erwähnten Bewegungen in x-, y- und z-Richtung können durch übliche Antriebssysteme ausgeführt werden. Insbesondere können Stellmotoren als Antriebssysteme zum Einsatz kommen.The mentioned movements in the x-, y- and z-direction can be carried out by conventional drive systems. In particular, servomotors can be used as drive systems.

Sämtliche Steuerungsvorgänge der verschiedenen Ausführungsformen sind vorzugsweise über eine Mikroprozessorsteuerung miteinander verbunden und programmierbar. In Fig. 1 ist die Mikroprozessorsteuerung durch die Steuerung S symbolisiert.All control operations of the various embodiments are preferably interconnected and programmable via a microprocessor control. In Fig. 1 is the microprocessor control symbolized by the controller S.

Die vorliegende Erfindung kann z.B. am Ende einer Kabel-Bearbeitungsstrasse, die vollautomatische Bestückung ein- oder mehrreihiger (Stecker-)Gehäuse 20, gleichgültig ob in Crimp-, Schneid-Klemm-, Löt-, Ultraschall-, Widerstandsschweiss- oder Laserschweiss-Technik, ausführen.The present invention may e.g. at the end of a cable processing line, the fully automatic assembly of single- or multi-row (plug) housing 20, whether in crimping, insulation displacement, soldering, ultrasonic, resistance welding or laser welding technology run.

Claims (13)

  1. Device (100) for handling a cable end (1.1) of a cable (1), which comprises a cable gripper (50) with a first clamping jaw (4) and a second clamping jaw (5) for gripping the cable end (1.1), wherein the device (100) comprises pressure means (14, 15) for actuating the cable gripper (50), characterised in that the pressure means (14, 15) act by a linear movement on a movement converter (2, 11, 12, 13) which sets the first clamping jaw (4) into motion with respect to the second clamping jaw (5) and that a motor (3) acts by a rotational movement (R) on the movement converter (2, 11, 12, 13), which sets the first clamping jaw (4) into motion with respect to the second clamping jaw (5).
  2. Device (100) according to claim 1, wherein
    - the pressure means (14, 15) act on the cable gripper (50) by means of the movement converter (2, 11, 12, 13) in order to trigger a coarse movement (S.h) of the first clamping jaw (4) with respect to the second clamping jaw (5) and
    - the motor (3) acts on the cable gripper (50) by means of the movement converter (2, 11, 12, 13) in order to trigger a fine movement (O.e) of the first clamping jaw (4) with respect to the second clamping jaw (5).
  3. Device (100) according to claim 2, wherein the cable gripper (50) comprises:
    - a carriage device (60) with a guide element (63) and a first carriage (61),
    - wherein the first carriage (61) is associated with the first clamping jaw (4),
    - wherein the first clamping jaw (4) inclusive of the associated first carriage (61) is mounted to be displaceable along the guide element (63) with respect to the second clamping jaw (5) and
    - wherein the pressure means (14, 15) act on the carriage device (60) in order to trigger the coarse movement (S.h) of the first clamping jaw (4) with respect to the second clamping jaw (5).
  4. Device (100) according to claim 2 or 3, wherein the second clamping jaw (5) is at rest while the first clamping jaw (4) executes a coarse movement (S.h) or a fine movement (O.e).
  5. Device (100) according to claim 3, wherein the cable gripper (50) additionally comprises a second carriage (62) which is mounted to be displaceable with respect to the first carriage (61), wherein the first and second clamping jaws (4, 5) move apart during opening and move towards one another during closing.
  6. Device (100) according to claim 2 or 3, characterised in that the rotational movement (R) is convertible into the fine movement by the movement converter (11, 12, 13), wherein the fine movement is a translational fine movement (O.e).
  7. Device (100) according to any one of the preceding claims 1 to 6, wherein a relative coarse movement (S.h) of the first clamping jaw (4) and the second clamping jaw (5) can be performed by the action of the pressure means (14, 15) on the cable gripper (50) and a relative fine movement (O.e) of the first clamping jaw (4) and the second clamping jaw (5) can be performed by cooperation of the movement converter (11, 12, 13) with the motor (3).
  8. Method of handling a cable end (1.1) of a cable (1), characterised by the following steps:
    allowing pressure means (14, 15) to act on a movement converter (2, 12, 11, 13), which sets a first clamping jaw (4) of a cable gripper (50) into motion with respect to a second clamping jaw (5) of the cable gripper (50) and
    allowing a motor (3) to act on the movement converter (2, 11, 12, 13), which sets the first clamping jaw (4) of the cable gripper (50) into motion with respect to the second clamping jaw (5) of the cable gripper (50).
  9. Method according to claim 8, wherein
    when letting the pressure means (14, 15) act a common approach movement of the first clamping jaw (4) and the second clamping jaw (5) is executed in order to clamp the cable end (1.1) of the cable (1) between the first clamping jaw (4) and the second clamping jaw (5) and wherein, after an approach movement (Z1) of the cable gripper (50)
    when letting the motor (3) act on the movement converter (2, 11, 12, 13) the cable end (1.1) clamped between the first clamping jaw (4) and the second clamping jaw (5) is released.
  10. Method according to claim 9, wherein in the case of a common retraction movement (-Y) of the first clamping jaw (4) and the second clamping jaw (5) firstly a translational retraction movement (-Z1) and then a further opening movement (O.e) of the first clamping jaw (4) relative to the second clamping jaw (5) are executed.
  11. Method according to claim 9, wherein after release of the cable end (1.1) a translational retraction movement (-Z1) parallel to the cable (1) is executed in order to then again repeat the steps of clamping the cable end (1.1) and the approach movement (Z1).
  12. Method according to any one of claims 8 to 11, wherein use is made of checking means (30) in order to ascertain the current position of the first clamping jaw (4) and the second clamping jaw (5), wherein a control (S) regulates the motor in dependence on the information (i(t)) of the checking means (30).
  13. Method according to any one of claims 8 to 12, wherein it is used for automated fitting-out of plug housings (20) with cable ends (1.1).
EP09174386.4A 2009-10-28 2009-10-28 Device and method for handling the ends of cables Active EP2317613B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP09174386.4A EP2317613B1 (en) 2009-10-28 2009-10-28 Device and method for handling the ends of cables
JP2010236293A JP5745251B2 (en) 2009-10-28 2010-10-21 Apparatus and method for manipulating the wire end of a wire
US12/913,889 US8646822B2 (en) 2009-10-28 2010-10-28 Apparatus and method for manipulating the wire-ends of wires

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09174386.4A EP2317613B1 (en) 2009-10-28 2009-10-28 Device and method for handling the ends of cables

Publications (2)

Publication Number Publication Date
EP2317613A1 EP2317613A1 (en) 2011-05-04
EP2317613B1 true EP2317613B1 (en) 2015-08-12

Family

ID=41809303

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09174386.4A Active EP2317613B1 (en) 2009-10-28 2009-10-28 Device and method for handling the ends of cables

Country Status (3)

Country Link
US (1) US8646822B2 (en)
EP (1) EP2317613B1 (en)
JP (1) JP5745251B2 (en)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2777052B1 (en) * 2011-11-11 2016-04-13 Schleuniger Holding AG Conveying device for leads
KR101988687B1 (en) 2011-11-11 2019-06-12 쉴로이니게르 홀딩 아게 Cable gathering device(wire stacker)
PL2777053T3 (en) 2011-11-11 2016-06-30 Schleuniger Holding Ag Twisting device
US8979155B2 (en) * 2013-03-22 2015-03-17 Mpi Incorporated Apparatus, system, and process for the automated retrieval and precise placement of small rods
EP2801984B1 (en) 2013-05-08 2018-11-14 Schleuniger Holding AG Gripper, twisting head and twisting head device
JP5983563B2 (en) * 2013-08-26 2016-08-31 住友電装株式会社 Wire harness manufacturing apparatus and method
TW201529220A (en) * 2013-10-31 2015-08-01 Anca Pty Ltd Tool gripper arrangement
CN104772631B (en) * 2014-01-15 2017-04-05 富鼎电子科技(嘉善)有限公司 Clamping device and its rotatable drive mechanism of employing
DE102016107270B4 (en) * 2016-04-20 2022-09-29 Lisa Dräxlmaier GmbH Device for bundling individual lines of a cable harness
EP3301769B8 (en) 2016-10-03 2020-04-15 Komax Holding AG Device and method for fitting a plug housing with prefabricated cable ends of a wire harness
RS62300B1 (en) * 2016-10-03 2021-09-30 Komax Holding Ag Method and device for rotational alignment of preconfigured cable ends of a wire harness
EP3396794B1 (en) 2017-04-28 2021-12-15 Komax Holding Ag Device and method for the placement of connector housings with sealing mats
EP3522311B1 (en) * 2018-02-01 2021-05-19 Aptiv Technologies Limited Assisted assembly method and system
CN108406251A (en) * 2018-05-09 2018-08-17 立讯精密工业（滁州）有限公司 Sleeve-assembled equipment
JP6773723B2 (en) * 2018-05-22 2020-10-21 ファナック株式会社 Hand and hand system
JP2020121391A (en) * 2019-01-31 2020-08-13 川崎重工業株式会社 Robot and method for operating the same
DE102019106710B4 (en) * 2019-03-15 2022-03-17 Rittal Gmbh & Co. Kg Grippers for the automated wiring of electrical components of an electrical switchgear, a corresponding robot and a corresponding method
US11141865B1 (en) 2019-08-15 2021-10-12 Design Ready Controls, Inc. Robot gripper assembly
CN110548949A (en) * 2019-08-22 2019-12-10 广东银钢智能科技有限公司 Wire bonding device and circuit board wire bonding machine
DE102019213323B4 (en) * 2019-09-03 2021-03-25 Leoni Bordnetz-Systeme Gmbh Clip module for positioning a clip at a predetermined mounting position of a cable harness and mounting head with such a clip module
DE102020105705B4 (en) * 2020-03-03 2021-12-30 Komax SLE GmbH & Co. KG Pull-off force measuring device
US20220234208A1 (en) * 2021-01-27 2022-07-28 The Boeing Company Image-Based Guidance for Robotic Wire Pickup
CN112792833B (en) * 2021-01-29 2024-07-23 中国科学院长春光学精密机械与物理研究所 Shielded wire tiling clamping device
EP4060829A1 (en) 2021-03-16 2022-09-21 komax Holding AG Feeding assembly and method for the feeding of connector housings

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5969887U (en) * 1982-10-30 1984-05-11 株式会社東芝 gripping device
US4579380A (en) * 1983-12-06 1986-04-01 Carnegie-Mellon University Servo robot gripper
US4699414A (en) * 1986-04-21 1987-10-13 The United States Of America As Represented By The Secretary Of The Air Force Multi use gripper for industrial robot
JPH027989U (en) * 1988-06-30 1990-01-18
EP0440955B1 (en) 1990-02-06 1995-03-15 Ttc Technology Trading Company Arrangement for the automated insertion of electric terminated conductors in plug housings
JPH0736352B2 (en) * 1990-03-23 1995-04-19 住友電装株式会社 Method and device for inserting terminal with electric wire into connector housing
US4970777A (en) * 1990-04-20 1990-11-20 Amp Incorporated Apparatus for connector block loading of electrical leads
US5257689A (en) * 1991-04-10 1993-11-02 Axis Usa, Inc. Apparatus for substantially simultaneously processing multiple electric motor parts
US5253912A (en) * 1991-04-10 1993-10-19 Axis Usa, Inc. Gripper apparatus for electric motor components
JP2985624B2 (en) * 1993-12-21 1999-12-06 住友電装株式会社 Wire insertion drive with terminal
CH689288A5 (en) * 1994-10-21 1999-01-29 Komax Holding Ag Method and apparatus for loading Steckergehaeusen.
US20010028175A1 (en) * 1999-04-07 2001-10-11 Thompson Brian K. Robot for an industrial automation system
US6961996B2 (en) * 2001-04-10 2005-11-08 Komax Holding Ag Method for installing cable ends in plug housings
DE50214847D1 (en) * 2001-10-31 2011-02-17 Komax Holding Ag Handling device for wire line, insertion machine and insertion method with such a handling device
WO2003045616A1 (en) * 2001-11-24 2003-06-05 Delphi Technologies, Inc. Improvements in wire harnesses
US8113557B2 (en) * 2009-05-19 2012-02-14 Artos Engineering Company Wire gripper jaw drive

Also Published As

Publication number Publication date
JP2011096659A (en) 2011-05-12
EP2317613A1 (en) 2011-05-04
US20110097185A1 (en) 2011-04-28
JP5745251B2 (en) 2015-07-08
US8646822B2 (en) 2014-02-11

Similar Documents

Publication Publication Date Title
EP2317613B1 (en) Device and method for handling the ends of cables
EP1941283B1 (en) Laboratory robot assembly
EP2600992B1 (en) Bending press with a workpiece positioning device and an operating method
AT391459B (en) DEVICE FOR HANDLING COMPONENTS WITH A GRIP DEVICE
DE69806076T2 (en) Process for manufacturing a wire harness for the automotive industry
DE3217966A1 (en) ARM CONTROL UNIT CONTROLLED BY A COMPUTER SYSTEM
EP3370892B1 (en) Gripper system for a bending press
WO2012143130A1 (en) Tray gripping device
DE102010017981B4 (en) Setup and procedure for merging ladders
EP0174462B1 (en) Tool changer for industrial robots
AT509980A4 (en) MANUFACTURING SYSTEM WITH TOOL MEMORY
DE102012014617B3 (en) Intelligent work clamping device is equipped power supply module, which has framed device module-part that supports fixed line connecting pins, where device module-part is stationary arranged with adapter plate
EP0521862B1 (en) Insertion module for wire-assembly device
DE202015002566U1 (en) System for the relative to a press axis centric radial deformation of a workpiece
EP2829339A1 (en) Positioning device for positioning workpieces, machine tool with such a positioning device, method for positioning workpieces
EP0713980B1 (en) A driving device
EP2779327B1 (en) Cable rotating pincer and method of guiding an electrical conductor
EP2779328B1 (en) Method and device for producing a connector
DE4400350A1 (en) Stud welding device
DE102017102941A1 (en) Positioning method for a section of a cable in / on a crimp contact device, crimping method and crimping machine
DE102005028201B4 (en) operation assembly
EP3520179B1 (en) Device, method, and system for inverse crimping
EP2596921A1 (en) Multi-coupling system for connecting multiple tools with at least one supply unit
EP1251605A1 (en) Apparatus and method for the insertion of cable ends into connector housings
DE10138684C2 (en) Gripping or tensioning device

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

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

AX Request for extension of the european patent

Extension state: AL BA RS

17P Request for examination filed

Effective date: 20111017

17Q First examination report despatched

Effective date: 20120420

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20150410

INTG Intention to grant announced

Effective date: 20150415

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): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

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: AT

Ref legal event code: REF

Ref document number: 742880

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150815

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: INVENTIO AG, CH

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502009011398

Country of ref document: DE

REG Reference to a national code

Ref country code: RO

Ref legal event code: EPE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20150812

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

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151112

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151113

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

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

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151214

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151212

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

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

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

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

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502009011398

Country of ref document: DE

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

Ref country code: LU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20151028

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

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

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

26N No opposition filed

Effective date: 20160513

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

Effective date: 20151112

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20160630

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

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: FR

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

Effective date: 20151102

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

Ref country code: IE

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

Effective date: 20151028

Ref country code: GB

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

Effective date: 20151112

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 742880

Country of ref document: AT

Kind code of ref document: T

Effective date: 20151028

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

Ref country code: AT

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

Effective date: 20151028

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

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20091028

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

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

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

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

Ref country code: BE

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

Effective date: 20151031

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

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

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

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150812

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

Ref country code: RO

Payment date: 20231030

Year of fee payment: 15

Ref country code: IT

Payment date: 20231024

Year of fee payment: 15

Ref country code: DE

Payment date: 20231027

Year of fee payment: 15

Ref country code: CZ

Payment date: 20231030

Year of fee payment: 15

Ref country code: CH

Payment date: 20231102

Year of fee payment: 15