EP2777052A1

EP2777052A1 - Conveying device for leads

Info

Publication number: EP2777052A1
Application number: EP12808484.5A
Authority: EP
Inventors: Thomas Wortmann; Peter Schütz
Original assignee: Schleuniger Holding AG
Current assignee: Schleuniger Holding AG
Priority date: 2011-11-11
Filing date: 2012-11-09
Publication date: 2014-09-17
Anticipated expiration: 2032-11-09
Also published as: BR112014011317A2; EP2777052B1; KR20140092887A; US20140284368A1; SG11201402161YA; CN104040646B; KR101972193B1; CN104040646A; MX2014005646A; ES2582331T3; PT2777052T; US9132985B2; JP2014535149A; MX343519B; PL2777052T3; WO2013068984A1; RU2014123702A; WO2013068984A4; JP6073911B2

Abstract

The invention relates to a conveying device for conveying electrical or optical leads (8), such as wires, cables, lead bundles, optical fibres, etc., comprising a gripper (3) for gripping a lead (8), the gripper (3) being movable along a guide (1) between a first position (5) and a second position (6), characterised in that an operative interface is provided in both the region of the first position (5) and in the region of the second position (6), said interface being designed to operatively connect to the gripper (3) and move the gripper into a closed position or an open position if the gripper (3) is in one of these two positions (5, 6).

Description

CONVEYOR DEVICE FOR PIPES

The invention relates to a conveyor and a method for conveying electrical or optical lines, such as wires, cables, cable bundles, optical fibers, etc. with a gripper for gripping a line, wherein the gripper along a guide between a first position and a second Position is movable.

DE 41 04 597 A1 discloses a rewinding device with a rotating gripper, which is displaceable along an inclined guide rail between two end positions. Limit switches are provided at the end positions. When the gripper reaches a limit switch, it opens. The limit switches only serve to generate a trigger signal. Furthermore, this is

Rewinding device for conveying lines unsuitable.

In conveyors with a movable gripper pneumatically actuated gripper are used in the prior art. The power supply happens here permanently via a drag chain. This means that the gripper can be moved together with its drive and is constantly connected to its power supply.

The disadvantages of such a conveyor are that the co-moving drag chain represents an additional mass that requires additional drive requirements and thereby requires a correspondingly larger dimensions of the entire drive train.

Furthermore, due to the high cycle frequency of the system, rapid wear of the drag chain and consequent downtime can be expected. For the

Drag chain is to provide additional space, which makes the machine accordingly voluminous.

The invention aims to eliminate these problems and a

To provide conveyor which packs a finished line end and moves as quickly as possible from a recording location to a delivery location. This place of delivery may be less than 1 m, a few meters or even more than 10 m away from the place of recording. Regardless, should a high Motion dynamics can be realized with low mechanical engineering effort.

The invention achieves this aim with a conveying device of the type mentioned above in that in the region of the first position and in the region of the second position, an effective interface is provided, which is designed to come into operative connection with the gripper and this in a closed position or open position when the gripper is in one of the two positions. By providing external effective interfaces, which only come into operative connection with the gripper when the gripper is in the region of the respective end position, the construction can be simple and space-saving. In other words, the effective range of an external active interface is limited to the area around the first or second position.

Under active interface is an active acting on the gripper means understood, for example, an external, mechanical gripper drive or an external

Energy supply device for the gripper drive (if this is designed to be movable together with the gripper), wherein the gripper drive that drive is to be understood, which causes the opening or closing movement of the gripper. The active interface acts locally, ie in the area of the first or second position.

Feeding involves actively pulling the pipe through the gripper. Preferably, therefore, the line is pulled lengthwise, that is, substantially along the direction given by the longitudinal extent of the line.

The gripper grabs (due to external actuation) the line end and moves it preferably as fast as possible, preferably linear, from the first position to the second position. The gripper can be designed without constantly moving drag chain and low mass, so that a high dynamic movement is achieved. In particular, a permanent power supply of the gripper (for example via a drag chain) can be dispensed with, while the operation of the movable gripper by external mechanical actuators or external

Power is supplied, which are respectively in the first position and in the second position. The low moving mass of the gripper allows a smaller, taller

dynamic drive. The clock frequency can be increased compared to the drag chain solution of the prior art. The machine can be made more compact, since no additional space for the drag chain must be provided. All of these benefits are associated with significant cost savings.

In one embodiment, the effective interfaces each comprise an active mechanical actuator as a drive for the gripper, which is designed to mechanically actuate the gripper. This results in a reliable, and independent of the movement of the gripper along the guide closing or

Opening movement. The closing and opening of the gripper can be precisely timed and controlled (for other processes).

In one embodiment, at least one operative interface comprises a cylinder-piston unit, preferably a pneumatic cylinder, for bringing the gripper into a closed position or an open position, wherein the

Supply pressure for the cylinder-piston unit is variably adjustable by a controller.

This measure serves to optimize the actuating force of the active interface, in particular of the gripper shutter. This makes it possible to set the supply (air) pressure per program and thus to make the closing force of the gripper jaws of the gripper also adjustable by program. Through this adjustable

Closing force thin and sensitive lines can be gently gripped. The force application is preferably realized by a pneumatic cylinder.

In one embodiment, the conveyor on a gripper drive for the gripper, which is movable along with the gripper along the guide, and the effective interfaces are designed as an energy supply to supply power to the gripper drive. In this case, the gripper drive is movable with the gripper (that is, integrated with it), but the energy is supplied via external active interfaces. The gripper drive is thus only in the final positions with energy provided. While moving from one position to another, he is cut off from the power supply.

In one embodiment, the active interface is an electrical contact and / or a compressed air coupling. Such means make it particularly easy

realizing external power supply for the gripper drive.

In one embodiment, the gripper has a bistable mechanism, wherein a dead center is provided between the stable open position and the stable closed position. This ensures that the position of the gripper is defined and stable in every operating condition. Only in the end positions is the gripper actuated via the action interfaces. These lead the gripper from a stable position via a dead center to another stable position. In one embodiment, the gripper is held closed at least in the closed state by a spring force. This increases the gripping force and reliably secures the gripped line end during the process along the guide.

In one embodiment, the first position is a receiving station for receiving the conduit and the second position is a dispensing station for dispensing the conduit. Such a device is suitable for the intermittent drawing of lines of a certain length into a processing machine.

In one embodiment, the operative interfaces are stationary with respect to the guide. This allows a simple and reliable construction.

In one embodiment, the gripper is at least two from each other

formed movable gripper jaws. In one embodiment, a transfer or takeover gripper is provided in the region of the first position and / or in the region of the second position, which transfers the line to the gripper or takes over from it. The transfer or

Takeover gripper can precisely place the cable end according to the process steps. In one embodiment, the conveyor device is a pull-in gripper unit for a line processing device, in particular for a cable twister. Since the conveyor is also suitable for long distances, correspondingly long lines, in particular cables, can be pulled into a cable twister, where they are then fixed in a twisting head and twisted.

In one embodiment, at least one effective interface is movable relative to the guide along a direction that is substantially parallel to the direction of travel of the gripper along the guide, and is for positioning the

Impact interface relative to the leadership of the gripper directly or indirectly to the

Actual interface can be coupled, so that in a method of the gripper along the guide, the effective interface is driven relative to the guide by the gripper and placed in the desired position. In one embodiment, the conveyor has a base comprising at least two parts, wherein a second part of the base is movable relative to a first part of the base along a direction substantially parallel to

The direction of travel of the gripper is along the guide, and wherein the guide with the gripper sits on the first part of the base and an operative interface sits on the second part of the base, and that for moving the second part of the base relative to the first part of the base of the gripper to the second part of the base

can be coupled, preferably via the active interface, so that the gripper drives in a method along the guide the second part of the base relative to the first part of the base.

As a result of this measure, the distance between the effective interfaces or between the place of recording and the place of delivery can be changed in a simple manner, e.g. to adapt the conveyor to the length of the lines to be processed. One of the active interfaces is thus moved by the gripper programmable in its desired position. This coupling function can save a complete positioning axis. The positioning is handled by the gripper, whose control is already available anyway.

The invention also relates to a method for conveying electrical or optical lines, such as wires, cables, cable bundles, optical fibers, etc., between a first position and a second position, with a gripper for gripping a line, wherein the gripper is moved together with the line along a guide between the first position and the second position, wherein in the region of the first position, an effective interface is provided, the brings the gripper in a closed and thus the line cross-position, and that in the region of the second position, an active interface is provided which brings the moved into the second position gripper in an open and thus the line releasing position. In one embodiment, the effective interfaces each comprise a mechanical actuator as a drive for the gripper, which operate the gripper mechanically.

In one embodiment, at least one impact interface is movable relative to the guide along a direction that is substantially parallel to the direction of travel of the gripper along the guide, and is used for positioning the

Actual interface coupled, and the coupled gripper is moved along the guide so that the effective interface is driven relative to the guide by the gripper and placed in the desired position.

Without having to introduce its own positioning axis, thereby the

Conveyor to be adapted to the length of the lines to be conveyed or processed.

Further embodiments of the invention are given in the figures and in the dependent claims. The list of reference numerals is part of the

Epiphany. The invention will be explained symbolically and by way of example with reference to figures. It show here

1 shows a conveyor according to the invention,

2 a conveyor device according to FIG. 1 in the receiving position, FIG.

2a transverse to the guide the gripper in the receiving station, 3 shows a conveyor according to FIG. 1 in the dispensing position, FIG.

3a transversely to the guide the gripper in the delivery station,

Fig. 4 shows an embodiment of a conveyor. Fig. 1 shows a conveyor 7 for a line 8 comprising a linear guide 1, on which a carriage 2 between two positions 5 and 6 is movable. On the carriage 2, a gripper 3 is attached, which can take an open and a closed (cross-position). The direction of movement 14 of the gripper 3 along the linear guide 1 to the receiving station (corresponding to the first position 5) is indicated in Fig. 1 with an arrow. The carriage drive 4 is arranged in the illustrated embodiment on the underside of the guide 1 and may e.g. with a circulating cable, a belt or belt drive with the carriage 2

interact. Such a conveyor 7 may be a pull-in rapier unit for drawing in the line 8 into a line processing device, in particular in a cable twister.

On the carriage 2 a two gripper jaws 15 comprehensive gripper 3 is attached. The gripper 3 has a mechanism that allows a bistable fixation of the gripper jaws 15. That is, the gripper 3 is either open or closed. In the closed state, a defined force on the gripper jaws 15th

applied. In a preferred embodiment, the force is applied by a prestressed spring which acts on the gripper jaws 15 via gripper levers.

According to the invention, an active interface is provided in each case at the first position 5 and at the second position 6. This is designed to come into operative connection with the gripper 3 and to actively bring this into a closed position or open position when the gripper 3 is in one of the two positions 5, 6. In the illustrated embodiment, it is in the

Protective interfaces each to a mechanical actuator, the

Gripper closer 1 1 and the gripper opener 16. They represent a drive for the gripper 3 and bring the gripper 3 in the open or closed position. The effective interfaces are stationary with respect to the guide 1, so they do not move with the gripper 3, when this from a position 5 to the other position. 6 is moved. It would also be conceivable, in principle, to leave the effective interfaces within a small area so as to be limitedly movable about a respective position 5, 6 in order to achieve a certain overall flexibility of the conveyor 7. In any case, however, it is the case that the gripper 3 only reaches the effective region of the respective active section by means of processes in the region of one of the positions 5, 6, or in other words: the effective region of the functional interfaces is local in the region of the positions 5, 6 limited.

Fig. 2a shows the gripper 3 in the receiving station with gripper jaws 15 still open. By the closing movement 10 of the gripper 1 1 - this presses with a part (eg a pneumatically operated bolt) against an active surface of the gripper 3 - are the gripper jaws 15 on gripper lever brought into the closed position. Fig. 3a shows the gripper 3 in the discharge station with still closed and the line 8 gripping jaws 15. By the opening movement 13 of the

Gripper opener 16 - this pulls with a part of an active surface of the gripper 3 - the gripper jaws 15 are brought via gripper lever in the open position. Gripper closers 1 1 and gripper openers 16 are external, active drives for the movable gripper 3, which act directly on the gripper 3 and thereby cause the closing or opening movement.

Figs. 2 and 3 show the conveyor 7 in different operating conditions. To receive the line 8, the gripper 3 moves to the first position 5, which represents a receiving station for receiving the line 8. There it becomes

transporting line 8 between the open gripper jaws 15 out. This is done e.g. by means of a transfer gripper which guides the line end into the gripping area of the gripper 3. About the stationary, designed as a gripper 1 1

Impact interface, from the outside via a mechanical

Transmission mechanism presses on the gripper jaws 15, the

Gripper jaws 15 closed. The gripper 3 then moves in the conveying direction 9 in the second position 6, the discharge station for discharging the line 8 (Fig. 3). The

Effective interface at the second position 6 is designed as a gripper opener 16. The line 8 is here by another handling technique (eg Takeover gripper) gripped and the gripper opener 16 then opens the gripper 3 against the spring bias of the gripper jaws 15th

Since the gripper 3 has a bistable mechanism, it then remains open without external actuation. The further handling technique then removes that

Cable end from the delivery station (second position 6). In the illustrated

Embodiment, the discharge of the line 8 down into the

Dispensing movement direction 12. The open gripper 3 then moves back to the first position 5, the receiving station, and fetches there a new line 8 from. The lines 8 are thereby conveyed along their length, ie substantially in the direction of their longitudinal extent.

The operation of the gripper 3 is realized in the illustrated embodiment by an external, pneumatically driven actuator 1 1, 16.

Also conceivable is an operation by means of electric drives and / or

hydraulic conversion. In these cases, the effective interfaces assume the function of the drive for the gripper 3. The drive (s) are therefore not moved together with the gripper 3 along the guide 1. Each position 5, 6 has its own drive, with which the gripper 3 in the respective position 5, 6 in

Active compound passes.

Alternatively, the drive for opening and closing could be attached to the gripper 3 or to the movable carriage 2 itself. The supply of energy (for example electricity or compressed air) would be exclusive

in the end positions 5 and 6, ie in the receiving and the dispensing station done. The coupling takes place e.g. in the electrical case via electrical contacts, in the pneumatic case via pneumatic air couplings with which the gripper 3 or the carriage 2 in overlap (contact, coupling) passes.

Fig. 4 is a schematic and simplified in comparison to FIG. 1 representation and shows a preferred embodiment of the invention, wherein at least one

Impact interface 16 relative to the guide 1 along a direction is movable, which is parallel to the direction of travel of the gripper 3 along the guide 1 substantially. For positioning an active interface, in the present case of the gripper opener 16, relative to the guide 1, the gripper 3 can be coupled directly or indirectly to the active interface. In the present example, the active interface 16 connects directly to the gripper 3, which is previously moved to this position. The coupled gripper 3 is now moved along the guide 1, so that the effective interface 16 is driven relative to the guide 1 by the gripper 3 and brought into the desired position. Of course, it would also be possible, instead of or in addition to the gripper opener 16 to make the gripper 1 1 by the gripper 3 movable. In the illustrated embodiment, the above measures are realized in that the conveyor 7 has a base 19 comprising at least two parts 19a, 19b, wherein a second part 19b of the base 19 is movable relative to a first part 19a of the base 19 along one direction in the

Substantially parallel to the direction of travel of the gripper 3 along the guide 1 stands. The guide 1 with the gripper 3 is seated on the first part 19a of the base 19 and the moveable operative interface, in the present case the gripper opener 16, is seated on the second part 19b of the base 19. For positioning the second part 19b of the base 19 relative to the first one Part 19a of the base 19, the gripper 3 can be coupled to the second part 19b of the base 19, preferably directly via the active interface 16, as shown in Fig. 4, so that the gripper 3 in a process along the guide 1, the second part 19b the base 19 drives relative to the first part 19a of the base 19 and brings in the desired position. Subsequently, the gripper 3 is decoupled again. A brake 20 is provided to lock the second part 19b of the base in the desired position. In other words, to set up the machine to the desired line length, the movable part 19b must be repositioned. For this purpose, the gripper 3 moves first without a line to the corresponding protection interface. In this position, the coupling takes place. Thereafter, the brake 20 of the movable part 19b is released. The (indirect) coupling of the gripper 3 to the second part 19b now makes it possible to move it with the help of the linear axis of the gripper 3 in the new position. There, the brake 20 of the second part 19 b is fixed again and decoupled the gripper 3. The conveyor 7 with the gripper 3 is now ready to collect new, to be twisted lines. Preferably, the first part 19a of the base 19 is a stationary part, for example a frame-mounted substructure (left in FIG. 4) and the second part 19b a in

Longitudinally movable part, e.g. a carriage or carriage, with which the distance between the effective interfaces can be changed and which is positioned and fixed according to the length of cable to be processed. The direction of travel is indicated in Fig. 4 with a double arrow. The movable part 19b of the base 19 is fixed to the stationary part of the base 19 by a brake 20, i. in

desired position locked. In the example of FIG. 4, the second part 19b of the base is supported directly on the first part 19a of the base. Alternatively, the second part 19b of the base could also be mounted on the guide 1 and be movable and lockable along the guide 1. The expressions "first and second part of the basis" are therefore to be understood in the broadest sense.

As can be seen from FIG. 4, preferably at least one effective interface comprises a cylinder-piston unit 17, preferably a pneumatic cylinder, in order to bring the gripper 3 into a closed position or open position, wherein the supply pressure for the cylinder-piston unit 17 is variably adjustable by a controller 18.

The disclosure of the following applications: S124PWO, S126PWO, S127PWO, S141 PWO (Applicants' internal application), all filed on the same day, 9.1.1.2012, at the International Bureau (IB) form an integral part of the present application and are incorporated herein by reference Combination with the same, as these separate applications each concern different aspects of the same machine. This results in further synergistic effects.

LIST OF REFERENCE NUMBERS

1 - leadership

2 - sled

3 - Gripper

4 - carriage drive

5 - first position (with gripper-closer)

6 - second position (with looper opener)

7 - conveyor

8 - line

9 - conveying direction

10 - Closing movement of the looper lock

1 1 - Gripper Closer

12 - Abgabebewegungsrichtung of the line end 13 - Opening movement of the gripper opener

14 - Direction of movement of the gripper to the receiving station

15 - gripper jaws

16 - Gripper opener

17 - cylinder-piston unit

18 - control

19 - basis

19a - first part of the base 19

19b - second part of the base 19

20 - brake

Claims

claims

1 . Conveying device for conveying electrical or optical lines (8), such as wires, cables, bundles of lines, optical fibers, etc., with a gripper (3) for gripping a line (8), the gripper (3) being guided along a guide (1) between a first position (5) and a second position (6) is movable, characterized in that in the region of the first position (5) and in the region of the second position (6) in each case one

Impact interface is provided which is adapted to engage with the gripper (3) in operative connection and bring this in a closed position or open position when the gripper (3) is in one of the two positions (5, 6).

2. A conveyor according to claim 1, characterized in that the

Protective interfaces each comprise an active mechanical actuator as a drive for the gripper (3), which is designed to mechanically actuate the gripper (3)

3. A conveyor according to claim 1 or 2, characterized in that at least one effective interface (1 1, 16) comprises a cylinder-piston unit (17), preferably a pneumatic cylinder, to the gripper (3) in a closed position or opened Position, the

Supply pressure for the cylinder-piston unit (17) by a controller (18) is variably adjustable.

4. A conveyor according to claim 1, characterized in that the

Conveyor having a gripper drive for the gripper (3), which is movable along with the gripper (3) along the guide (1), and that the active interfaces are designed as energy supply to supply power to the gripper drive, wherein preferably the active interface, an electrical contact and / or a compressed air coupling.

5. Conveying device according to one of claims 1 to 4, characterized

characterized in that the gripper (3) has a bistable mechanism, wherein between the stable open position and the stable

closed position is provided a dead center.

6. Conveying device according to one of claims 1 to 5, characterized

characterized in that the gripper (3) is kept closed at least in the closed state by a spring force.

7. A conveyor according to one of the preceding claims, characterized in that the first position (5) is a receiving station for receiving the conduit (8) and the second position (6) is a discharge station for discharging the conduit (8).

8. Conveying device according to one of the preceding claims, characterized in that the effective interfaces with respect to the guide (1) are stationary.

9. Conveying device according to one of the preceding claims, characterized in that the gripper (3) is formed from at least two mutually movable gripper jaws (15).

10. Conveying device according to one of the preceding claims, characterized in that in the region of the first position (5) and / or in the region of the second position (6) a transfer or takeover gripper is provided, the line (8) to the gripper (3) transfers or assumes responsibility for it.

1 1. Conveying device according to one of the preceding claims, characterized in that the conveying device is a catchment gripper unit for a line processing device, in particular for a cable twister.

12. Conveying device according to one of the preceding claims, characterized in that the conveyor (7) has a base (19) comprising at least two parts (19a, 19b), wherein a second part (19b) of the base (19) relative to a first part (19a) of the base (19) is movable along a direction which is substantially parallel to the direction of travel of the gripper (3) along the guide (1), and wherein the guide (1) with the gripper (3) the first part (19a) of the base (19) sits and a

Impact interface (16) on the second part (19b) of the base (19) sits, and that for moving the second part (19b) of the base (19) relative to the first Part (19a) of the base (19) of the gripper (3) to the second part (19b) of the base (19) is coupled, preferably via the active interface (16), so that the gripper (3) in a process along the guide ( 1) drives the second part (19b) of the base (19) relative to the first part (19a) of the base (19).

Method for conveying electrical or optical lines (8), such as wires, cables, wire bundles, optical fibers, etc., between a first position (5) and a second position (6), with a gripper (3) for gripping a line ( 8), wherein the gripper (3) together with the line (8) along a guide (1) between the first position (5) and the second position (6) is moved, characterized in that in the region of the first position (5 ) an impact interface is provided, which brings the gripper (3) in a closed and thus the line (8) cross-position, and that in the region of the second position (6) an active interface is provided, which in the second position (6) moved gripper (3) in an open and thus the line (8) releasing position brings, wherein preferably the effective interfaces each comprise a mechanical actuator as a drive for the gripper (3), which operate the gripper (3) mechanically.

A method according to claim 13, characterized in that the

Method with a conveyor according to one of claims 1 to 1 1 is performed.

A method according to claim 13 or 14, characterized in that at least one effective interface (1 1, 16) relative to the guide (1) along a direction is movable, which is substantially parallel to the direction of travel of the gripper (3) along the guide (1) in that, for positioning the active interface (16) relative to the guide (1), the gripper (3) is coupled directly or indirectly to the active interface (16), and that the coupled gripper (3) is moved along the guide (1). so that the active interface (16) is driven relative to the guide (1) by the gripper (3) and brought into the desired position.