EP2777052B1 - Fördereinrichtung für leitungen - Google Patents

Fördereinrichtung für leitungen Download PDF

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Publication number
EP2777052B1
EP2777052B1 EP12808484.5A EP12808484A EP2777052B1 EP 2777052 B1 EP2777052 B1 EP 2777052B1 EP 12808484 A EP12808484 A EP 12808484A EP 2777052 B1 EP2777052 B1 EP 2777052B1
Authority
EP
European Patent Office
Prior art keywords
gripper
guide
line
base
actively acting
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
EP12808484.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2777052A1 (de
Inventor
Thomas Wortmann
Peter Schütz
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.)
Schleuniger Holding AG
Original Assignee
Schleuniger 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 Schleuniger Holding AG filed Critical Schleuniger Holding AG
Publication of EP2777052A1 publication Critical patent/EP2777052A1/de
Application granted granted Critical
Publication of EP2777052B1 publication Critical patent/EP2777052B1/de
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H51/00—Forwarding filamentary material
    • B65H51/18—Gripping devices with linear motion
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/0003—Apparatus or processes specially adapted for manufacturing conductors or cables for feeding conductors or cables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/02—Stranding-up
    • H01B13/0207—Details; Auxiliary devices

Definitions

  • 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.
  • the DE 41 04 597 A1 discloses a rewinding device with a rotating gripper which is slidable 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. Moreover, this rewinding device is unsuitable for conveying lines.
  • the EP 1387449 A1 again discloses an apparatus for winding a cable-shaped material with a first gripping device for linear advancement of the front end of the material and for transfer to the winding device.
  • a second gripping means is provided for receiving said front end of the material and for linearly moving said front end away from the winding means.
  • the first gripping device is also adapted to grip the rear end of the cable-shaped material and to level in cooperation with the second gripping device to a predetermined difference of the ends.
  • the invention has the aim of eliminating these problems and to provide a 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. Irrespective of this, a high dynamic range of motion is to be achieved with low mechanical engineering costs.
  • the invention achieves this aim with a conveying device of the type mentioned above in that the gripper has a bistable mechanism, and in that in the region of the first position and in the region of the second position an active means acting on the gripper is provided, which is formed to engage the gripper and bring it into a closed position or open position when the gripper is in one of the two positions.
  • the construction can be simple and space-saving.
  • the effective range of an external active interface is limited to the area around the first or second position.
  • Active interface is understood to mean an active means acting on the gripper, 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 is to be understood as the drive which drives the gripper Opening or closing movement of the gripper causes.
  • the active interface acts locally, ie in the area of the first or second position.
  • Feeding involves actively pulling the pipe through the gripper.
  • 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.
  • a permanent power supply of the gripper (for example via a drag chain) can be dispensed with, while the actuation of the movable gripper takes place by external mechanical actuators or external energy supply, which are located respectively in the first position and in the second position.
  • the low moving mass of the gripper enables a smaller, highly 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.
  • the active means acting on the gripper each comprise an active mechanical actuator for driving 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).
  • At least one means acting on the gripper comprises a cylinder-piston unit, preferably a pneumatic cylinder, for bringing the gripper into a closed position or open position, the supply pressure for the cylinder-piston unit being variably adjustable by a controller is.
  • a cylinder-piston unit preferably a pneumatic cylinder
  • This measure serves to optimize the actuation force of the active agent acting on the gripper, 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. This adjustable closing force can be used to gently grasp thin and sensitive cables.
  • the force application is preferably realized by a pneumatic cylinder.
  • the conveying device has a gripper drive for the gripper, which can be moved together with the gripper along the guide, and the means which actively act on the gripper are designed as an energy supply in order to supply energy to the gripper drive.
  • the gripper drive with the gripper is movable (that is, integrated with it), but the energy is supplied via external active acting on the gripper means. The gripper drive is thus supplied with energy only in the end positions. While moving from one position to another, he is cut off from the power supply.
  • the active means acting on the gripper means an electrical contact and / or a compressed air coupling.
  • Such means represent a particularly easy to implement external power supply for the gripper drive.
  • 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 an operation of the gripper on the actively acting on the gripper means. These lead the gripper from a stable position via a dead center to another stable position.
  • 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.
  • the first position is a receiving station for receiving the conduit and the second position is a dispensing station for dispensing the conduit.
  • a dispensing station for dispensing the conduit.
  • the means actively acting on the gripper are stationary with respect to the guide. This allows a simple and reliable construction.
  • the gripper is formed from at least two mutually movable gripper jaws.
  • 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 acceptance gripper can precisely place the cable end according to the process steps.
  • 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.
  • At least one means actively acting on the gripper is movable relative to the guide along a direction substantially parallel to the direction of travel of the gripper along the guide, and is direct for positioning the means actively acting on the gripper relative to the guidance of the grippers or indirectly can be coupled to this impact interface, so that in a method of the gripper along the guide, the actively acting on the gripper means is driven relative to the guide by the gripper and placed in the desired position.
  • 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 that is substantially parallel to the direction of travel of the gripper along the guide, and wherein the guide with the gripper is seated on the first part of the base and an active means acting on the gripper means is seated 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 Base is coupled, preferably via the active acting on the gripper means so that the gripper drives in a process along the guide the second part of the base relative to the first part of the base.
  • the distance between the means actively acting on the gripper and between the location of the recording and the place of delivery can be easily determined be changed, for example, to adapt the conveyor to the length of the lines to be processed.
  • One of the effective interfaces formed by an agent actively acting on the gripper is thus moved programmably by the gripper into 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, bundles of lines, optical fibers, etc., between a first position and a second position, with a gripper for gripping a line, wherein the gripper together with the conduit is moved along a guide between the first position and the second position.
  • electrical or optical lines such as wires, cables, bundles of lines, optical fibers, etc.
  • the gripper in the region of the first position, the gripper is brought into a closed and thus line-engaging position by an active means acting on the gripper, that the gripper is then moved to a second position, and that in the region of the second Position of the gripper is brought by an active acting on the gripper means in an open and thus the line releasing position, wherein the gripper is preferably mechanically actuated by the actively acting on the gripper means, each comprising a mechanical actuator as a drive for the gripper ,
  • this method is performed with a conveyor according to one of the preceding paragraphs.
  • the means actively acting on the gripper each comprise a mechanical actuator for driving the gripper, which mechanically actuate the gripper.
  • At least one means actively acting on the gripper 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 actively acting on the gripper means relative to the guidance of the gripper directly or indirectly coupled thereto, and the coupled gripper is moved along the guide, so that the actively acting on the gripper means relative to the guide driven by the gripper and is brought into the desired position.
  • the conveyor can be adapted to the length of the lines to be conveyed or processed.
  • 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.
  • 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 is in Fig. 1 indicated by an arrow.
  • the slide drive 4 is arranged in the illustrated embodiment on the underside of the guide 1 and can cooperate with the slide 2, for example with a circulating cable, a belt or belt drive.
  • 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.
  • 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.
  • an active interface is provided at the first position 5 and at the second position 6, in each case in the form of an active means acting on the gripper.
  • 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.
  • the active acting on the gripper means are each a mechanical actuator, the gripper 11 and the gripper opener 16. They provide 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 it is moved from one position 5 to the other position 6. It would also be conceivable in principle to use the means actively acting on the gripper, i.
  • the active interfaces each within a small range to a limited position to leave a respective position 5, 6 to achieve a certain overall flexibility of the conveyor 7.
  • the gripper 3 only comes into the effective range of the respective active section through processes in the region of one of the positions 5, 6, or in other words: the effective range of the means actively acting on the gripper is in the region of Positions 5, 6 localized.
  • Fig. 2a shows the gripper 3 in the receiving station with still open gripper jaws 15.
  • a part eg a pneumatically actuated pin
  • Fig. 3a shows the gripper 3 in the delivery station with still closed and the line 8 gripping jaws 15.
  • Gripper closers 11 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.
  • the Fig. 2 and 3 show the conveyor 7 in different operating conditions.
  • the gripper 3 moves to the first position 5, which represents a receiving station for receiving the line 8.
  • the line 8 to be transported is guided between the open gripper jaws 15. This is done, for example, by means of a transfer gripper which guides the line end into the gripping area of the gripper 3.
  • the gripper jaws 15 are 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. Fig. 3 ).
  • the active acting on the gripper means at the second position 6 is designed as a gripper opener 16.
  • the line 8 is here by another handling technique (eg a takeover gripper) gripped and the gripper opener 16 then opens the gripper 3 against the spring bias of the gripper jaws 15th
  • the gripper 3 Since the gripper 3 has a bistable mechanism, it then remains open without external actuation. The further handling technique then removes the line end from the delivery station (second position 6). In the illustrated embodiment, the dispensing of the conduit 8 is downward in the dispensing movement direction 12.
  • the open gripper 3 then moves back to the first position 5, the receiving station, and picks up 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 11, 16. Also conceivable is an operation by means of electric drives and / or hydraulic conversion. In these cases, the active interfaces take over the function of the drive for the gripper 3 in the form of actively acting on the gripper means or the drive (s) are therefore not together with the gripper 3 along the guide. 1 method.
  • Each position 5, 6 has its own drive, with which the gripper 3 in the respective position 5, 6 comes into operative connection.
  • the drive for opening and closing could be attached to the gripper 3 or to the movable carriage 2 itself.
  • the supply of energy eg electricity or compressed air
  • the coupling is carried out, for example, in the electrical case via electrical contacts, in the pneumatic case via pneumatic air couplings with which the gripper 3 and the carriage 2 in overlap (contact, coupling) passes.
  • Fig. 4 is a schematic and compared to Fig. 1 simplified representation and shows a preferred embodiment of the invention, in which at least one actively acting on the gripper means 16 is movable relative to the guide 1 along a direction which is substantially parallel to the direction of travel of the gripper 3 along the guide 1.
  • the gripper 3 can be coupled directly or indirectly to the active interface.
  • 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 actively acting on the gripper means 16 is driven relative to the guide 1 by the gripper 3 and brought into the desired position.
  • 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 , which is substantially parallel to the direction of travel of the gripper 3 along the guide 1.
  • the guide 1 with the gripper 3 sits on the first part 19a of the base 19 and the movable, actively acting on the gripper means, in the present case, the gripper opener 16, sitting on the second part 19b of the base 19.
  • the base 19 For positioning the second part 19b the base 19 relative to the first part 19a of the base 19 is the gripper 3 to the second part 19b the base 19 can be coupled, preferably directly via the active interface 16, as shown in FIG Fig.
  • the movable part 19b must be repositioned.
  • the gripper 3 moves first without a line to the corresponding active acting on the gripper means. 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.
  • the first part 19a of the base 19 is a stationary part, eg a frame-fixed mounted substructure (in Fig. 4 left) and the second part 19b a longitudinally movable part, such as a carriage or carriage, with which the distance between the actively acting on the gripper means can be changed and which is positioned and fixed according to the length of cable to be processed.
  • the travel direction is in Fig. 4 indicated by 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, that can be locked in the desired position.
  • the second part 19b of the base is supported directly on the first part 19a of the base.
  • 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.
  • Fig. 4 preferably comprises at least one active interface a cylinder-piston unit 17, preferably a pneumatic cylinder to actively act on the gripper and the gripper 3 in a closed position or to bring the open position, wherein the supply pressure for the cylinder-piston unit 17 is variably adjustable by a controller 18.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Reciprocating Conveyors (AREA)
  • Framework For Endless Conveyors (AREA)
EP12808484.5A 2011-11-11 2012-11-09 Fördereinrichtung für leitungen Active EP2777052B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH18092011 2011-11-11
PCT/IB2012/056303 WO2013068984A1 (de) 2011-11-11 2012-11-09 Fördereinrichtung für leitungen

Publications (2)

Publication Number Publication Date
EP2777052A1 EP2777052A1 (de) 2014-09-17
EP2777052B1 true EP2777052B1 (de) 2016-04-13

Family

ID=47459047

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12808484.5A Active EP2777052B1 (de) 2011-11-11 2012-11-09 Fördereinrichtung für leitungen

Country Status (13)

Country Link
US (1) US9132985B2 (pt)
EP (1) EP2777052B1 (pt)
JP (1) JP6073911B2 (pt)
KR (1) KR101972193B1 (pt)
CN (1) CN104040646B (pt)
BR (1) BR112014011317A2 (pt)
ES (1) ES2582331T3 (pt)
MX (1) MX343519B (pt)
PL (1) PL2777052T3 (pt)
PT (1) PT2777052T (pt)
RU (1) RU2014123702A (pt)
SG (1) SG11201402161YA (pt)
WO (1) WO2013068984A1 (pt)

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CN110550498A (zh) * 2018-12-29 2019-12-10 上海理工大学 自动拉卷分切毛条机设备
CN110550492A (zh) * 2018-12-29 2019-12-10 上海理工大学 自动拉卷分切毛条机设备
CN112216445A (zh) * 2019-07-12 2021-01-12 库迈思控股股份公司 半自动电缆加捻装置和转移方法
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CN113053590B (zh) * 2021-03-19 2022-10-11 天长市海纳电气有限公司 基于定位固定机构的笼绞机用牵引装置
CN113620115A (zh) * 2021-08-25 2021-11-09 袁俊领 一种用于线缆收卷的拨线装置
CN114906670B (zh) * 2022-07-15 2022-10-21 江苏海强电缆有限公司 一种电缆计米盘绕架
CN116588749B (zh) * 2023-07-19 2023-09-22 中州建设有限公司 一种输电线路施工的拖拽装置
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MX2014005646A (es) 2015-09-04
KR20140092887A (ko) 2014-07-24
US20140284368A1 (en) 2014-09-25
WO2013068984A4 (de) 2013-07-18
US9132985B2 (en) 2015-09-15
PT2777052T (pt) 2016-07-13
JP6073911B2 (ja) 2017-02-01
CN104040646A (zh) 2014-09-10
BR112014011317A2 (pt) 2017-05-09
EP2777052A1 (de) 2014-09-17
PL2777052T3 (pl) 2016-10-31
CN104040646B (zh) 2017-02-15
JP2014535149A (ja) 2014-12-25
RU2014123702A (ru) 2015-12-20
ES2582331T3 (es) 2016-09-12
KR101972193B1 (ko) 2019-04-24
SG11201402161YA (en) 2014-08-28
WO2013068984A1 (de) 2013-05-16
MX343519B (es) 2016-11-07

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