EP3739697A1 - Dispositif ainsi que procédé de confection automatique d'une paire de lignes - Google Patents

Dispositif ainsi que procédé de confection automatique d'une paire de lignes Download PDF

Info

Publication number
EP3739697A1
EP3739697A1 EP20173527.1A EP20173527A EP3739697A1 EP 3739697 A1 EP3739697 A1 EP 3739697A1 EP 20173527 A EP20173527 A EP 20173527A EP 3739697 A1 EP3739697 A1 EP 3739697A1
Authority
EP
European Patent Office
Prior art keywords
gripping
line
elements
longitudinal direction
gripping elements
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.)
Granted
Application number
EP20173527.1A
Other languages
German (de)
English (en)
Other versions
EP3739697B1 (fr
EP3739697C0 (fr
Inventor
Tim Herrmann
Roland Jaecklein
Sarah KOPP
Paulo MARTINS
Ana Carolina ROQUEZ BUITRAGO
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.)
Leoni Bordnetz Systeme GmbH
Original Assignee
Leoni Bordnetz Systeme GmbH
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 Leoni Bordnetz Systeme GmbH filed Critical Leoni Bordnetz Systeme GmbH
Publication of EP3739697A1 publication Critical patent/EP3739697A1/fr
Application granted granted Critical
Publication of EP3739697B1 publication Critical patent/EP3739697B1/fr
Publication of EP3739697C0 publication Critical patent/EP3739697C0/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • H01B13/0221—Stranding-up by a twisting take-up device
    • 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
    • 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
    • H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/5313—Means to assemble electrical device
    • Y10T29/532—Conductor
    • Y10T29/53243—Multiple, independent conductors

Definitions

  • the invention relates to a device and a method for automatically assembling a pair of lines.
  • the device has two grippers arranged one behind the other in the longitudinal direction of the cable. Each of the grippers is provided for gripping one of the line ends in a clamping manner and at the same time for loosely feeding the other line end through.
  • the twisted pair of lines is rotated by means of a rotary gripping device, one of the line elements being loosely guided in the two grippers so that it is rotated and aligned in a predetermined rotary position. The end of the line is then fixed in the gripper in the aligned rotational position.
  • a placement device is provided.
  • the in the correct rotational position aligned line ends to the assembly device.
  • This has two grippers arranged one behind the other in the longitudinal direction, which are designed to grip one end of the line in a clamping manner and to guide the other end of the line through.
  • the two grippers can move in the longitudinal direction independently of one another, so that the line ends can be displaced in the longitudinal direction independently of one another.
  • the invention is based on the object of specifying a device and a method in which an automatic alignment of the contact elements is made possible when assembling a line pair.
  • the object is achieved according to the invention by a device with the features of claim 1. Furthermore, the object is achieved according to the invention by a method with the features of claim 13.
  • the device is designed for the automatic alignment of contact elements of a line pair in a respective target position.
  • Alignment in a target position is understood to mean a lateral alignment of the contact elements relative to one another and / or an angular orientation of the contact elements to one another in addition to the alignment in a predetermined target rotational position of the contact elements with respect to a longitudinal or plug axis.
  • the line pair generally comprises two line elements, the contact elements being arranged at each end on a line element.
  • the line pair is in particular a twisted line pair.
  • the line elements are preferably individual wires, that is to say electrical conductors (solid wire or stranded wire) surrounded by a wire jacket. In the simplest case, the line pair is thus two twisted single wires.
  • the alignment takes place in relation to a predetermined target position which the contact elements must assume with respect to a contact receptacle of a plug housing into which the contact elements are subsequently inserted for alignment.
  • the target position is made up of a target rotational position and a lateral target position and / or a target angular position at which the respective contact element is to be oriented with respect to a longitudinal direction.
  • a respective contact element is automatically brought into the specified position.
  • the predefined position specifically the predefined rotational position, is determined in particular by a setpoint position, for example a latching lug, which can only be inserted into the plug housing in a certain predefined rotational position of the contact element, so that the latching lug engages with a latching element that corresponds to the latching lug, for example, arranged in the plug housing . Only then is the contact element correctly arranged both electrically and mechanically within the connector housing.
  • the predetermined position of the contact element in particular the distance between the two contact elements, and the angular position of the contact element are also determined by the framework conditions given by the connector housing.
  • the angular position of the contact element is typically selected axially parallel to an orientation of an opening for the contact element to be inserted in the connector housing.
  • the device For alignment in the respective predetermined rotational position, the device has a main gripper for gripping the line pair, which gripper rotates around an axis of rotation is rotatable, which extends in a longitudinal direction.
  • the main gripper is thus rotatable about its own longitudinal axis and is preferably designed in the manner of pliers for gripping the line pair in a rotationally fixed manner.
  • the device also has two gripping elements for each gripping of a line end of the respective line element. I.e. in each case one gripping element grips a line end of a line element.
  • the main gripper is here preferably arranged centrally between the two gripping elements.
  • the two gripping elements are designed both for loose guidance and for clamping, non-rotatable fixing of the respective line end.
  • the gripping elements are designed to grip line elements of different diameters.
  • Loose guiding is understood here to mean that the respective gripping element grips the respective line end in such a way that it is held by the gripping element, but a longitudinal and / or rotary movement of the respective line element is enabled. In this case, the end of the line is only guided by the respective gripping element.
  • the clamping fixation is understood to mean that the respective line element is held in a clamping manner by the respective gripping element in such a way that no longitudinal and / or rotary movement of the line element is possible.
  • the main gripper grips the line pair in a rear area at a distance from the contact elements. For example, a few centimeters (e.g. -3-10 cm) after the contact elements. In the case of a twisted pair of lines, this is preferably gripped in an area in which the pair of lines is already twisted. The area is understood to mean, for example, the last 2 cm to 3 cm of the twisted area of the line pair before the twist is released to form the line ends.
  • the line pair is consequently held at three points by the main gripper and the two gripping elements, namely the line pair itself by the main gripper and one line end by one gripping element.
  • the gripping elements grip the line ends in front of the main gripper either on the contact element, but preferably in the area between the contact element and the main gripper.
  • the device comprises a control unit for controlling the main gripper and the two gripping elements.
  • the main gripper and the two gripping elements are controlled in such a way that, as already mentioned above, the line ends are gripped by the gripping elements and the line pair is gripped by means of the main gripper.
  • the main gripper is rotated in order to bring the respective contact element into the specified (rotating) position.
  • the end of the line with the respective contact element to be rotated is preferably held loosely by the gripping element assigned to it. I.e. it is held at the location specified by the gripping element, while rotation about its longitudinal axis is enabled. By rotating the pair of lines about the longitudinal axis, the contact element is therefore automatically rotated about its longitudinal axis.
  • the two gripping elements are arranged side by side with respect to the longitudinal direction. The line ends are therefore gripped laterally to one another individually and independently of one another via the two gripping elements.
  • the two gripping elements are designed and are controlled during operation by means of the control unit in such a way that the gripped line ends execute a translatory and / or rotary movement relative to one another for further alignment.
  • the device is therefore designed in such a way that, in addition to the alignment in the predetermined rotational position, a further Alignment can be done by means of a translational and / or rotational movement of the gripping elements.
  • this alignment of the contact elements by means of the gripping elements in several dimensions enables an individual alignment of the respective contact element in a predetermined target position during operation.
  • Translational movement is generally understood to mean, on the one hand, a lateral displacement of the gripped line elements perpendicular to the longitudinal direction.
  • translational movement is also understood to mean a relative displacement of the two line ends in the longitudinal direction. The movements of the gripping elements and thus the line ends and the contact elements attached to them take place here relative to one another and in particular independently of one another.
  • “Rotational movement” is understood - independently of the rotation of the entire line pair - to additionally mean a rotation of the individual line element about a pivot axis.
  • This pivot axis is, for example, a pivot axis running parallel to the longitudinal direction and parallel to the axis of rotation of the main gripper.
  • this parallel pivot axis preferably does not coincide with the axis of rotation of the main gripper.
  • it is a pivot axis oriented at an angle, but preferably not at right angles to the longitudinal direction, so that a tilting movement of the contact element can be performed relative to the longitudinal direction.
  • the gripping elements enable and provide that the two line ends are laterally displaced relative to one another and especially independently of one another. “Moved laterally with respect to one another” is understood here in particular to mean that they can be moved perpendicular to the longitudinal direction - viewed in the direction of view along the longitudinal direction within a projected plane.
  • the lateral alignment enables, for example, an adaptation of the lateral spacing of the contact elements to different lateral target spacings.
  • the device can be used universally for different connector housings with different connector patterns.
  • This lateral relative displacement of the contact elements to one another also enables the line ends to be positioned parallel to one another, one above the other or also diagonally next to one another or also at a distance from one another over a plurality of locking distances.
  • the additional lateral degree of freedom enables individual assembly of different types of connector housings and / or connector patterns.
  • the contact element brought into the correct rotational position is also inserted into the connector housing with the aid of the device while maintaining the predetermined rotational position.
  • the control unit is designed in particular in such a way that the two contact elements are successively brought into the predetermined rotational position. This is done by first bringing the first contact element into the specified rotational position by turning the pair of lines by means of the main gripper.
  • the first contact element is only loosely guided by the respective gripping element, so that a rotation of the line end and thus of the first contact element is made possible by rotating the line pair.
  • the respective other, second contact element is held in a rotationally fixed manner by its gripping element, so that it does not rotate.
  • the second, non-rotatably held contact element is further aligned (lateral Position and / or angular position) for example while the first contact element is brought into the desired rotational position.
  • the first contact element By rotating the line pair by rotating the main gripper about the axis of rotation, the first contact element, which is only loosely guided, is initially rotated. If the first contact element has been brought into the predetermined rotational position by the rotation of the line pair, the gripping element assigned to it fixes it in a rotationally fixed manner, so that the first contact element can no longer be moved out of the predetermined rotational position. The further (second) contact element is then brought into the specified rotational position by turning the pair of lines by means of the main gripper.
  • the second contact element is only loosely guided by the gripping element assigned to it, so that the rotation of the line pair by the main gripper enables the line end and thus the second contact element to be rotated until it also reaches the specified rotary position.
  • the contact elements are preferably brought into the predetermined rotational position by rotating the pair of lines by means of the main gripper in different directions. I.e. To align the one contact element in the specified rotational position, the main gripper and thus the line pair, for example, when viewed in the longitudinal direction, rotates to the left, while the main gripper and thus the line pair then rotates to the right to bring the other contact element into the specified rotational position.
  • the rotation in different directions of rotation is based on the idea that this results in little or no influence on the twisting of the line pair. In other words, for example, any over-twisting caused by the rotation of the line pair for aligning the first contact element is compensated for by rotating the line pair in the opposite direction when aligning the other contact element.
  • the two contact elements are, for example, aligned differently at the same time, that is to say they are guided differently and perform different movements.
  • the control unit is also designed to control the main gripper and the two gripping elements fully automatically. I.e. the control of the main gripper and the two gripping elements takes place in particular without manual interaction by an operator.
  • the contact elements are preferably only inserted into the connector housing after the two contact elements have been aligned in the specified target position.
  • the first, already aligned contact element is already inserted before the second contact element is then aligned and then inserted.
  • a sensor unit for detecting the current rotational position of the respective contact element is preferably provided.
  • the control unit is designed here to control the main gripper and the two gripping elements as a function of sensor information provided by the sensor unit, in particular to align the line elements and especially the line ends.
  • the sensor unit preferably has a camera which is set up to detect an alignment of a side profile of the contact element. Since the contact elements are usually not rotationally symmetrical, the current rotational position can often be determined using a side profile of the contact element. Alternatively, markings are attached to the contact elements, which are used for alignment.
  • the main gripper and the gripping elements are expediently arranged, in particular fastened, on a common carrier.
  • the main gripper is preferably fastened to the common carrier in such a way that at least viewed in a plan view in the direction of the longitudinal axis of the main gripper - is located between the two gripping elements.
  • the carrier is in particular plate-shaped and is also referred to as a base plate.
  • the carrier itself is again designed to be fastened to an adjustment mechanism, in particular a robot arm, and is also fastened to such an adjustment mechanism during operation.
  • an adjustment mechanism in particular a robot arm
  • the carrier with the grippers attached to it can be moved to desired target positions where connectors are to be assembled with the line elements.
  • the arrangement of the main gripper and the gripping elements on the common carrier has proven to be advantageous here, since only the carrier is preferably arranged on the robot arm for attachment to the adjustment mechanism.
  • the carrier has, for example, appropriate fastening means for a preferably reversible fastening to the robot arm.
  • a movable kinematic unit is provided for each gripping element.
  • the gripping elements are, for example, attached to the associated kinematic unit or also part of the kinematic unit.
  • the kinematics unit is arranged, for example, between the respective gripping element and the carrier.
  • the two gripping elements are thus attached to the carrier indirectly via the kinematic units.
  • the kinematic units achieve a particularly precise alignment of the line ends as well as sufficient mobility of the gripping elements to both grip the line ends and to align them for the aforementioned assembly.
  • the respective kinematics unit is designed for the further alignment (in addition to the alignment in the target rotational position) of the respective contact element.
  • the two kinematic units are independent of one another, so that the two gripping elements can be moved independently of one another.
  • the gripping elements are preferably movable within an X-Y plane that extends perpendicular to the longitudinal direction.
  • the gripping elements in conjunction with the kinematic units, are designed for movement within the projection plane.
  • This is understood to mean that the gripping elements - and thus also the contact elements held by them - can perform a lateral movement during operation, that is to say a movement laterally to the longitudinal direction.
  • the movement of the gripping elements takes place, for example, strictly within a plane perpendicular to the longitudinal axis.
  • a movement within the projection plane is also understood to mean a movement in which there is a movement component in the direction of the longitudinal direction, for example a spiral movement.
  • a movement (of the gripped contact elements) via a linear guide is provided, which allows displacement in the X and / or Y direction. This enables a lateral alignment of the line ends perpendicular to the longitudinal direction.
  • a rotary movement of the kinematics unit is preferably provided for performing the rotary movement about an axis parallel to the axis of rotation.
  • the axis is in particular spaced apart from the axis of rotation.
  • This rotational movement for example a pivoting movement, enables the contact element to be rotated, in particular in the plane of projection.
  • This rotational movement is in particular superimposed with a linear movement.
  • a tilting movement is preferably made possible by the kinematic unit, ie a center axis of the gripping elements can be tilted relative to the longitudinal direction or the axis of rotation.
  • the central axis of the respective gripping element is understood to mean the (central) axis of the respective line element that is held by the gripping element. This results in a desired axially parallel alignment of the contact element with respect to a plug-in direction or a central axis a plug-in opening into which the contact element is to be inserted.
  • the two gripping elements each comprise a gripping arm, the two gripping arms being oriented towards one another in the direction of the axis of rotation.
  • the gripping arms are in particular attached to the kinematic units which are each arranged laterally next to the longitudinal direction and thus also laterally next to the main gripper.
  • the kinematic units are preferably arranged together with the main gripper on the common carrier.
  • a respective gripping arm is preferably divided into two partial arms, which can be moved relative to one another in order to grasp the respective line end.
  • the two partial arms are particularly supported in the aforementioned linear guide.
  • One of the partial arms is preferably mounted in a fixed manner and the other is movably mounted.
  • the movable mounting of the at least one partial arm in the linear guide is preferably only used to grip the respective line end of the line element.
  • the adjustment / movement of the gripped line element e.g. within the X-Y plane, that is to say the lateral alignment of the line element is preferably carried out exclusively via the kinematic unit.
  • the respective upper part arm is moved towards the lower, fixed part arm.
  • the gripping jaws of the gripping element e.g. are formed at the end of the partial arms, closed.
  • the upper part arm is moved upwards accordingly.
  • the two partial arms can be moved relative to one another or also together within the linear guide. Due to the relative movability, the gripping jaws of the gripping element are opened and closed to grip the end of the line.
  • the mobility of the two gripping arms is made possible overall by the kinematic units. Movement, especially within the XY plane, enables the contact elements to be shifted and, in particular, aligned, to plug this into the connector housing. In particular in the event that the plug openings for the contact elements are arranged in different positions within the XY plane, this mobility on the part of the gripping elements that hold the contact elements is advantageous.
  • the kinematic units have six axes of movement and are in particular designed as so-called hexapods.
  • the hexapod is understood here to be a kinematic unit that enables very precise alignment of workpieces in three-dimensional space.
  • the six axes of movement are preferably three translatory and three rotary axes of movement.
  • the mobility of the kinematic units in the form of hexapods is achieved here in particular, for example, by pneumatic or hydraulic cylinders. These cylinders are typically arranged between two carrier plates, one being fastened to the carrier and the respective gripping element being fastened to the other.
  • the advantage of designing the kinematic units as hexapods is that this enables the aforementioned mobility of the gripping elements in a simple and precise manner.
  • the gripping elements can be moved in the longitudinal direction.
  • the displaceability of the gripping elements in the longitudinal direction is used here to introduce the contact elements into the plug-in openings of the plug housing.
  • the contact elements are inserted into the connector housing.
  • the ability to move in the longitudinal direction is achieved either through the ability to move the robot arm and thus the entire device or through the ability to move the kinematic units in the longitudinal direction, so that only the two gripping elements are moved in the longitudinal direction.
  • the desired insertion of the contact elements into corresponding plug-in openings in the connector housing takes place via the mobility in the longitudinal direction.
  • the device is designed to carry out a pull-out test, also referred to as a pullout test.
  • the pull-out test is carried out in particular immediately after the contact elements have been inserted into the connector housing.
  • the advantage here is that the pull-out test enables, in addition to the pure assembly of the contact elements in the connector housing, a check with regard to a mechanical holding force.
  • the device is thus also designed to check the plug connection for a tight fit.
  • the gripping elements are designed and controlled in such a way that they exert a predetermined pull-out force on the line elements against the insertion or longitudinal direction.
  • the gripping elements are preferably force-monitored.
  • force-monitored is understood to mean that the gripping elements preferably each have a force sensor.
  • a force acting on the gripping elements is detected and optionally monitored.
  • an insertion force is monitored when the contact elements are inserted into the connector housing.
  • the exerted force is recorded and monitored during the pull-out test.
  • the pull-out test is therefore deemed to have been passed, for example, if the force sensors detect a predetermined value while pulling the gripping elements on the line ends arranged inside the connector housing without the contact elements being able to be pulled out of the connector housing, i.e. without being released.
  • a reliable, simple and inexpensive technical implementation of the pull-out test is thereby achieved.
  • the device 2 is to feed contact elements 4, which are only shown schematically, in the correct position into a connector housing 6 (cf. Fig. 3 ) educated.
  • the contact elements 4 are each arranged at the end on a line element 8 of an in particular twisted line pair 10.
  • the device 2 has a main gripper 12, which in the exemplary embodiment is designed in the manner of tongs with two gripping legs.
  • the main gripper 12 is used to grasp the line pair 10 and is around a longitudinal direction L (cf. Fig. 2 ) extending axis of rotation D rotatable.
  • the device 2 has two gripping elements 14a, b for each gripping of a line end 16 of the respective line element 8.
  • the two gripping elements 14a, b are each arranged on a movable kinematic unit 18, which in turn is arranged in the exemplary embodiment on a carrier 20, which is in particular plate-shaped are.
  • the gripping elements 14a, b preferably each have a holding arm 21 which is fastened to a front support plate 19 of the respective kinematic unit 18.
  • the holding arm 21 runs perpendicular to the longitudinal direction L.
  • the holding arm 21 and thus the respective gripping element 14a, b is also assigned a guide, in particular a linear guide 23.
  • the respective holding arm 21 is slidably attached to the kinematic unit 18 via the guide.
  • the linear guide 23 enables transverse displacement perpendicular to the longitudinal axis L and perpendicular to a longitudinal orientation of the holding arm 21.
  • the holding arm 21 is preferably divided in the direction of its longitudinal orientation into two partial arms 21 a, 21 b, which can be displaced relative to one another via the linear guide 23.
  • Preferably only one partial arm 21a, 21b is displaceable. This allows you to for example to be adjusted towards each other, for example to clamp or release the line element 8.
  • the respective line element 8 is guided or held at the end on the holding arm 21, in particular between two gripping jaws formed at the end. As the partial arms 21a, 21b can be moved relative to one another, line elements 8 with different diameters can be gripped.
  • the main gripper 12 is also arranged on the common carrier 20.
  • the main gripper 12 is arranged centrally between the two gripping elements 14a, b.
  • the movable kinematic units 18 are designed as hexapods in the exemplary embodiment. In general, they are designed to implement several degrees of freedom of movement and preferably have translational and rotational degrees of freedom of movement. For example, they have six axes of movement X t , Y t , Z t , X r , Y r , Z r . It is thus made possible that the gripping elements 14a, b and thus also the line ends 16 gripped by them with the contact elements 4 in six directions of movement, namely three translational directions X t , Y t , Z t and three rotational directions X r , Y r , Z r are movable (cf. Fig. 2 ).
  • the kinematic units 18 are not limited to the design as hexapods.
  • the kinematic units allow a rotary movement about a respective rotary or pivot axis d and preferably also a tilting movement, in particular about the X-axis and / or the Y-axis.
  • This enables the carrier plate 19 and thus the gripping elements 14 to be tilted relative to the longitudinal direction L.
  • an angular position that is to say a longitudinal orientation of the contact elements 4
  • the contact element 4 can thereby be aligned axially parallel to the longitudinal direction.
  • the gripping elements 14a, b and thus the contact elements 4 are in particular within an XY plane E (cf. Fig. 2 ), which extends perpendicular to the longitudinal direction L, movable. This enables the contact elements 4 to be aligned laterally. The angular position can also be adjusted.
  • the device described here is distinguished by the fact that, in addition to an alignment of the contact elements 4 in a desired rotational target position, further alignment (lateral, tilting) is also made possible.
  • the device can be used universally for a wide variety of purposes, types of connector housings, line types, etc.
  • the infeed or plugging movement is also made possible with the same unit. It is therefore not necessary to reach around the aligned line elements 8 or contact elements 4.
  • the two line ends 16 of the line pair 10 are gripped by the gripping elements 14a, b, while the line pair 10 is gripped by the main gripper 12, preferably in a twisted area.
  • the respective contact elements 4 are then brought into a predetermined rotational position by rotating the main gripper 12 and thus by rotating the pair of lines 10.
  • the contact elements 4 must have a preferred and predetermined orientation (target position) in order to be able to be plugged into the connector housing 6.
  • the predetermined target position is understood to mean a position of the contact elements 4 in which they can be plugged into the connector housing 6 for assembly.
  • the two contact elements 4 usually have to be aligned parallel to one another, in particular axially parallel to the plug openings, in the desired (same) rotational position and with a predetermined lateral distance (according to the grid dimension of the plug openings).
  • the contact elements 4 are now brought into the predetermined rotational position in such a way that preferably only one of the gripping elements 14a (first gripping element 14a) releases a gripping force on the line end 16, which is preferably held by it in a rotationally fixed manner, with the contact element 4 arranged thereon, so that the line end 16 is merely guided loosely by the first gripping element 14a. Then the main gripper 12 and thus the line pair 10 are rotated about the axis of rotation D so that the line end 16, which is now only loosely guided, also rotates. As a result, the contact element 4 is brought into the predetermined rotational position.
  • the first gripping element 14a fixes the contact element 4 brought into the predetermined rotational position by increasing the gripping force and this process is repeated analogously with the contact element 4, which is held by the (second) gripping element 14b.
  • the alignment of the contact elements 4 in the predetermined rotational position is thus preferably carried out purely rotationally.
  • the contact elements 4 brought into the predetermined rotational position are then further aligned by a translatory and / or rotational movement of the kinematic units 18 and brought into a predetermined target position, for example moved in front of a plug-in opening (not shown here) of the connector housing 6. After this alignment, the contact elements 4 are inserted into the plug housing 6 by a movement in the longitudinal direction L.
  • a plan view of the device 2 is shown.
  • the arrangement of the device 2 on a robot arm 22 is shown.
  • the previously mentioned insertion of the contact elements 4 into the connector housing 6 takes place either through a translatory movement of the kinematic units 18 along the longitudinal axis L.
  • the insertion is preferably carried out with a complete movement of the device 2 along the longitudinal axis L caused by the robot arm 22
  • the control unit 24 is shown as a schematic rectangle. This is designed to control the device 2 and preferably also the robot arm 22 in such a way that the movements of the main gripper 12, the two gripping elements 14 a, b and the kinematic units 18 required to carry out the above-described assembly process are carried out.
  • This control takes place in particular fully automatically, i.e. H. without manual interaction by an operator.
  • This has the particular advantage that a fully automated assembly of especially twisted line pairs 10 is made possible.
  • the device 2 has a sensor unit 26 to detect a current position and to check whether the contact elements 4 are each located in the predetermined target position.
  • this includes two cameras which monitor a front region 28 of the device from two opposite directions. It is preferably also conceivable to arrange several cameras in such a way that the front area 28, in which the contact elements 4 are preferably moved into the predetermined rotational / target position and inserted into the connector housing 6, is monitored from several directions.
  • the control unit 24 is designed in such a way that, as a function of the sensor information generated by the sensor unit 26, the contact elements 4 are aligned by translational and rotational movements on the part of the elements 12, 14a, b and 18.
  • Fig. 3 is a partial longitudinal section through a connector housing 6 with a contact element 4 inserted therein.
  • Fig. 3 thus shows a final state of assembly.
  • a pull-out test is carried out by the device before a release.
  • a gripping element 14a is only shown schematically, which grips the line element 8 in the manner of pliers.
  • a pull-out force F is applied to the contact element 4 inserted into the connector housing 6 by moving the device 2 counter to the longitudinal direction L.
  • This is used to check whether a latching element 30 arranged, for example, on the contact element 4 is latched to a latching contour 32 formed within the connector housing 6, and thus to check whether the contact element 4 cannot be pulled out of the connector housing 6 below a predetermined pull-out force F, for example is.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Ropes Or Cables (AREA)
EP20173527.1A 2019-05-17 2020-05-07 Dispositif ainsi que procédé de confection automatique d'une paire de lignes Active EP3739697B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019207253.4A DE102019207253B4 (de) 2019-05-17 2019-05-17 Vorrichtung sowie Verfahren zum automatischen Konfektionieren eines Leitungspaares

Publications (3)

Publication Number Publication Date
EP3739697A1 true EP3739697A1 (fr) 2020-11-18
EP3739697B1 EP3739697B1 (fr) 2023-06-21
EP3739697C0 EP3739697C0 (fr) 2023-06-21

Family

ID=70617014

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20173527.1A Active EP3739697B1 (fr) 2019-05-17 2020-05-07 Dispositif ainsi que procédé de confection automatique d'une paire de lignes

Country Status (6)

Country Link
US (1) US11817235B2 (fr)
EP (1) EP3739697B1 (fr)
DE (1) DE102019207253B4 (fr)
MA (1) MA53298A (fr)
MX (1) MX2020005105A (fr)
PL (1) PL3739697T3 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991015043A1 (fr) * 1990-03-28 1991-10-03 Siemens Aktiengesellschaft Module d'insertion pour dispositif d'assemblage de cables
JPH09171879A (ja) * 1995-12-19 1997-06-30 Yazaki Corp 端子反転装置及び端子反転方法
WO2002049046A1 (fr) * 2000-12-11 2002-06-20 Eltrona-Rkt Rottenmanner Kabeltechnik Gmbh Procede de production de faisceaux de cables et installation pour la mise en oeuvre de ce procede
EP3301769A1 (fr) 2016-10-03 2018-04-04 Komax Holding AG Vorrichtung und verfahren zum bestücken eines steckergehäuses mit konfektionierten kabelenden eines kabelstrangs
EP3301768A1 (fr) 2016-10-03 2018-04-04 Komax Holding AG Procédé et dispositif pour l'alignement d'extrémités de câble préparés d'un faisceau de câbles
US20180183200A1 (en) * 2016-12-28 2018-06-28 Panasonic Intellectual Property Management Co., Ltd. Electronic equipment assembly apparatus and electronic equipment assembly method
WO2018163260A1 (fr) * 2017-03-06 2018-09-13 株式会社フジクラ Dispositif d'insertion de borne et procédé de fabrication de faisceau de fils

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4967470A (en) * 1990-04-20 1990-11-06 Amp Incorporated Alignment apparatus for positioning a connector housing during wire insertion
JP6002628B2 (ja) * 2013-05-10 2016-10-05 矢崎総業株式会社 端子挿入装置及び端子挿入方法
EP2958201A1 (fr) * 2014-06-16 2015-12-23 Delphi Technologies, Inc. Procédé et dispositif d'assemblage d'un boîtier de connexion
US10189160B2 (en) * 2016-05-09 2019-01-29 The Boeing Company Systems and methods for automatically inserting components into an electrical connector

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991015043A1 (fr) * 1990-03-28 1991-10-03 Siemens Aktiengesellschaft Module d'insertion pour dispositif d'assemblage de cables
JPH09171879A (ja) * 1995-12-19 1997-06-30 Yazaki Corp 端子反転装置及び端子反転方法
WO2002049046A1 (fr) * 2000-12-11 2002-06-20 Eltrona-Rkt Rottenmanner Kabeltechnik Gmbh Procede de production de faisceaux de cables et installation pour la mise en oeuvre de ce procede
EP3301769A1 (fr) 2016-10-03 2018-04-04 Komax Holding AG Vorrichtung und verfahren zum bestücken eines steckergehäuses mit konfektionierten kabelenden eines kabelstrangs
EP3301768A1 (fr) 2016-10-03 2018-04-04 Komax Holding AG Procédé et dispositif pour l'alignement d'extrémités de câble préparés d'un faisceau de câbles
US20180183200A1 (en) * 2016-12-28 2018-06-28 Panasonic Intellectual Property Management Co., Ltd. Electronic equipment assembly apparatus and electronic equipment assembly method
WO2018163260A1 (fr) * 2017-03-06 2018-09-13 株式会社フジクラ Dispositif d'insertion de borne et procédé de fabrication de faisceau de fils

Also Published As

Publication number Publication date
DE102019207253A1 (de) 2020-11-19
US20200365297A1 (en) 2020-11-19
DE102019207253B4 (de) 2021-06-10
US11817235B2 (en) 2023-11-14
EP3739697B1 (fr) 2023-06-21
MX2020005105A (es) 2020-12-10
EP3739697C0 (fr) 2023-06-21
MA53298A (fr) 2022-05-11
PL3739697T3 (pl) 2023-12-27

Similar Documents

Publication Publication Date Title
DE102018103805B4 (de) Robotersystem mit rekonfigurierbarer endeffektor-baugruppe
DE102009057013B4 (de) Umkonfigurierbare Greiforgane mit Gelenkrahmen und einrastbarem Hauptausleger
DE69207319T2 (de) Vorrichtung und Maschine zum Einfügen von Verbindungselementen in Verbindern
DE19832884C1 (de) Preßzange mit einem Zangenkopf und einem Positionierer
EP0440955B1 (fr) Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise
DE2556098A1 (de) Verfahren und vorrichtung zum einfuehren eines stiftes in ein komplementaeres loch eines werkstueckes
EP3870405B1 (fr) Dispositif pour l'usinage d'une pièce
WO2018189103A1 (fr) Tête d'usinage ainsi qu'installation et procédé servant à équiper de manière automatisée des boîtiers de connecteur enfichable en éléments conducteurs
EP1799375A1 (fr) Installation de pliage et procede pour plier des materiaux plats
EP3841856B1 (fr) Robots de câblage et procédé de câblage
DE2518323B2 (de) Vorrichtung zum verbinden und trennen von rohren
DE102018105025A1 (de) Robotersystem mit rekonfigurierbarer endeffektor-baugruppe
EP1362660B1 (fr) Tête, système et méthode pour l'approvisionnement et la fixation d'éléments
DE102010017981B4 (de) Einrichtung und Verfahren zum Zusammenführen von Leitern
WO2015139717A1 (fr) Dispositif de montage pour le remplacement d'une pointe de préhension appartenant à un doigt de préhension pour un système robotique
WO2016088091A1 (fr) Unité de centrage, dispositif de sertissage et installation d'usinage de câble
DE69400472T2 (de) Vorrichtung und Maschine zum Einfügen von Verbindungselementen in Verbindern
EP3664959B1 (fr) Procédé et dispositif de fourniture de vis
DE102017101619A1 (de) Werkstückklemmvorrichtung und Bearbeitungssystem mit einer Werkstückklemmvorrichtung
WO2021209230A1 (fr) Dispositif et procédé de préhension d'un objet
EP3739697B1 (fr) Dispositif ainsi que procédé de confection automatique d'une paire de lignes
DE102019211533B4 (de) Verteilstation sowie Verfahren zum Betrieb einer Verteilstation für eine automatisierte Herstellung eines Kabelsatzes
EP1342248B1 (fr) Procede de production de faisceaux de cables et installation pour la mise en oeuvre de ce procede
DE102019218132A1 (de) Greiferaufsatz, Greifeinrichtung mit Greiferaufsatz und Verfahren zum Betreiben einer Greifeinrichtung
DE19825628C1 (de) Anschlußklemme

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

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

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL 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 RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210511

RAV Requested validation state of the european patent: fee paid

Extension state: MA

Effective date: 20210511

Extension state: TN

Effective date: 20210511

RBV Designated contracting states (corrected)

Designated state(s): AL 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 RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: H01B 13/02 20060101ALN20220331BHEP

Ipc: H01R 43/20 20060101AFI20220331BHEP

INTG Intention to grant announced

Effective date: 20220413

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTC Intention to grant announced (deleted)
RIN1 Information on inventor provided before grant (corrected)

Inventor name: ROQUEZ BUITRAGO, ANA CAROLINA

Inventor name: MARTINS, PAULO

Inventor name: KOPP, SARAH

Inventor name: JAECKLEIN, ROLAND

Inventor name: HERRMANN, TIM

RIC1 Information provided on ipc code assigned before grant

Ipc: H01B 13/02 20060101ALN20220818BHEP

Ipc: H01R 43/20 20060101AFI20220818BHEP

INTG Intention to grant announced

Effective date: 20220912

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL 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 RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502020003835

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1581595

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230715

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

U01 Request for unitary effect filed

Effective date: 20230719

U07 Unitary effect registered

Designated state(s): AT BE BG DE DK EE FI FR IT LT LU LV MT NL PT SE SI

Effective date: 20230725

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

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

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: 20230921

REG Reference to a national code

Ref country code: SK

Ref legal event code: T3

Ref document number: E 42162

Country of ref document: SK

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

Ref country code: RS

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: 20230621

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: 20230621

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: 20230922

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: 20230621

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

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: 20231021

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

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: 20230621

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: 20231021

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: 20230621

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

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: 20230621

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502020003835

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

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

26N No opposition filed

Effective date: 20240322

U20 Renewal fee paid [unitary effect]

Year of fee payment: 5

Effective date: 20240516