EP3739697B1 - Device and method for automatically assembling a cable pair - Google Patents

Description

The invention relates to a device and a method for automatically assembling a pair of lines.

When assembling electrical lines, line elements of an in particular twisted pair of lines, which are provided with contact elements at the ends, are inserted into a plug housing. The contact elements must be arranged in the correct position in the connector housing. In the case of, in particular, twisted pairs of lines, it is often necessary to rotate the contact elements of the two line elements differently.

From the EP 3 301 768 A1 is a device, according to the preamble of claim 1, for the correct positional alignment of assembled cable ends of a twisted pair of cables. The device has two grippers arranged one behind the other in the longitudinal direction of the cable. Each of the grippers is provided for clampingly gripping one of the line ends and at the same time for loosely passing through the other line end. In order to bring a respective line end into a correct rotational position, the twisted pair of lines is rotated by means of a rotary gripping device, with one of the line elements being guided loosely in the two grippers so that it is twisted and aligned in a predetermined rotational position. The cable end is then fixed in the gripper in the aligned rotational position.

To equip a connector housing with such a twisted pair of lines with aligned line ends is according to EP 3 301 769 A1 an assembly device provided. For this purpose, the line ends, which are aligned in the correct rotational position, are first transferred to the assembly device. This in turn has two grippers arranged one behind the other in the longitudinal direction, which grippers are designed for clampingly gripping one end of the line and for guiding through the other end of the line. The two grippers can be moved independently of one another in the longitudinal direction, so that the cable ends can be shifted in the longitudinal direction independently of one another.

From the WO 2018/163260 A1 is another pick-and-place device for inserting cable ends into a connector housing.

Proceeding from this, the invention is based on the object of specifying a device and a method in which 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 having the features of claim 1. Furthermore, the object is achieved according to the invention by a method having the features of claim 13.

Advantageous configurations, developments and variants are the subject of the dependent claims. The advantages and preferred configurations listed with regard to the device can be transferred analogously to the method and vice versa.

For a better understanding, the physical features of the device and the corresponding procedural features are described in parallel below.

The device is designed for the automatic alignment of contact elements of a line pair in a respective desired position. Alignment in a target position is understood to mean not only alignment in a specified target rotational position of the contact elements with respect to a longitudinal or plug-in axis but also lateral alignment of the contact elements relative to one another and/or angular orientation of the contact elements to one another.

The pair of lines generally includes two line elements, with the contact elements each being arranged at the end on a line element. The pair of lines is in particular a twisted pair of lines. The line elements are preferably individual cores, ie electrical conductors (solid wire or stranded wire) surrounded by a core sheath. In the simplest case, the line pair is two twisted single wires.

The alignment takes place in relation to a predetermined target position that the contact elements must assume with respect to a contact receptacle of a connector 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 should be oriented with respect to a longitudinal direction.

A respective contact element is automatically brought into the specified position. The predetermined position, specifically the predetermined rotational position, is determined in particular by a target position, for example, of a latching lug that can only be plugged into the connector housing in a certain predetermined rotational position of the contact element, so that the latching lug engages with a latching element that corresponds to the latching lug and is arranged, for example, in the connector 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 general conditions given by the connector housing. The angular position of the contact element is typically chosen to be axis-parallel to an orientation of an opening for the contact element to be inserted in the connector housing.

For alignment in the respective predetermined rotational position, the device has a main gripper for gripping the pair of lines, which grips about 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 non-rotatably gripping the pair of lines.

In addition to the main gripper, the device also has two gripping elements for each gripping a line end of the respective line element. i.e. each gripping element grips a line end of a line element. In this case, the main gripper is preferably arranged centrally between the two gripping elements. The two gripping elements are designed both for loose guiding and for clamping, non-rotatable fixing of the respective end of the line. The gripping elements are designed to grip line elements of different diameters. Loose guidance 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 made possible. In this case, the end of the line is only guided by the respective gripping element. In contrast, clamping fixing means that the respective line element is held in a clamped manner by the respective gripping element in such a way that no longitudinal and/or rotary movement of the line element is made possible.

The main gripper grips the line pair in a rear area spaced 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 twisting is broken up to form the line ends.

The line pair is consequently held by the main gripper and the two gripping elements at three points, 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.

In addition, the device includes 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 the main gripper.

In order to bring the respective contact element into the specified (rotational) position, the main gripper is rotated. The line end with the respective contact element to be rotated is preferably held loosely by the gripping element assigned to it. This means that it is held at the location specified by the gripping element, while at the same time it can rotate about its longitudinal axis. Rotating the line pair about the longitudinal axis therefore automatically causes the contact element to rotate about its longitudinal axis.

As mentioned at the outset, in addition to aligning the line ends in the correct rotational position, there is also provision for aligning the line ends in a lateral desired position and/or in a desired angular orientation. In order to enable such an additional alignment in addition to the rotational orientation of the individual line end, 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.

Furthermore, the two gripping elements are designed in such a way and are controlled during operation by means of the control unit in such a way that the gripped line ends perform a translational and/or rotational 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.

Overall, this alignment of the contact elements by means of the gripping elements in several dimensions enables 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. In addition, “translational movement” also means 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 thereto take place relative to one another and independently of one another.

“Rotatory movement”—independently of the twisting of the entire pair of lines—is additionally understood to 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. However, this parallel pivot axis preferably does not coincide with the axis of rotation of the main gripper. Alternatively, there 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 carried out relative to the longitudinal direction.

In particular, it is made possible and provided by means of the gripping elements that the two line ends are laterally displaced relative to one another and specifically independently of one another. “To be shifted laterally to one another” is understood here in particular to mean that they can be moved perpendicularly to the longitudinal direction—seen in the viewing direction along the longitudinal direction within a projected plane.

The lateral alignment makes it possible, for example, to adapt the lateral spacing of the contact elements to different lateral target spacings. As a result, the device can be used universally for different connector housings with different connector patterns. This lateral displacement of the contact elements relative to one another also makes it possible to position the line ends parallel next to one another, one above the other or diagonally next to one another or even at a distance from one another by a number of snap-in distances. Overall, the additional lateral degree of freedom also enables individual assembly of different types of connector housings and/or connector patterns.

In summary, these - also superimposed - movements result in further degrees of freedom of movement, which enable further alignment movements, namely lateral alignment laterally to the longitudinal direction, alignment of the angular orientation of the line ends/contact elements with regard to the longitudinal direction and, if necessary, also translational alignment in the longitudinal direction. These alignment movements - in particular the first two - are carried out during operation.

In an expedient development, the contact element, which has been 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 in particular designed in such a way that the two contact elements are successively brought into the predetermined rotational position. This is done by initially bringing the one, first contact element into the predetermined rotational position by rotating the line pair by means of the main gripper. In this case, the first contact element is only guided loosely by the respective gripping element, so that the end of the line and thus the first contact element can be rotated by rotating the pair of lines. The respective other, second contact element is held in a rotationally fixed manner by its gripping element, so that no rotation takes place in this case. Preferably, 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 rotation of the line pair by means of the rotation of the main gripper about the axis of rotation initially causes the first contact element, which is guided only loosely, to rotate. If the first contact element has been brought into the predetermined rotational position by rotating 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 brought out of the predetermined rotational position. The further (second) contact element is then brought into the specified rotational position by rotating the line pair using the main gripper. Similar to the first contact element, 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 allows the line end and thus the second contact element to rotate until it also reaches the specified rotational position.

The contact elements are preferably brought into the predetermined rotary position by rotating the line pair in different directions by means of the main gripper. i.e. To align one contact element in the specified rotational position, the main gripper and thus the line pair rotates to the left, for example viewed in the longitudinal direction, while the main gripper and thus the line pair then rotates to the right to bring the other contact element into the specified rotary position. The idea underlying the rotation in different directions of rotation is that this has little or no influence on the twisting of the line pair. In other words, for example, any overtwisting caused by the rotation of the line pair to align the first contact element is compensated for by the line pair being rotated in the opposite direction when aligning the other contact element.

The further alignment of the contact elements, specifically their relative lateral displacement and/or alignment in the desired angular orientation carried out before, after, during the rotation or alternately to the rotation of the line elements for alignment in their desired rotational position. Due to the independent mobility of the two gripping elements, the two contact elements are aligned differently at the same time, for example, and are therefore guided differently and perform different movements.

The control unit is also designed to carry out the control of the main gripper and the two gripping elements fully automatically. i.e. the main gripper and the two gripping elements are controlled in particular without manual interaction by an operator.

The plugging of the contact elements into the connector housing preferably takes place only after both contact elements have been aligned in the predetermined desired position. Alternatively, the first, already aligned contact element is already inserted before the second contact element is then aligned and then inserted.

A sensor unit is preferably provided for detecting the current rotational position of the respective contact element. In this case, the control unit is designed in such a way that it controls 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 specifically the line ends.

In this case, the sensor unit preferably has a camera which is set up in such a way as 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. In this case, the main gripper is preferably attached to the common carrier in such a way that it at least seen in a top 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 preferably in turn designed for attachment to an adjustment mechanism, in particular a robot arm, and can also be attached to such an adjustment mechanism during operation. Due to the arrangement on an adjustment mechanism, the carrier with the grippers attached to it can be moved to desired target positions where plugs are to be assembled with the line elements.

In particular, the arrangement of the main gripper and the gripping elements on the common carrier has proven to be advantageous here, since preferably only the carrier is arranged on the robot arm for attachment to the adjustment mechanism. For this purpose, the carrier has, for example, corresponding attachment means for preferably reversible attachment to the robot arm.

According to a preferred embodiment, a movable kinematic unit is provided for each gripping element. The gripping elements are attached to the associated kinematics unit, for example, or are also part of the kinematics unit. The kinematic 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 and sufficient mobility of the gripping elements in order both to grip the line ends and to align them for the assembly already mentioned. The respective kinematics unit is designed for further alignment (in addition to the alignment into the desired 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 can preferably be moved within an X-Y plane that extends perpendicularly to the longitudinal direction. In general, the gripping elements are designed in connection with the kinematic units for a movement within the projection plane. This means that the gripping elements - and thus also the contact elements they hold - can perform a lateral movement during operation, ie 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.

In addition or as an alternative to a movement by means of the kinematic units, a movement (of the gripped contact elements) is provided via a linear guide, which allows displacement in the X and/or Y direction. This preferably enables a lateral orientation of the line ends perpendicular to the longitudinal direction.

In addition or as an alternative to the movement within the X-Y plane, a rotary movement of the kinematics unit is preferably provided for exerting the rotary movement about an axis parallel to the axis of rotation. The axis is in particular at a distance from the axis of rotation. This rotational movement, for example a pivoting movement, allows the contact element to be rotated, in particular in the projection plane. In this case, a linear movement is in particular superimposed on this rotational movement.

A tilting movement is preferably made possible by the kinematics 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 be the (central) axis of the respective line element that is held by the gripping element. This results in a desired alignment of the contact element that is parallel to the axis in relation to a plug-in direction or a central axis allows a plug-in opening into which the contact element is to be plugged.

In a preferred embodiment, the two gripping elements each comprise a gripping arm, with the two gripping arms being oriented toward one another in the direction of the axis of rotation. The gripper 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 sub-arms which can be moved relative to one another in order to grip the respective end of the line. For this purpose, the two sub-arms are mounted in particular in the linear guide mentioned. Preferably, one of the sub-arms is fixed and the other is movably mounted. The movable mounting of the at least one partial arm in the linear guide preferably only serves to grip the respective end of the line of the line element. The adjustment / movement of the gripped line element, e.g. within the X-Y plane, i.e. the lateral alignment of the line element, is preferably carried out exclusively via the kinematics unit.

To grip a line element, the respective upper partial arm is moved towards the lower, fixed partial arm. As a result, the gripping jaws of the gripping element, which are formed, for example, at the ends of the sub-arms, are closed. To open the gripping jaws, the upper part arm is moved upwards accordingly. Alternatively, the two sub-arms can be moved relative to each other or together within the linear guide. Due to the relative movability, gripping jaws of the gripping element are opened and closed to grip the end of the line. The contact elements can optionally be laterally aligned by moving the two sub-arms together.

The mobility of the two gripping arms is made possible overall by the kinematic units. Due to the mobility, especially within the XY plane, a shifting and in particular an alignment of the contact elements is achieved, to plug them into the connector housing. This mobility on the part of the gripping elements, which hold the contact elements, is advantageous in particular in the event that the plug openings for the contact elements are arranged at different positions within the XY plane.

According to an expedient embodiment, the kinematic units have six movement axes and are designed in particular as so-called hexapods. The hexapod is understood to be a kinematic unit that enables very precise alignment of workpieces in three-dimensional space. The six movement axes are preferably three translatory and three rotary movement axes. The mobility of the kinematic units designed as hexapods is achieved here in particular, for example, by pneumatic or hydraulic cylinders. These cylinders are typically arranged between two carrier plates, one being attached to the carrier and the respective gripping element being attached to the other. The advantage of designing the kinematic units as hexapods is that this enables the gripping elements to be moved easily and precisely, as already mentioned.

In an expedient development, the gripping elements can be moved in the longitudinal direction. The mobility of the gripping elements in the longitudinal direction serves to insert the contact elements into the plug-in openings of the connector housing. In other words, the contact elements are inserted into the connector housing by moving the gripping elements in the longitudinal direction. The mobility in the longitudinal direction is achieved either by the mobility of the robot arm and thus the entire device or by the mobility of the kinematic units in the longitudinal direction, so that only the two gripping elements are moved in the longitudinal direction. In particular, the desired insertion of the contact elements into corresponding plug-in openings in the connector housing takes place via the movability in the longitudinal direction.

In a preferred embodiment, however, there is no movement in the longitudinal direction, in particular no movement, by means of the gripping elements, specifically via the kinematic units Infeed movement of the contact elements for plugging into the respective plug-in opening.

According to an expedient development, the device is designed to carry out an extraction test, also referred to as a pullout test. In this case, 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 not only enables the contact elements to be assembled into the plug housing, but also allows a check to be made 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 in such a way and are controlled in such a way that they exert a predetermined pull-out force on the line elements counter to the insertion or longitudinal direction.

For this purpose, the gripping elements are preferably force-monitored. Force-monitored is understood here to mean that the gripping elements preferably each have a force sensor. By means of these, a force acting on the gripping elements, in particular in or against the longitudinal direction, is detected and possibly monitored. According to a first variant, an insertion force is monitored when the contact elements are inserted into the connector housing. Alternatively or additionally, according to a second variant, the force exerted is recorded and monitored during the pull-out test. The pull-out test is passed, for example, if the force sensors detect a predetermined value when the gripping elements on the line ends arranged inside the connector housing are pulled without the contact elements being able to be pulled out of the connector housing, i.e. loosened. This achieves a reliable, simple and cost-effective technical implementation of the pull-out test.

Fig. 1

eine perspektivische Ansicht auf eine Vorrichtung,

Fig. 2

eine Draufsicht auf die Vorrichtung sowie

Fig. 3

eine Seitenansicht auf einen Längsschnitt eines skizzierten Steckergehäuses mit darin angeordnetem Kontaktelement.

An embodiment of the invention is explained in more detail below with reference to the figures. Some of these show in greatly simplified representations:

1

a perspective view of a device,

2

a top view of the device as well as

3

a side view of a longitudinal section of a sketched connector housing with a contact element arranged therein.

In the figures, parts that function in the same way are always shown with the same reference numbers.

The device 2 according to 1 is for feeding contact elements 4, which are only shown schematically, in the correct position into a connector housing 6 (cf. 3 ) educated. The contact elements 4 are each arranged at the end on a line element 8 of a particularly twisted pair of lines 10 .

The device 2 has a main gripper 12 which, in the exemplary embodiment, is designed like tongs with two gripping arms. The main gripper 12 is used to grip the pair of lines 10 and is rotated in a longitudinal direction L (cf. 2 ) extending axis of rotation D rotatable.

Furthermore, the device 2 has two gripping elements 14a, b, for each gripping 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 on a plate-shaped carrier 20 in the exemplary embodiment are.

The gripping elements 14a, b preferably each have a holding arm 21 which is attached to a front support plate 19 of the respective kinematics unit 18 . The holding arm 21 runs perpendicularly to the longitudinal direction L. A guide, in particular a linear guide 23, is also assigned to the holding arm 21 and thus to the respective gripping element 14a, b. In particular, the respective holding arm 21 is slidably fastened to the kinematics unit 18 via the guide. The linear guide 23 enables a 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 sub-arms 21a, 21b, which can be displaced relative to one another via the linear guide 23. Only one partial arm 21a, 21b is preferably displaceable. Through this they can be adjusted towards one another, for example, in order, 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. Because the sub-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 . In particular, 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 movement axes X _t , Y _t , Z _t , X _r , Y _r , Z _r . This makes it possible for the gripping elements 14a, b and thus also the line ends 16 gripped by them to move 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. 2 ).

The kinematic units 18 are not limited to the design as hexapods. In general, the kinematic units allow a rotational movement about a respective rotational or pivoting axis d and preferably also a tilting movement, in particular about the X-axis and/or the Y-axis. This allows the support plate 19 and thus the gripping elements 14 to be tilted relative to the longitudinal direction L. This allows an angular position, ie a longitudinal orientation of the contact elements 4, with respect to the longitudinal direction L to be adjusted. In particular, this allows the contact element 4 to be aligned axially parallel to the longitudinal direction.

Due to the kinematic units 18, in particular also in connection with the linear guide 23, the gripping elements 14a, b and thus the contact elements 4 in particular within an XY plane E (cf. 2 ), which extends perpendicularly to the longitudinal direction L, movable. This allows the contact elements 4 to be aligned laterally. The angular position can also be adjusted.

Overall, the device described here is characterized in that, in addition to aligning the contact elements 4 in a desired rotational target position, further alignment (lateral, tilting) is also made possible. As a result, the device can be used universally for a wide range of purposes, types of connector housings, line types, etc. In addition, the feed or plug-in 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 .

During operation of the assembly device 2, 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 line pair 10 . In addition, there is also a further alignment in order to bring the contact elements into a desired position.

This configuration is based on the idea that the contact elements 4 must have a preferred and predetermined orientation (desired 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 (corresponding to the grid dimension of the plug openings).

The bringing of the contact elements 4 into the predetermined rotational position is now carried out in such a way that preferably only one of the gripping elements 14a (first gripping element 14a) releases a gripping force on the cable end 16, which he preferably holds in a rotationally fixed manner, with the contact element 4 arranged thereon, so that the first gripping element 14a merely guides the cable end 16 loosely. The main gripper 12 and thus the pair of lines 10 are then rotated about the axis of rotation D, so that the line end 16 that is now only loosely guided also rotates. As a result, the contact element 4 is brought into the predetermined rotational position. Once this has taken place, 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 orientation of the contact elements 4 in the predetermined rotational position is therefore preferably carried out purely rotationally.

For example, the contact elements 4 brought into the specified rotational position are then further aligned by a translational and/or rotational movement of the kinematic units 18 and brought into a specified target position, for example moved in front of a plug-in opening (not shown here) of the connector housing 6 . After this alignment, a movement in the longitudinal direction L causes the contact elements 4 to be inserted into the connector housing 6.

In 2 a plan view of the device 2 is shown. Likewise is in 2 the arrangement of the device 2 on a robot arm 22 is shown. The aforementioned insertion of the contact elements 4 into the connector housing 6 is carried out either by a translational 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. Furthermore, in 2 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 14a, b and the kinematic units 18 required to carry out the assembly method described above are carried out.

In this case, this actuation takes place in particular fully automatically, d. H. without manual interaction by an operator. This achieves the particular advantage that fully automated assembly of, in particular, twisted pairs of lines 10 is made possible.

The device 2 has a sensor unit 26 for detecting a current position and for checking whether the contact elements 4 are each in the predetermined desired position. In the exemplary embodiment, this includes two cameras that monitor a front area 28 of the device from two opposite directions. Preferably, it is also conceivable to arrange several cameras in such a way that the front area 28, in which the contact elements 4 are preferably brought into the predetermined rotational/desired position and plugged into the connector housing 6, is monitored from several directions. The control unit 24 is designed in such a way that, depending on the sensor information generated by the sensor unit 26, the alignment of the contact elements 4 is carried out by means of translatory and rotary movements on the part of the elements 12, 14a, b and 18.

In 3 a fragmentary longitudinal section through a connector housing 6 with a contact element 4 inserted therein is shown.

3 thus shows a final state of the assembly. In this, a pull-out test is carried out by the device before release. From device 2 is in 3 a gripping element 14a is shown only schematically, which grips the line element 8 in the manner of tongs. In the pull-out test, the contact element 4 inserted into the connector housing 6 is subjected to a pull-out force F by a movement of the device 2 counter to the longitudinal direction L. This is used to check whether a latching element 30 arranged on the contact element 4, for example, has latched onto a latching contour 32 formed within the plug housing 6, and thus to check whether the contact element 4 cannot be pulled out of the plug housing 6 below a pull-out force F specified, for example, is.

The invention is not limited to the embodiment described above.

Reference List

2

contraption

4

contact element

6

connector housing

8th

line element

10

wire pair

12

main gripper

14a,b

gripping element

16

line end

18

kinematic unit

19

backing plate

20

carrier

21

holding arm

21a,b

partial arm

22

robotic arm

24

control unit

26

sensor unit

28

front area

30

locking element

32

locking contour

L

longitudinal direction

xt

translational X-direction

Yt

translational Y-direction

currently

translational Z-direction

Xr

rotary X-direction

yr

rotary Y-direction

Zr

rotational Z-direction

D

axis of rotation

i.e

pivot axis

E

X-Y plane

Claims (15)

1. A device for automatic assembly of a pair of wires (10), which has at least two wire elements (8) each having a contact element (4) arranged at the end, having

   - a main gripper (12) for gripping the pair of wires (10), which is rotatable about an axis of rotation (D) extending in a longitudinal direction (L),

   - two gripping elements (14a, 14b) for respectively gripping a wire end (16) of the respective wire element (8), as well as

   - a control unit (24) for controlling the main gripper (12) as well as the two gripping elements (14a, 14b) such that in operation

   - the wire ends (16) are gripped by the gripping elements (14a, 14b)

   - the pair of wires (10) is gripped with the main gripper (12),

   - the respective contact element (4) is brought into a predetermined rotary position by rotating the main gripper (12), characterised in that

   - the two gripping elements (14a, 14b) are arranged laterally next to one another with respect to the longitudinal direction (L) and are designed in such a way that a translational and/or rotational alignment of the gripped wire ends (16) relative to one another and independently of one another is made possible.
2. The device (2) according to the preceding claim,
   wherein the gripping elements (14a, 14b) are designed in such a way that a translational and/or rotational movement of the gripped wire ends (16) within a projection plane perpendicular to the longitudinal direction (L) is made possible.
3. The device (2) according to any one of the preceding claims,
   wherein the control unit (24) is designed such hat the two contact elements (4) are successively brought into the predetermined rotary position by

   - firstly, bringing one of the contact elements (4) into the predetermined rotary position by rotating the pair of wires (10) by means of the main gripper (12),

   - holding this contact element (4) non-rotatably by the gripping element (14a, 14b) assigned to it, and

   - subsequently, bringing the further contact element (4) into the predetermined rotary position by rotating the pair of wires (10) by means of the main gripper (12).
4. The device (2) according to any one of the preceding claims, wherein the main gripper (12) and the gripping elements (14a, 14b) are arranged on a common support (20), which is designed for attachment to an adjustment mechanism, in particular to a robot arm.
5. The device (2) according to any one of the preceding claims,
   wherein a linear guide (23) is designed for a lateral alignment of the wire ends (16) perpendicular to the longitudinal direction (L).
6. The device (2) according to any one of the preceding claims,
   wherein a kinematic unit (18) is designed for each of the two gripping elements (14a, 14b) and the kinematic units (18) make it possible for the gripping elements (14a, 14b) to move independently of one another, wherein the kinematic units (18) have six axes of movement and, in particular, are designed as hexapods.
7. The device (2) according to the preceding claim,
   wherein at least one of the kinematic units (18) is designed to carry out a rotational movement about a pivot axis (d) parallel to the axis of rotation (D) and/or wherein at least one of the kinematic units (18) is designed to carry out a tilting movement with respect to the longitudinal direction (L).
8. The device (2) according to any one of the preceding claims,
   wherein the gripping elements (14a, 14b) each comprise a gripping arm (21), and the gripping arms (21) are oriented towards one another in the direction of the axis of rotation (D).
9. The device (2) according to the preceding claim,
   wherein a respective gripping arm (21) is divided into two partial arms (21a, 21b), which are movable relative to one another for gripping the respective wire end (16) and, in particular, are in addition also jointly linearly movable.
10. The device (2) according to any one of the preceding claims,
    wherein the gripping elements (14a, 14b) are movable in the longitudinal direction (L).
11. The device (2) according to any one of the preceding claims,
    which is designed to perform a pull-out test after the contact elements (4) have been inserted into a connector housing (6).
12. The device (2) according to any one of the preceding claims,
    wherein the gripping elements (14a, 14b) are force-monitored.
13. A method for automatic assembly of a, in particular twisted, pair of wires (10) with the aid of a device (2), wherein the pair of wires (10) has two wire elements (8) each having a contact element (4) arranged at the end of a wire end (16), wherein the respective contact elements (4) are brought into a predetermined rotary position by

    - gripping the pair of wires (10) with a main gripper (12), which has an axis of rotation (D) about which it is rotatable,

    - gripping the wire ends (16) each by a gripping element (14a, 14b),

    - bringing the respective contact element (4) into the predetermined rotary position by rotating the pair of wires (10) by means of the main gripper (12), characterised in that

    - the two gripping elements (14a, 14b) are arranged laterally next to one another with respect to the longitudinal direction (L) and a translational and/or rotational alignment of the gripped wire ends (16) relative to one another and independently of one another takes place.
14. The method (2) according to the preceding claim,
    wherein by means of the gripping elements (14a, 14b) a translational and/or rotational movement of the gripped wire ends (16) takes place within a projection plane perpendicular to the longitudinal direction (L).
15. The method according to claim 13 or 14,
    in which, after the alignment of the contact elements (4) in a respective predetermined target position, the contact elements (4) are inserted into a connector housing (6) with the aid of the gripping elements (14a, 14b).

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