EP3739697B1 - 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

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Publication number
EP3739697B1
EP3739697B1 EP20173527.1A EP20173527A EP3739697B1 EP 3739697 B1 EP3739697 B1 EP 3739697B1 EP 20173527 A EP20173527 A EP 20173527A EP 3739697 B1 EP3739697 B1 EP 3739697B1
Authority
EP
European Patent Office
Prior art keywords
gripping
elements
longitudinal direction
pair
designed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20173527.1A
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German (de)
English (en)
Other versions
EP3739697C0 (fr
EP3739697A1 (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
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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
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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 clampingly gripping one of the line ends and at the same time for loosely passing through the other line end.
  • 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.
  • an assembly device provided.
  • the line ends which are aligned in the correct rotational position, are first transferred to the assembly device.
  • This 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.
  • 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.
  • 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.
  • the predetermined 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.
  • the device 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • “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” 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.
  • this parallel pivot axis preferably does not coincide with the axis of rotation of the main gripper.
  • 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.
  • 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.
  • the additional lateral degree of freedom also enables individual assembly of different types of connector housings and/or connector patterns.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the carrier has, for example, corresponding attachment means for preferably reversible attachment to the robot arm.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the two sub-arms are mounted in particular in the linear guide mentioned.
  • 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.
  • the respective upper partial arm is moved towards the lower, fixed partial arm.
  • the gripping jaws of the gripping element which are formed, for example, at the ends of the sub-arms, are closed.
  • the upper part arm is moved upwards accordingly.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the device is designed to carry out an extraction 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 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.
  • the gripping elements are preferably force-monitored.
  • Force-monitored is understood here to mean that the gripping elements preferably each have a force sensor.
  • a force acting on the gripping elements is detected and possibly monitored.
  • an insertion force is monitored when the contact elements are inserted into the connector housing.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the device can be used universally for a wide range of purposes, types of connector housings, line types, etc.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • 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 .
  • a movement in the longitudinal direction L causes the contact elements 4 to be inserted into the connector housing 6.
  • 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.
  • 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.
  • 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.
  • this includes two cameras that monitor a front area 28 of the device from two opposite 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.
  • FIG. 3 thus shows a final state of the assembly.
  • 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.
  • 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.

Claims (15)

  1. Dispositif destiné à la confection automatique d'une paire de lignes (10) qui comporte au moins deux éléments de ligne (8) comportant chacun un élément de contact (4) disposé à une extrémité, comportant
    - un préhenseur principal (12) destiné à la préhension de la paire de lignes (10), qui peut pivoter autour d'un axe de rotation (D) s'étendant dans une direction longitudinale (L),
    - deux éléments de préhension (14a, 14b) destinés à la préhension respective d'une extrémité de ligne (16) de l'élément de ligne (8) respectif, et
    - une unité de commande (24), destinée à la commande du préhenseur principal (12) ainsi que des deux éléments de préhension (14a, 14b), de telle façon qu'en fonctionnement
    - les extrémités de lignes (16) sont saisies par les éléments de préhension (14a, 14b)
    - la paire de lignes (10) est saisie par le préhenseur principal (12),
    - par rotation du préhenseur principal (12) l'élément de contact (4) respectif est mis en une position de rotation préétablie, caractérisé en ce que
    - les deux éléments de préhension (14a, 14b) sont disposés l'un à côté de l'autre latéralement par rapport à la direction longitudinale (L) et sont configurés de telle façon qu'est permise une orientation de translation et/ou de rotation des extrémités de lignes (16) saisies, l'une par rapport à l'autre et indépendamment l'une de l'autre.
  2. Dispositif (2) selon la revendication précédente,
    dans lequel les éléments de préhension (14a, 14b) sont configurés de telle façon qu'est permis un mouvement de translation et/ou de rotation des extrémités de lignes (16) saisies, dans un plan de projection perpendiculaire à la direction longitudinale (L).
  3. Dispositif (2) selon l'une quelconque des revendications précédentes,
    dans lequel l'unité de commande (24) est conçue de telle façon que les deux éléments de contact (4) sont mis successivement en la position de rotation préétablie, par le fait
    - qu'en premier lieu l'un des éléments de contact (4) est mis en la position de rotation préétablie, par rotation de la paire de lignes (10) au moyen du préhenseur principal (12),
    - cet élément de contact (4) est ensuite maintenu en incapacité de tourner par l'élément de préhension (14a, 14b) qui lui est affecté et
    - ensuite l'autre élément de contact (4) est mis en la position de rotation préétablie par rotation de la paire de lignes (10) au moyen du préhenseur principal (12).
  4. Dispositif (2) selon l'une quelconque des revendications précédentes,
    dans lequel le préhenseur principal (12) ainsi que les éléments de préhension (14a, 14b) sont disposés sur un support commun (20) qui est conçu de préférence pour la fixation sur un servomécanisme, en particulier sur un bras de robot.
  5. Dispositif (2) selon l'une quelconque des revendications précédentes,
    dans lequel une coulisse linéaire (23) est conçue pour un alignement latéral des extrémités de lignes (16) perpendiculairement à la direction longitudinale (L).
  6. Dispositif (2) selon l'une quelconque des revendications précédentes,
    dans lequel une unité cinématique (18) est conçue pour chacun des deux éléments de préhension (14a, 14b) et les unités cinématiques (18) permettent un mouvement des éléments de préhension (14a, 14b) indépendamment l'un de l'autre, les unités cinématiques (18) comportant de préférence six axes de mouvement et étant en particulier configurées sous forme d'hexapodes.
  7. Dispositif (2) selon la revendication précédente,
    dans lequel au moins l'une des unités cinématiques (18) est conçue pour l'exécution d'un mouvement rotatif autour d'un axe de pivotement (d) parallèlement à l'axe de rotation (D) et/ou dans lequel au moins l'une des unités cinématiques (18) est conçue pour l'exécution d'un mouvement de basculement par rapport à la direction longitudinale (L).
  8. Dispositif (2) selon l'une quelconque des revendications précédentes,
    dans lequel les éléments de préhension (14a, 14b) comprennent chacun un bras de préhension (21), et les bras de préhension (21) sont orientés l'un vers l'autre en direction de l'axe de rotation (D).
  9. Dispositif (2) selon la revendication précédente,
    dans lequel un bras de préhension (21) respectif est divisé en deux bras partiels (21a, 21b) qui sont mobiles l'un par rapport à l'autre pour la préhension de l'extrémité de ligne (16) respective et en particulier, de plus, également mobiles linéairement ensemble.
  10. Dispositif (2) selon l'une quelconque des revendications précédentes,
    dans lequel les éléments de préhension (14a, 14b) sont mobiles en direction longitudinale (L).
  11. Dispositif (2) selon l'une quelconque des revendications précédentes, qui est conçu pour l'exécution d'un test d'extraction après introduction des éléments de contact (4) dans un boîtier de connecteurs (6).
  12. Dispositif (2) selon l'une quelconque des revendications précédentes,
    dans lequel les éléments de préhension (14a, 14b) sont à surveillance de forces.
  13. Procédé pour la confection automatique d'une paire de lignes (10) en particulier torsadées, à l'aide d'un dispositif (2), la paire de lignes (10) comportant deux éléments de ligne (8) comportant chacun un élément de contact (4) d'extrémité disposé à une extrémité de ligne (16), les éléments de contact (4) respectifs étant mis en une position de rotation préétablie, par le fait que
    - la paire de lignes (10) est saisie par un préhenseur principal (12) qui présente un axe de rotation (D) autour duquel il peut tourner,
    - les extrémités de lignes (16) sont saisies chacune par un élément de préhension (14a, 14b),
    - l'élément de contact (4) respectif est mis en la position de rotation préétablie par rotation de la paire de lignes (10) au moyen du préhenseur principal (12), caractérisé en ce que
    - les deux éléments de préhension (14a, 14b) sont disposés l'un à côté de l'autre latéralement par rapport à la direction longitudinale (L) et il s'effectue une orientation de translation et/ou de rotation des extrémités de lignes (16) saisies, l'une par rapport à l'autre et indépendamment l'une de l'autre.
  14. Procédé (2) selon la revendication précédente,
    dans lequel une orientation de translation et/ou de rotation des extrémités de lignes (16) saisies s'effectue dans un plan de projection perpendiculairement à la direction longitudinale (L) au moyen des éléments de préhension (14a, 14b).
  15. Procédé selon la revendication 13 ou 14,
    dans lequel après l'alignement des éléments de contact (4) dans une position prescrite préétablie respective les éléments de contact (4) sont introduits à l'aide des éléments de préhension (14a, 14b) dans un boîtier de connecteurs (6).
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)

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

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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)

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

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4010349A1 (de) 1990-03-28 1991-10-02 Siemens Ag Steckmodul fuer eine kabelkonfektioniereinrichtung
US4967470A (en) * 1990-04-20 1990-11-06 Amp Incorporated Alignment apparatus for positioning a connector housing during wire insertion
JPH09171879A (ja) * 1995-12-19 1997-06-30 Yazaki Corp 端子反転装置及び端子反転方法
AT410609B (de) * 2000-12-11 2003-06-25 Eltrona Rkt Rottenmanner Kabel Verfahren zur automatisierten herstellung von kabelbäumen und anlage zur durchführung des verfahrens
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
EP3301768B1 (fr) 2016-10-03 2021-06-16 Komax Holding AG Procédé et dispositif pour l'alignement d'extrémités de câble préparées d'un faisceau de câbles
RS59998B1 (sr) * 2016-10-03 2020-04-30 Komax Holding Ag Uređaj i postupak za opremanje kućišta utikača prethodno sklopljenim krajevima kabla niza kablova
US10770857B2 (en) * 2016-12-28 2020-09-08 Panasonic Intellectual Property Management Co., Ltd. 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

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Publication number Publication date
MX2020005105A (es) 2020-12-10
US20200365297A1 (en) 2020-11-19
MA53298A (fr) 2022-05-11
EP3739697C0 (fr) 2023-06-21
US11817235B2 (en) 2023-11-14
DE102019207253A1 (de) 2020-11-19
EP3739697A1 (fr) 2020-11-18
DE102019207253B4 (de) 2021-06-10
PL3739697T3 (pl) 2023-12-27

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