EP3785337A1 - Procédé de montage ou d'enfichage automatisé - Google Patents

Procédé de montage ou d'enfichage automatisé

Info

Publication number
EP3785337A1
EP3785337A1 EP19718295.9A EP19718295A EP3785337A1 EP 3785337 A1 EP3785337 A1 EP 3785337A1 EP 19718295 A EP19718295 A EP 19718295A EP 3785337 A1 EP3785337 A1 EP 3785337A1
Authority
EP
European Patent Office
Prior art keywords
contact
contact element
gripping device
wire
gripping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19718295.9A
Other languages
German (de)
English (en)
Other versions
EP3785337B1 (fr
Inventor
Daniel BECHSTEIN
Dominik MURNBERGER
Harald STÄRK
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.)
Kromberg and Schubert Automotive GmbH and Co KG
Original Assignee
Kromberg and Schubert GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kromberg and Schubert GmbH and Co KG filed Critical Kromberg and Schubert GmbH and Co KG
Publication of EP3785337A1 publication Critical patent/EP3785337A1/fr
Application granted granted Critical
Publication of EP3785337B1 publication Critical patent/EP3785337B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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

Definitions

  • the invention relates to a method for automated mounting or insertion of at least two each connected with a wire Greele- elements in each case a contact chamber of a contact carrier.
  • a gripper which directly engages the contact element contacts the conductors or their contact elements surrounding and inserting a contact element into a contact chamber deforms these, so that it can not be ruled out that an already inserted contact element is pulled out or deformed.
  • wires of a line can, for example, be connected or twisted together.
  • the problem here is that the wires or the con tact contact elements can not be plugged individually, since it is not or only very expensive possible to securely grasp a second contact element of a second wire of the same line after inserting a first contact element of a first wire and plug in.
  • the contact elements of cores of a line must therefore be plugged together.
  • the orientations and positions of the contact elements of the wires may change so that the contact elements are no longer directly guided and no longer necessarily parallel or parallel to the plug-in direction along which they are inserted into the contact chambers lie. If the contact elements are no longer aligned with one another or with respect to the plug-in direction, they can no longer be inserted into the associated contact chambers, since they extend parallel to the plug-in direction.
  • the methods known in the prior art are therefore inappropriate meh er contact elements and in particular a plurality of contact elements of wires of a line automated into a contact carrier or by means of a mounting device.
  • the invention is therefore based on the object to overcome the above-mentioned disadvantages and to provide a method with which process reliable to several contact elements can be inserted into contact chambers of a contact carrier.
  • a method for automated mounting or insertion of at least one first conductor connected to a first conductor and a second contact element connected to a second conductor is proposed in juxtaposed contact chambers by a respective mounting opening of a contact carrier.
  • a gripping device engages the first and second wires in a first step so that one of the two contact elements with respect to the other contact element in the direction of insertion protrudes and thereby leads in the assembly.
  • the first and the second wire preferably belong to a line and are also preferably sheathed in each case with an insulation.
  • the contact chambers extend from the mounting holes parallel to each other in the contact carrier and have along its longitudinal direction, which is parallel to the plugging direction, a plurality of sections. Along the sections of the contact chambers locking and guiding means may extend.
  • a countercontact element extends from a side of the contact chamber opposite the mounting opening into the contact chamber.
  • the two Maisele elements can be inserted or mounted in the contact carrier.
  • the offset of the contact elements in the contact chambers is initially harmless and will be corrected in a later step. After or at the same time as the correction of the offset, the contact elements are also moved into a final latching position in the contact chambers in a later method step, in which they are each contacted with a mating contact element.
  • first contact element the protruding or leading contact element
  • second contact element the other non-leading, ie lagging contact element
  • the leading contact element is thereby fixed by the contact carrier orthogonal to the insertion direction, while a deviation or offset of the trailing contact element orthogonal to the insertion direction by the movement of the gripper is compensated.
  • the insertion of the leading contact element and the subsequent insertion of the trailing contact element can be monitored by a position detection device which determines the orientation or position of the contact elements relative to the contact carrier or indirectly controls.
  • the position detection device may be an opti cal detection system, such as a camera system or a 3D scanner or preferably a mechanically operating system, with the assistance of taking a force torque sensor.
  • acquisition systems such as LIDAR or LADAR can be used.
  • both contact elements are inserted into the contact carrier or into the respective contact chamber, they are respectively moved through the contact chamber in the insertion direction, but displaced in the longitudinal direction by the offset distance, so that the first contact element projects further into the contact chamber by the offset distance the second Kunststoffele element in its contact chamber. Since the gripping device engages the respective vein of the contact elements and causes the movement of the contact elements on the loading movement of the wires, the contact elements can be inserted by a plug-in movement of the gripping device deeper into the respective contact chamber.
  • the gripping device engages in the insertion movement wei terhin the wires, which after insertion of the contact elements in each respective contact chamber and a gripping the gripping device on the wires is possible in which the gripping device is released from the wires, repositioned and then again Veins are attacking.
  • the insertion movement preferably has a component in the insertion direction, through which the contact elements are pushed further into the respective contact chamber and a movement component orthogonal to the insertion direction.
  • the gripping device can also be rotated by an angle. By the rotation of the gripping device and / or the orthogonal component of motion performs the gripping device during the insertion movement a compensation or dew melamba, by which the offset of the contact elements is compensated for the offset distance. By balancing the offset between the contact elements they are brought by the insertion movement to the same end position, so that they can be contacted, for example, each with a mating contact element, wherein the counter contact elements at the same height in the respective contact chamber is arranged.
  • the gripper device grips the first wire at a first predetermined distance from the first contact element on a first gripping section of the first wire and at the same time the second wire at a second predetermined distance to the second contact element at a second gripping portion of the second wire.
  • the gripping device grips the first and second cores in such a way that the first contact element protrudes from the second contact element at its sides facing away from the respective core by an offset distance.
  • the first gripping portion of the first wire and the first gripping portion of the second wire can be at the same height and parallel to each other.
  • the first contact element guided by the gripping device is introduced into a first mounting opening or through the first mounting opening into the first contact chamber and then the second contact element is inserted into a second mounting opening or through the second mounting opening in the second contact chamber.
  • the first Montageöff tion belongs to the first contact chamber and the second mounting opening to the second contact chamber, wherein the mounting holes and the contact chambers are preferably separated from a web of the contact carrier and immediately adjacent to each other.
  • the method provides according to a further advantageous embodiment, that the gripping device, after insertion or insertion of at least one contact element portion of the first contact element in the first mounting hole or through the first mounting hole in the first contact chamber, for insertion of the second contact element in the second Monta - Opening or through the second mounting hole in the second Kunststoffkam mer as long as a predetermined search pattern is moved until the gripping device is in a position in which the second Maisele element can be inserted or inserted into the second mounting hole or introduced or is plugged in.
  • the movement according to the search pattern can also be called a search movement.
  • the search pattern preferably contains both a guided by the gripping device movement of the second contact element in the insertion direction and orthogonal to the insertion direction.
  • the second contact element can be moved away from its original position starting from the position of origin after insertion of the first contact element with a helical movement orthogonal to the plug-in direction, after a predetermined distance of the helical movement a movement towards the contact carrier and if that does not lead to plugging in, it's done away from it again.
  • the distances between the Steckbe movements are preferably a fraction of the size of a contact chamber z. B. 0.5 mm at a contact chamber opening of 2mm.
  • a method according to a grid is also possible in which, for example, uniformly distributed locking points are approached on a square surface.
  • the search movement can also be performed when mounting or inserting the first Kunststoffele management in the first contact chamber.
  • the gripper moves the second contact element therefore in a further direct advantageous embodiment of the method in the movement of the predetermined search pattern repeatedly performing a plug-in movement to the contact carrier out and away from the contact carrier. Between two plugging movements, the second contact element is offset orthogonally with respect to the plugging movement according to the predetermined search pattern.
  • the gripper device has a force moment sensor for force-guided plugging.
  • the force torque sensor is arranged between a robot arm to which the gripping device is fastened and a gripper of the gripping device, so that the force torque sensor is designed to measure forces and moments acting on the gripper.
  • the method according to a further advantageous embodiment provides that the force torque sensor determines a first force and torque curve at the gripping device during insertion or insertion of the first contact element into the first mounting opening. On the basis of predetermined limits, it is determined whether the first contact element is inserted into the first mounting opening or into the first contact chamber located behind it.
  • the contact element abuts something (eg, a web lying between two contact chambers or a coding rib specially provided for this purpose, which will be described in more detail later) becomes), so that the contact element must be moved. If there is a moment in one direction when plugging in, the contact element is not parallel to the plug-in direction and not parallel to the contact chamber, so that the position must be corrected. If the contact element is introduced into the contact chamber parallel to the longitudinal direction of the contact chamber, the measured force curve follows a previously known pattern or course since an outer surface of the contact element rests against an inner surface of the contact chamber.
  • something eg, a web lying between two contact chambers or a coding rib specially provided for this purpose, which will be described in more detail later
  • the contact element By the abutting surfaces, the contact element can be moved only with a predetermined force in the contact chamber, so that it can be determined on the basis of the force curve, whether and how far the contact element is inserted into the contact chamber. If the first contact element abuts the first contact chamber during insertion, a search movement with a search pattern can also be carried out in the first insertion process. By means of projections along the inner surface, predetermined points can also be approached with the force moment sensor or the respective contact element can only be inserted up to a certain point.
  • the second contact element is inserted or inserted into the second mounting opening or into the second contact chamber lying behind it, after having been forced through the force It has been determined that the first contact element is inserted or inserted into the first mounting opening or the first contact chamber. Whether the first contact element is inserted into the first contact chamber is, as already described, for example, during a movement of the first contact element with a known force over a predetermined distance or jump in the force detectable, the appearance of the first contact element, a predetermined position on a reached in the contact chamber protruding projection.
  • the force torque sensor determines a second force and torque curve on the gripping device.
  • the plug-in path is further determined both when inserting the first contact element and when inserting the second contact element, so that it is possible to determine via which path the first and / or second contact element has been moved with which force.
  • the route or the plug-in path can be determined, for example, via a distance measuring device or a position detection device of a robot from which the gripping device is moved.
  • the first Ab stand between the first gripping portion and the first contact element is greater than the second distance between the second gripping portion and the second contact element and the first contact element offset from the second contact element.
  • the offset distance is in an advantageous variant of the method between 1 and 20 mm.
  • the first and second gripping portions are in one embodiment when gripping by the gripping device arranged parallel to each other and adjacent.
  • the first and the second wire are twisted together in a development in a section which is arranged on a side facing away from the contact elements of the gripping portions.
  • a vein ie the first or second vein, is gripped by a gripper finger and the middle bar when grasping it.
  • this is fastened to an articulated-arm robot and can be moved by it.
  • the search movement with the search pattern is carried out via the articulated arm robot, whereby the path measuring system of the articulated robot also measures the distances covered during the insertion process. The distances measured by the articulated arm robot as well as those of the
  • Force torque sensor detected forces and moments are transmitted to a controller, which in turn controls the articulated arm robot.
  • the first and second contact elements may each have a coding or a latching means that corresponds to a Jacobkodierstoff or counter-locking means of the contact chamber. Due to the small dimensions of the contact chamber, this preferably has no insertion bevel. At a side remote from the mounting opening side of the contact chamber, the counter-contact element is arranged in the contact chamber.
  • the contact chamber may also extend only over part of the contact chamber, so that, for example, a resilient latestbil detes coding means of the contact element can engage behind the Gegenkodierstoff the contact chamber and so permanently in the contact chamber fi- xed or can only be released from the contact chamber with great effort.
  • the contact elements have a width and a height of between 1 and 2 mm in a cross-section that is orthogonal to their longitudinal direction, with the assembly openings corresponding in their width and height.
  • a coding rib may be formed in the contact chambers, for example, by which the square cross-section of the contact chamber is asymmetrical, so that the contact elements can be inserted into the contact chamber only in a predetermined position and with a recess or sliding surface corresponding to the coding rib ,
  • a pre-locking means can also be formed in the contact chamber, which exerts a pressure on the contact element, so that the contact element can be inserted into the contact chamber only by applying an increased force or can be unplugged from the contact chamber with an increased tensile force.
  • the pre-detent means may determine a predetermined position and define a pre-detent position. If there is a pre-locking means and a counter-locking means or a counter-coding means, this is located in the contact chamber in front of the latter, as viewed from the mounting opening.
  • the pre-locking means may be, for example, a protruding into the contact chamber projection or other means for narrowing the contact chamber.
  • FIG. 1 to 4 supervision in a method for insertion
  • Fig. 5 front view of a contact carrier
  • FIGS. 1 to 4 each show the contact carrier 30 with a multiplicity of contact chambers, which are each bounded on one side by a mounting opening or are opened.
  • the first contact chamber 31 with the first mounting hole 33 and the second contact chamber 32 with the second mounting hole 34, the first and second contact element 11, 21 are introduced. Since the multiplicity of contact chambers lie directly next to one another, the contact elements can not be grasped directly, since the grippers gripping the contact elements would otherwise damage or disassemble other contact elements already inserted into surrounding contact chambers.
  • the contact carrier 30 is shown cut so that the contact chambers and in particular the first and second contact chambers 31, 32 are visible.
  • the contact carrier 30 preferably has the contact chambers not only in one plane but also orthogonally thereto, so that there is a grid of contact chambers, as shown for example in FIG.
  • the first and the second wire 12, 22 are aligned in a directional device, not shown, to one another such that the first and second wires 12, 22 are parallel at least in a section on their side facing the contact elements 11, 21 and the contact elements 11 , 21 are offset by the offset distance X from each other.
  • An unillustrated gripper engages the first and second wires 12, 22 simultaneously on the first gripping portion 13 the first wire 12 and the second gripping portion 23 of the second wire 22, which are hatched (not cut).
  • the gripper moves the first and second wires 12, 22 of the straightening device in a mounting output position in front of the contact carrier, so that the first contact element 11 based on the measured distances between straightening device and mounting output position and by the known position of the first contact element 11, which by the straightening device is determined, in front of the first mounting opening 33 of the first contact chamber 31 is arranged.
  • the first contact element 11 and / or the second contact element 21 with their respective longitudinal axis shown by a dash-dot line no longer parallel to the also by a dashed-dotted line longitudinal axes of the contact chambers 31, 32 are shown. If the gripper were to move the cores 12, 22 with non-aligned longitudinal axes in the direction of insertion S onto the contact carrier 30, the contact elements 11, 21 would strike the webs between the contact chambers and could not be inserted.
  • the longitudinal axis of the first contact element 11 is still aligned parallel to the longitudinal axes of the contact chambers 31, 32.
  • the gripper leads the wires 12, 22 in the insertion direction S to the mounting holes 33, 34 and the first contact element 11 through the first mounting hole 33 in the first contact chamber 31 a. If the first contact element 11 were no longer aligned and would abut one of the webs between two assembly openings, a force moment sensor connected to the gripper would measure a force in the insertion direction. If the measured force exceeds a predetermined limit value, it is detected by a controller, to which the force torque sensor is connected, that the first contact element 11 abuts and can not be inserted. Based on the measured force and on of the
  • Torque sensor measured moments, the contact element is new aligned and carried out a search with a search pattern.
  • the first contact element 11 slides through the first mounting opening 33 into the first contact chamber 31.
  • an outer surface of the first contact element 11 rests against an inner surface of the first contact chamber 31 facing its longitudinal axis.
  • the first contact element 11 is further inserted into the first contact chamber 31 until the second contact element 21 rests against the contact carrier 30. If the second contact element 21 is still aligned, it is introduced into the second contact chamber 32 by the movement in the insertion direction S through the second mounting opening 34, an outer surface of the second contact element 21 again abutting an inner surface of the second contact chamber 32, thus can be determined by the force torque sensor, that the second contact element 21 is inserted into the second contact chamber 32. In the case shown in FIG. 2, however, the second contact element 21 abuts a web or a wall bounding the second contact chamber 32. The force thus measured by the force torque sensor in the plug-in direction S thus rises above the predetermined limit value, so that the controller recognizes that the second one of the two
  • FIG. 5 shows a section of the contact carrier 30 from a view in the insertion direction.
  • the contact carrier 30 has a multiplicity of mounting openings which are arranged next to and above one another in the form of a grid, wherein the first contact element 11 shown cut is introduced into the first mounting opening 33.
  • the second contact element 21 is already aligned with its longitudinal axis parallel to the longitudinal axis of the second contact chamber, but offset to orthogonal, so that the cross section of the second contact element 21 is not congruent with the second mounting hole 34 but projects beyond the black area 41 beyond. Since the second contact element 21 in a plugging movement can not be inserted into the second contact chamber in the plugging direction, a search movement is performed by the gripper on the basis of the search pattern 42, in which the first contact element 21 is fixed by the first contact chamber in orthogonal direction to the plugging movement and the second contact elements 21 along the Route 42 is offset from the gripping device. The search follows the spiral path 42 wherein in each case a plug-in movement leads out after a predetermined distance.
  • the search movement is interrupted and the insertion of the first and second contact elements 11, 21 in the direction of insertion continues.
  • the positions at which a plug movement is carried out are marked by the points on the track, wherein the plug movement in each case a movement in the direction of insertion to the contact carrier 30 and if the second contact element 21 is not in the second Contact chamber was introduced from the contact carrier 40 includes away.
  • the search movement can also be carried out already during insertion of the first contact element 11 into the first contact chamber, when the first contact element 11 is no longer aligned.
  • the invention is not limited in its execution to the above-mentioned preferred embodiments.
  • the gripping device can release its grip from the leading contact element so that the gripping device only holds the trailing contact element, which is then inserted into the respective contact chamber of the contact carrier by the method according to the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)

Abstract

L'invention concerne un procédé de montage ou d'enfichage automatisé d'au moins un premier élément de contact (11) relié à un premier fil (12) et un second élément de contact (21) relié à un second fil (22) dans des cavités de contact (31, 32) adjacentes à travers une ouverture de montage (33, 34) respective d'un support de contact (30), un dispositif de préhension venant en prise avec le premier et le second fil (12, 22) de sorte que l'un des deux éléments de contact (11, 21) dépasse vis-à-vis de l'autre élément de contact (21, 11) dans la direction d'enfichage (S) et se trouve ainsi en avant lors du montage.
EP19718295.9A 2018-04-27 2019-04-11 Procédé de montage ou d'enfichage automatisé Active EP3785337B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018110260.7A DE102018110260B4 (de) 2018-04-27 2018-04-27 Verfahren zum automatisierten Montieren oder Einstecken
PCT/EP2019/059219 WO2019206656A1 (fr) 2018-04-27 2019-04-11 Procédé de montage ou d'enfichage automatisé

Publications (2)

Publication Number Publication Date
EP3785337A1 true EP3785337A1 (fr) 2021-03-03
EP3785337B1 EP3785337B1 (fr) 2023-06-07

Family

ID=66223693

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19718295.9A Active EP3785337B1 (fr) 2018-04-27 2019-04-11 Procédé de montage ou d'enfichage automatisé

Country Status (5)

Country Link
EP (1) EP3785337B1 (fr)
CN (1) CN112005452B (fr)
DE (1) DE102018110260B4 (fr)
PT (1) PT3785337T (fr)
WO (1) WO2019206656A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3703009A1 (de) * 1987-02-02 1988-08-18 Fraunhofer Ges Forschung Vorrichtung zur montage von kontaktteilen mit daran angebrachten leistungen in steckergehaeusen
EP0440955B1 (fr) * 1990-02-06 1995-03-15 Ttc Technology Trading Company Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise
US4967470A (en) * 1990-04-20 1990-11-06 Amp Incorporated Alignment apparatus for positioning a connector housing during wire insertion
DE102013002453A1 (de) * 2013-02-14 2014-08-28 Leoni Bordnetz-Systeme Gmbh Verfahren zum automatisierten Bestücken eines Gehäuses mit zumindest einem elektrischen Kabel
RS59998B1 (sr) * 2016-10-03 2020-04-30 Komax Holding Ag Uređaj i postupak za opremanje kućišta utikača prethodno sklopljenim krajevima kabla niza kablova
CN206727403U (zh) * 2017-05-18 2017-12-08 上海西码机床科技股份有限公司 航空插头装配及检测装置

Also Published As

Publication number Publication date
CN112005452B (zh) 2022-07-19
PT3785337T (pt) 2023-08-28
CN112005452A (zh) 2020-11-27
WO2019206656A1 (fr) 2019-10-31
DE102018110260B4 (de) 2020-06-18
EP3785337B1 (fr) 2023-06-07
DE102018110260A1 (de) 2019-10-31

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