EP3785337B1 - Procédé de montage ou d'enfichage automatisé - Google Patents

Procédé de montage ou d'enfichage automatisé Download PDF

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Publication number
EP3785337B1
EP3785337B1 EP19718295.9A EP19718295A EP3785337B1 EP 3785337 B1 EP3785337 B1 EP 3785337B1 EP 19718295 A EP19718295 A EP 19718295A EP 3785337 B1 EP3785337 B1 EP 3785337B1
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EP
European Patent Office
Prior art keywords
contact
contact element
gripping
gripping device
mounting opening
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
EP19718295.9A
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German (de)
English (en)
Other versions
EP3785337A1 (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 Automotive GmbH and Co KG
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Application filed by Kromberg and Schubert Automotive GmbH and Co KG filed Critical Kromberg and Schubert Automotive GmbH and Co KG
Publication of EP3785337A1 publication Critical patent/EP3785337A1/fr
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Publication of EP3785337B1 publication Critical patent/EP3785337B1/fr
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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 the automated assembly or insertion of at least two contact elements, each connected to a wire, into a contact chamber of a contact carrier.
  • U.S. 2018/097328 A1 discloses a method for inserting contact elements into contact chambers of a contact carrier according to the preamble of claim 1.
  • the orientations and positions of the contact elements of the wires can change in relation to one another, so that the contact elements are no longer guided directly and are no longer necessarily parallel to one another or parallel to the plug-in direction , along which they are inserted into the contact chambers are.
  • the contact elements are no longer aligned with one another or with the direction of insertion, they can no longer be inserted into the associated contact chambers, since these extend parallel to the direction of insertion.
  • the invention is therefore based on the object of overcoming the aforementioned disadvantages and providing a method with which a plurality of contact elements can be inserted into contact chambers of a contact carrier at the same time in a process-reliable manner.
  • a method for the automated assembly or insertion of at least one first contact element connected to a first wire and one second contact element connected to a second wire in contact chambers arranged next to one another through a mounting opening in a contact carrier.
  • a gripping device grips the first and second wire in a first step in such a way that one of the two contact elements protrudes in relation to the other contact element in the insertion direction and is therefore ahead of the curve during assembly.
  • the first and the second wire preferably belong to a line and are also preferably each sheathed with insulation.
  • the contact chambers extend parallel to one another in the contact carrier from the mounting openings and have several sections along their longitudinal direction, which lies parallel to the plug-in direction. Latching and guiding means can extend along the sections of the contact chambers.
  • a mating contact element extends into the contact chamber from a side of the contact chamber opposite the mounting opening.
  • the two contact elements By gripping the wires to inserting the contact elements and that Simultaneously advancing a contact element, the two contact elements can be inserted or mounted in the contact carrier.
  • the misalignment of the contact elements in the contact chambers is initially harmless and is corrected in a later process step. After or at the same time as the correction of the offset, the contact elements are also moved in a later method step into an end latching position in the contact chambers, 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 thus fixed orthogonally to the plug-in direction by the contact carrier, while a deviation or offset of the lagging contact element orthogonal to the plug-in direction can be compensated for by the movement of the gripper.
  • the insertion of the leading contact element and the subsequent insertion of the lagging contact element can be monitored by a position detection device which determines or indirectly controls the orientation or position of the contact elements relative to the contact carrier.
  • the position detection device can be an optical detection system, such as a camera system or a 3D scanner, or preferably a mechanically working system, with the aid of a moment-of-force sensor. Alternatively, detection systems such as LIDAR or LADAR can also be used.
  • both contact elements are inserted into the contact carrier or into the respective contact chamber, they can each be moved through the contact chamber in the insertion direction, but are offset from one another by the offset distance in the longitudinal direction, so that the first contact element protrudes further into its contact chamber by the offset distance than the second contact element into his contact chamber. Since the gripping device grips the respective core of the contact elements and causes the movement of the contact elements via the movement of the cores, the contact elements can be inserted deeper into the respective contact chamber by an insertion movement of the gripping device.
  • the plug-in movement preferably has a component in the plug-in direction, by which the contact elements are pushed further into the respective contact chamber, and a movement component orthogonal to the plug-in direction.
  • the gripping device can also be rotated through an angle.
  • the gripping device Due to the rotation of the gripping device and/or the orthogonal movement component, the gripping device performs a compensating or wobbling movement during the insertion movement, through which the offset of the contact elements by the offset distance is compensated. By compensating for the offset between the contact elements, these are brought to the same end position by the insertion movement, so that they can each be contacted with a mating contact element, for example, with the mating contact elements being arranged at the same height in the respective contact chamber.
  • the gripping 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 from the second contact element at a second gripping portion of the second wire.
  • the gripping device grips the first and second wire in such a way that the first contact element protrudes offset by an offset distance relative to the second contact element on its plug-in sides pointing away from the respective wire.
  • the first gripping section of the first wire and the first gripping section of the second wire can be at the same level and parallel to one another.
  • first and the second contact element are guided by the gripping device and moved to the contact carrier, the first contact element is guided by the gripping device and inserted into a first assembly opening or through the first assembly opening into the first contact chamber and then the second contact element is inserted into a second assembly opening or through the second assembly opening into the second contact chamber.
  • the first mounting opening belongs to the first contact chamber and the second mounting opening to the second contact chamber, with the mounting openings and the contact chambers preferably being separated by a web of the contact carrier and being directly adjacent to one another.
  • the method provides that the gripping device, after inserting or inserting at least one contact element section of the first contact element into the first assembly opening or through the first assembly opening into the first contact chamber, for inserting the second contact element into the second assembly opening or is moved through the second mounting opening into the second contact chamber according to a predetermined search pattern until the gripping device is in a position in which the second contact element can be inserted or inserted into the second mounting opening or is inserted or inserted.
  • the movement according to the search pattern can also be referred to as a search movement.
  • the search pattern preferably contains both a movement of the second contact element, guided by the gripping device, in the direction of insertion and also orthogonally to the direction of insertion.
  • the second contact element can be moved away from its original position, starting from its original position after the first contact element has been inserted, with a helical movement orthogonal to the insertion direction, after a predetermined distance of the helical movement an insertion movement towards the contact carrier and, if not leads to insertion, is carried out away from it again.
  • the distances between the plug-in movements are preferably a fraction of the dimensions of a contact chamber z. B. 0.5 mm with a contact chamber opening of 2mm.
  • a method according to a grid is also possible, in which, for example, evenly distributed resting points are approached on a square surface.
  • the search movement can also be carried out when the first contact element is mounted or plugged into the first contact chamber.
  • the gripping device therefore moves the second contact element during the movement according to the predetermined search pattern, repeatedly executing a plug-in movement towards the contact carrier and away from the contact carrier. Between two plug-in movements, the second contact element is offset orthogonally with respect to the plug-in movement according to the predetermined search pattern.
  • the gripping device has a moment-of-force sensor for the force-displacement-guided plug.
  • the moment-of-force sensor is arranged between a robot arm, to which the gripping device is attached, and a gripper of the gripping device, so that the moment-of-force sensor is designed to measure forces and moments that act on the gripper.
  • the moment-of-force sensor determines a first course of force and moment on the gripping device when the first contact element is inserted or plugged into the first assembly opening.
  • Predetermined limit values are used to determine whether the first contact element is inserted into the first assembly opening or into the first contact chamber located behind it. If, for example, when the first contact element is inserted into the first assembly opening, too much force is applied in the direction of insertion, the contact element will hit something (e.g. on a web between two contact chambers or on a specially provided coding rib, which will be described in more detail later becomes) so that the contact element has to be moved.
  • the contact element If there is a moment in one direction when plugging in, the contact element is not parallel to the plugging direction and not parallel to the contact cavity, meaning that the position must be corrected. If the contact element is inserted into the contact chamber parallel to the longitudinal direction of the contact chamber, the measured course of force follows a previously known pattern or course, since an outer surface of the contact element bears against an inner surface of the contact chamber. The contact element can only be moved in the contact chamber with a predetermined force due to the surfaces lying against one another, so that it can be determined on the basis of the force curve whether and how far the contact element has been pushed into the contact chamber. If the first contact element already touches the first contact chamber when it is inserted, a search movement with a search pattern can also be carried out during the first insertion process. Through 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 introduced or plugged into the second assembly opening or into the second contact chamber lying behind it, after it has passed through the torque sensor it has been determined that the first contact element is inserted or plugged into the first assembly opening or the first contact chamber.
  • whether the first contact element has been inserted into the first contact chamber can be detected, for example, when the first contact element moves with a previously known force over a predetermined distance or via a jump in the force curve, which occurs when the first contact element reaches a predetermined position at a reached into the contact chamber protruding projection.
  • the force moment sensor determines a second course of force and moment on the gripping device. Predetermined limit values are used to determine whether the second contact element is inserted into the second assembly opening or into the second contact chamber.
  • the insertion path is also determined both when inserting the first contact element and when inserting the second contact element, so that it can be determined over what distance the first and/or second contact element was moved with what force.
  • the distance or the plug-in path can be determined, for example, via a path measuring device or a position detection device of a robot, by which the gripping device is moved.
  • the first distance between the first gripping section and the first contact element is greater than the second distance between the second gripping section and the second contact element and the first contact element is offset relative to the second contact element.
  • the offset distance is between 1 and 20 mm.
  • the first and second gripping portions are in a variant embodiment arranged parallel and adjacent to each other when gripped by the gripping device.
  • first and the second wire are twisted together in a section which is arranged on a side of the gripping sections which is remote from the contact elements.
  • the gripping device has a servo-electrically driven parallel gripper with two driven gripping fingers and a central web extending between the gripping fingers.
  • a wire i.e. the first or second wire, is gripped by one gripper finger and the middle bar when gripping.
  • the gripping device In order to be able to move the gripping device, it is fastened to an articulated-arm robot and can be moved by it in an advantageous embodiment variant.
  • the search movement with the search pattern is carried out by the articulated arm robot, with the path measuring system of the articulated arm robot also measuring the distances covered during the plugging process.
  • the distances measured by the articulated-arm robot and the forces and moments determined by the force-moment sensor are transmitted to a controller, which in turn controls the articulated-arm robot.
  • the first and second contact element can each have a coding or locking means that corresponds to a counter-coding means or counter-locking means of the contact chamber. Due to the small dimensions of the contact chamber, it preferably has no insertion bevel.
  • the mating contact element is arranged in the contact chamber on a side of the contact chamber facing away from the assembly opening.
  • the counter-coding of the contact chamber can also only extend over part of the contact chamber, so that, for example, a resiliently designed coding of the contact element can engage behind the counter-coding of the contact chamber and is thus permanently fixed in the contact chamber or can only be disengaged from the contact chamber with great effort.
  • the contact elements In a cross section orthogonal to their longitudinal direction, the contact elements have a width and a height of between 1 and 2 mm, the width and height of the mounting openings corresponding thereto.
  • a coding rib for example, can be formed in the contact chambers as counter-coding means, as a result of which the square cross section of the contact chamber is asymmetrical, so that the contact elements can only be inserted in the contact chamber 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 pressure on the contact element, so that the contact element can only be inserted into the contact chamber by applying an increased force or can be unplugged from the contact chamber with an increased tensile force.
  • the pre-locking means can determine a predetermined position and define a pre-locking position. If there is a pre-locking means and a counter-locking means or a counter-coding means, this is located in front of them in the contact chamber when viewed from the assembly opening.
  • the pre-locking means can be, for example, a projection protruding into the contact chamber or some other means for narrowing the contact chamber.
  • the Figures 1 to 4 each show the contact carrier 30 with a multiplicity of contact chambers, which are each delimited or opened on one side by a mounting opening.
  • the first and second contact elements 11, 21 are to be inserted into two immediately adjacent contact chambers separated only by a web, the first contact chamber 31 with the first assembly opening 33 and the second contact chamber 32 with the second assembly opening 34. Since the large number of contact chambers are located directly next to one another, the contact elements cannot be gripped directly, since the gripper gripping the contact elements would otherwise damage or unplug other contact elements already inserted into surrounding contact chambers.
  • the contact carrier 30 is shown in section, so that the contact chambers and in particular the first and second contact chambers 31, 32 are visible.
  • Counter-contact elements (not shown) for the contact elements are arranged in the contact chambers on the side facing away from the assembly opening.
  • the contact carrier 30 preferably has the contact cavities not only in one plane, but also orthogonally thereto, so that there is a grid of contact cavities, as illustrated in FIG. 5, for example.
  • the first and second cores 12, 22 are aligned with one another in a straightening device (not shown) in such a way that the first and second cores 12, 22 are parallel at least in a section on their side containing the contact elements 11, 21 and the contact elements 11, 21 um the offset distance X are offset to one another.
  • a gripper grips the first and second cores 12, 22 simultaneously on the first gripping section 13 the first vein 12 and the second gripping portion 23 of the second vein 22, which are shown hatched (not sectioned).
  • the gripper moves the first and second wire 12, 22 from the straightening device to an initial assembly position in front of the contact carrier, so that the first contact element 11 can be moved based on the measured distances between the straightening device and the initial assembly position and the known position of the first contact element 11, which is determined by the straightening device , is arranged in front of the first mounting opening 33 of the first contact chamber 31 .
  • the first contact element 11 and/or the second contact element 21 with their respective longitudinal axis represented by a dash-dot line, is no longer parallel to the Dash-dot line shown longitudinal axes of the contact chambers 31, 32 are. If the gripper were to move the wires 12, 22 onto the contact carrier 30 with their longitudinal axes not aligned in the insertion direction S, the contact elements 11, 21 would hit 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 guides the cores 12 , 22 in the insertion direction S to the assembly openings 33 , 34 and inserts the first contact element 11 through the first assembly opening 33 into the first contact cavity 31 . If the first contact element 11 were no longer aligned and would abut against one of the webs between two assembly openings, a moment-of-force sensor connected to the gripper would measure a force in the insertion direction. If the measured force exceeds a predetermined limit value, a controller to which the force torque sensor is connected recognizes that the first contact element 11 is hitting and cannot be inserted.
  • the contact element is new aligned and a search movement performed with a search pattern.
  • the first contact element 11 slides through the first assembly opening 33 into the first contact chamber 31.
  • An outer surface of the first contact element 11 bears against an inner surface of the first contact chamber 31 pointing towards its longitudinal axis. Due to the fact that the surfaces are in contact with one another, a force below the predetermined limit value is measured by the force moment sensor, so that the controller determines that the first contact element 11 has been inserted into the first contact chamber 33 .
  • the distance covered by the gripper in the insertion direction is measured, so that it is known how far the first contact element 11 has been inserted into the first contact chamber 31 .
  • a further movement of the first and second wire 12, 22 by means of the gripper in the insertion direction S causes the first contact element 11 to be inserted further 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 inserted through the second assembly opening 34 into the second contact chamber 32 by the movement in the insertion direction S, with an outer surface of the second contact element 21 again bearing against an inner surface of the second contact chamber 32, so that it can be determined by the torque sensor is that the second contact element 21 is inserted into the second contact chamber 32 .
  • the second contact element 21 abuts a web or a wall delimiting the second contact chamber 32 .
  • the force measured as a result in the insertion direction S by the moment-of-force sensor thus rises above the predetermined limit value, so that the controller recognizes that the second contact element 21 is not aligned with the second contact cavity 32 .
  • the gripper is repositioned, with the gripper displacing the first and second wires 12, 22 in the process. Since the repositioning takes place in a very small range of sizes, the first contact element 11 is thereby not pulled out of the first contact chamber 31. After the realignment as shown in figure 3 is shown, a further insertion movement in the insertion direction S is performed.
  • the gripper moves the contact elements 11, 21 together through the wires 12, 22 deeper into the respective contact chambers 31, 32 until the Contact elements 11, 21 in a predetermined mounting position, as in figure 4 shown are.
  • the gripper then releases its grip on the first and second wire 12, 22 on the first and second gripping section 13, 23.
  • the contact elements 11, 21 are pushed further into the contact chambers 31, 32 until they contact the mating contact elements (not shown). are in contact.
  • the gripper performs a search movement using a predetermined search pattern, with the first insertion movement in Insertion direction can be seen as belonging to the search movement or the search pattern after aligning the gripper.
  • FIG 5 a detail of the contact carrier 30 is shown from a view in the insertion direction.
  • the contact carrier 30 has a multiplicity of assembly openings which are arranged next to and one above the other in the form of a grid, the first contact element 11 shown in section being inserted into the first assembly 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 orthogonally thereto, so that the cross section of the second contact element 21 is not congruent with the second mounting opening 34 but protrudes beyond it by the area 41 shown in black.
  • the gripper Since the second contact element 21 in a plug-in movement cannot be inserted into the second contact chamber in the direction of insertion, the gripper performs a search movement using search pattern 42, in which the first contact element 21 is fixed by the first contact chamber in a direction orthogonal to the insertion movement and the second contact element 21 is fixed along path 42 is displaced by the gripping device.
  • the search movement follows the spiral route 42, with a plug-in movement being carried out after each predetermined route. If the second contact element 21 is introduced into the second contact chamber, the search movement is interrupted and the insertion of the first and second contact elements 11, 21 is continued in the insertion direction.
  • the positions at which an insertion movement is carried out are marked by the points on the path, the insertion movement being a movement in the insertion direction towards the contact carrier 30 and, if the second contact element 21 is not inserted into the second contact chamber was included from the contact carrier 40 away. It should be pointed out again that the search movement can also already be carried out when the first contact element 11 is inserted into the first contact chamber, when the first contact element 11 is no longer aligned.
  • the gripping device can release its grip from the leading contact element so that the gripping device only holds the lagging contact element, which is then inserted into the respective contact chamber of the contact carrier according to the method according to the invention.

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

Claims (12)

  1. Procédé de montage ou d'enfichage automatisé au moins d'un premier élément de contact (11) relié à un premier brin (12) et d'un deuxième élément de contact (21) relié à un deuxième brin (22), comprenant les étapes suivantes consistant à :
    - prendre le premier et le deuxième brin (12, 22) à l'aide d'un dispositif de préhension de sorte que l'un des deux éléments de contact (11, 21) fait saillie par rapport à l'autre élément de contact (21, 11) dans la direction d'enfichage (S), et
    - enficher les deux éléments de contact (11, 21) dans des chambres de contact (31, 32) disposées l'une à côté de l'autre à travers respectivement une ouverture de montage (33, 34) d'un support de contact (30), dans lequel ledit un des deux éléments de contact (11, 21) est en avance dans la direction d'enfichage (S) en faisant saillie par rapport à l'autre élément de contact (21, 11),
    caractérisé en ce que le dispositif de préhension présente un préhenseur parallèle à entraînement servoélectrique, pourvu de deux doigts de préhension entraînés et d'une entretoise centrale s'étendant entre les doigts de préhension, et lors de la préhension, un brin (12, 22) est pris par respectivement un doigt de préhension et l'entretoise centrale.
  2. Procédé selon la revendication 1, dans lequel le dispositif de préhension prend le premier brin (12) à une première distance prédéterminée du premier élément de contact (11) au niveau d'une première section de préhension (13) du premier brin (12), et prend en même temps le deuxième brin (22) à une deuxième distance prédéterminée du deuxième élément de contact (21) au niveau d'une deuxième section de préhension (23) du deuxième brin de telle sorte que le premier élément de contact (11) fait saillie de manière décalée d'une distance de décalage (X) par rapport au deuxième élément de contact (21) sur son côté d'enfichage détourné du brin (12, 22) respectif.
  3. Procédé selon la revendication précédente, dans lequel
    le premier et le deuxième élément de contact (11, 21) sont déplacés jusqu'au support de contact (30) en étant guidés par le dispositif de préhension,
    le premier élément de contact (11) est introduit dans une première ouverture de montage (33) en étant guidé par le dispositif de préhension, et
    ensuite, le deuxième élément de contact (21) est introduit dans une deuxième ouverture de montage (34).
  4. Procédé selon la revendication précédente, dans lequel, après l'introduction d'au moins une section d'élément de contact du premier élément de contact (11) dans la première ouverture de montage (33), pour l'introduction du deuxième élément de contact (21) dans la deuxième ouverture de montage (34), le dispositif de préhension est déplacé selon un motif de recherche prédéterminé jusqu'à ce que le dispositif de préhension se trouve dans une position dans laquelle le deuxième élément de contact (21) peut être ou est introduit dans la deuxième ouverture de montage (34).
  5. Procédé selon la revendication précédente, dans lequel
    le dispositif de préhension rapproche le deuxième élément de contact (21) du support de contact (30) et l'éloigne du support de contact (30) en effectuant à plusieurs reprises un mouvement d'enfichage lors du mouvement selon le motif de recherche prédéterminé, et
    entre deux mouvements d'enfichage, le deuxième élément de contact (21) est décalé orthogonalement par rapport au mouvement d'enfichage selon le motif de recherche.
  6. Procédé selon l'une quelconque des revendications précédentes, dans lequel le dispositif de préhension présente un capteur de moment de force pour un enfichage guidé par force-déplacement.
  7. Procédé selon l'une quelconque des revendications précédentes 3 et 6, dans lequel le capteur de moment de force établit lors de l'introduction du premier élément de contact (11) dans la première ouverture de montage (33) une première courbe force-moment au niveau du dispositif de préhension, et on détermine à l'aide de valeurs limites prédéterminées si le premier élément de contact (11) est introduit dans la première ouverture de montage (33).
  8. Procédé selon la revendication précédente, dans lequel
    le deuxième élément de contact (21) est introduit dans la deuxième ouverture de montage (34) après que le capteur de couple de force a déterminé que le premier élément de contact (11) est introduit dans la première ouverture de montage (33), et
    le capteur de moment de force établit lors de l'introduction du deuxième élément de contact (21) dans la deuxième ouverture de montage (34) une deuxième courbe force-moment au niveau du dispositif de préhension, et on détermine à l'aide de valeurs limites prédéterminées si le deuxième élément de contact (21) est introduit dans la deuxième ouverture de montage (34).
  9. Procédé selon l'une quelconque des revendications précédentes, dans lequel la distance de décalage (X) mesure entre 1 et 20 mm.
  10. Procédé selon l'une quelconque des revendications précédentes, dans lequel la première et la deuxième section de préhension (13, 23) sont disposées en parallèle et de manière adjacente l'une à l'autre lors de la préhension par le dispositif de préhension.
  11. Procédé selon l'une quelconque des revendications précédentes 2 à 10, dans lequel le premier et le deuxième brin (12, 22) sont torsadés ensemble dans une section qui est disposée sur un côté des sections de préhension (13, 23), détourné des éléments de contact (11, 21).
  12. Procédé selon l'une quelconque des revendications précédentes, dans lequel le dispositif de préhension est fixé à un robot articulé et peut être déplacé par celui-ci.
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 EP3785337A1 (fr) 2021-03-03
EP3785337B1 true EP3785337B1 (fr) 2023-06-07

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EP19718295.9A Active EP3785337B1 (fr) 2018-04-27 2019-04-11 Procédé de montage ou d'enfichage automatisé

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

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DE59008720D1 (de) * 1990-02-06 1995-04-20 Ttc Tech Trading Co Einrichtung zum automatischen Montieren von elektrischen Leitern mit Kontaktteilen in Steckergehäuse.
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
EP3301769B8 (fr) * 2016-10-03 2020-04-15 Komax Holding AG Dispositif et procédé de montage d'un boîtier de fiche avec des extrémités de câble préassemblés d'un faisceau de câbles
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

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EP3785337A1 (fr) 2021-03-03
DE102018110260A1 (de) 2019-10-31
DE102018110260B4 (de) 2020-06-18
CN112005452B (zh) 2022-07-19
WO2019206656A1 (fr) 2019-10-31
CN112005452A (zh) 2020-11-27
PT3785337T (pt) 2023-08-28

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