EP3973600B1 - Dispositif de dévissage - Google Patents

Dispositif de dévissage Download PDF

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Publication number
EP3973600B1
EP3973600B1 EP19725966.6A EP19725966A EP3973600B1 EP 3973600 B1 EP3973600 B1 EP 3973600B1 EP 19725966 A EP19725966 A EP 19725966A EP 3973600 B1 EP3973600 B1 EP 3973600B1
Authority
EP
European Patent Office
Prior art keywords
line
fixing unit
link
drive
gripper
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
EP19725966.6A
Other languages
German (de)
English (en)
Other versions
EP3973600A1 (fr
Inventor
Martin Ecker
Karl-Heinz Kiermeier
Stefan Strasser
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.)
Lisa Draexlmaier GmbH
Original Assignee
Lisa Draexlmaier GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lisa Draexlmaier GmbH filed Critical Lisa Draexlmaier GmbH
Publication of EP3973600A1 publication Critical patent/EP3973600A1/fr
Application granted granted Critical
Publication of EP3973600B1 publication Critical patent/EP3973600B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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

Definitions

  • the invention relates to unscrewing devices, an arrangement and a method for unscrewing a line.
  • Cables can be plugged into housings or other receptacles. This can depend on the alignment of the line, for example due to direction-dependent plug connectors attached to the line. Before inserting such a line into a receptacle, the line must therefore be turned out so that it is properly positioned.
  • an unscrewing device that is set up for this purpose can only turn the line by approx. +- 100 degrees from an initial position, it may be necessary to change your grip because there are positions in which the line has to be turned by up to 180°. For a further rotation, the line must be grasped.
  • an unscrewing device can have a large structure, which can be due to a large diameter of a rotary drum in which the line is fixed.
  • the size of the rotary drum can result from a gripper which is arranged in the rotary drum and is driven, for example, pneumatically.
  • U.S. 2012/055578 A1 discloses an unscrewing device according to the preamble of claim 1.
  • the object is achieved by an unscrewing device for unscrewing a line according to claim 1.
  • the unscrewing device comprises a fixing unit with an opening for inserting the line into the fixing unit, the fixing unit being set up to fix the line, the fixing unit being rotatably mounted in a receptacle and having a gear wheel via which the fixing unit can be driven and which has a recess in the region of the opening; and a drive configured to drive the gear at a first location and a second location, the first location being spaced from the second location by at least a width of the recess of the gear.
  • the fixing unit is rotatably and slidably mounted in the receptacle.
  • the opening is used for inserting and removing the line and can represent a removal opening.
  • the fixing unit can be set up to fix the line in the unscrewing device in an axially rotatable manner.
  • the line can be arranged coaxially in an axis of rotation of the fixing unit.
  • the line can be fixed relative to the fixing unit, i.e. the fixing unit and the line can be rotated together.
  • the rotational position of the line in particular one end of the line, can be undefined. A rotation of +-180° may therefore be necessary when unscrewing.
  • the fixing unit can be rotated 360° without having to loosen the fixing of the cable.
  • the rotational position of a line in particular a line with a contact part at one end of the line, can be determined using a suitable measuring system.
  • the rotational position can be produced in the desired orientation by means of the fixing unit and the drive, i.e. by means of a mechanism.
  • the rotational position can be rotated by +-180 degrees without having to change your grip.
  • the fixing unit can represent a rotating unit and can be mounted with an open plain bearing in a receptacle of the turning device.
  • the drive can include a stepping motor and be mechanically connected to the fixing unit via a gear drive.
  • the line can be held in the fixing unit with a contact part attached to the end of the line or without a contact part by means of a gripper.
  • the turning device can have a small design and enables the angular position of cables with or without contact parts to be turned out by +-180°. Especially in comparison to an unscrewing device with pneumatic clamping, no media need to be carried in the fixing unit, which means that the small size can be achieved.
  • Another advantage is that you only need to change your grip once at the end of the process to turn the removal opening upwards. This eliminates 1 - 2 re-gripping cycles, depending on the initial rotational position and the target rotational position. Due to the small overall width, two identical turning devices can also be placed at a small distance of approx. 55 mm center to center. Another advantage of this unscrewing device is the location of the axis of rotation of the line in the center of the unscrewing device, i.e. in the axis of rotation of the fixing unit.
  • the drive comprises a gear drive with a first gear and a second gear, at least the first gear or the second gear being in engagement with the gear of the fixing unit.
  • a gear drive allows for high precision with little backlash, allowing for accurate boring.
  • the drive comprises a toothed belt drive with a first toothed belt and a second toothed belt, with at least the first toothed belt or the second toothed belt being in engagement with the gear wheel of the fixing unit.
  • a toothed belt drive enables easy maintenance and a cost-effective construction.
  • the fixing unit includes a link clamp that is set up to clamp the line.
  • the fixing unit of the unscrewing device can be closed using a sliding gate.
  • the fixing unit can have clamping jaws which can be pressed against one another by the sliding link.
  • the link clamp comprises a link driver, which engages with a sliding link and is connected to a linear drive, which is set up to move the link driver, wherein when the link driver is displaced, the sliding link is carried along and acts on at least one ramp of a gripping jaw, to clamp the wire.
  • the line can be clamped, independently of a rotational position of the fixing unit.
  • the connecting link drivers are fixed relative to the drive with regard to the rotation of the fixing unit when the line is unscrewed.
  • the sliding link has an interruption in the area of the opening of the fixing unit.
  • the link driver is at least as wide as the length of the interruption in the sliding link. I.e. the link driver can also interact with the sliding link when the interruption in the sliding link is arranged in the area of the link driver.
  • the linear drive includes a pneumatic cylinder that is set up to bring about a linear displacement of the connecting link driver.
  • the fixation of the cable in the unscrewing device can be monitored to ensure process-reliable operation.
  • the sliding link can be driven by a pneumatic cylinder via the link driver, which does not have to be rotated and can be queried, for example using a simple cylinder switch.
  • the home position of the fusing unit can be queried via a sensor so that the opening of the fusing unit is in the insertion position.
  • the fixing unit includes two gripping jaws, in particular gripping jaws with a rubber coating, which are set up to grip the line.
  • the gripping jaws can be pressed towards each other by the sliding link in order to grip the line.
  • the pressure of the gripper jaws can cause the line to move into the Embed the rubber and thus increase the fixation due to the high coefficient of friction of the rubber material.
  • the unscrewing device comprises a support piece which is arranged in alignment axially in front of the opening of the fixing unit and is set up to hold the line for fixing through the fixing unit.
  • the support piece enables the line to be laid down so that the line is laid down in the axis of rotation of the fixing unit in order to be fixed there by the gripper jaws.
  • the unscrewing device includes a rotary encoder that is set up to determine a rotary position of the fixing unit.
  • the rotary encoder can be mechanically connected to the fixing unit in order to detect the rotational position of the fixing unit.
  • the rotary encoder can also be connected to the drive in order to determine the rotational position of the fixing unit from a transmission ratio of the mechanics of the drive, in particular the gear ratio, and a rotational axis of the drive.
  • the rotary encoder can be used to determine the rotary position more precisely, as well as to trigger camera systems and other applications.
  • a second aspect that is not claimed relates to an unscrewing device for unscrewing a line, comprising a fixing device comprising a first friction belt and a second friction belt, which are arranged parallel to one another and set up to clamp the line between the first friction belt and the second friction belt, the first friction belt and the second friction belt can be moved in opposite directions to one another in the area where the line is clamped, the line clamped between the friction belts being able to rotate as a result of the opposite movement of the two friction belts.
  • the belt drive may include an encoder to precisely sense the amount of rotation.
  • the friction belts can represent toothed belts that can be driven via gears.
  • the cable diameter can have an impact on the degree resolution when turning out, since the opening width of the belt gripper depends on the cable diameter. This can be taken into account when turning. For example, the opening width is recorded and the friction belts are driven depending on this. In order to avoid slippage in the line or unnecessary friction, both friction belts can be driven separately or via a common mechanism.
  • the rotational position of the cable or a contact part at a cable end can be determined using a suitable measuring system.
  • the line with the contact part can be held between the two friction belts by means of a gripper, in particular an insertion gripper.
  • the two friction belts can be mounted on a parallel gripper. Closing the parallel gripper can pinch the cable between the friction belts. If the gripper, i.e. the insertion gripper, is only slightly loosened or opened, the cable can be turned by moving the friction belts in the opposite direction. If the gripper is only loosened or opened slightly, the unscrewing device, driven by the drive, can align the cable.
  • the line By using a gripper, in particular an insertion or pick and place gripper, as a bearing for the line, the line can be gripped close to the contact part, which reduces the tendency of the line to wobble when it is turned out.
  • a position detection of the contact part can be simplified, since, for example, a smaller image section can be selected in the case of an optical detection. As a result, a higher cycle rate can also be achieved in position detection.
  • Another advantage is that it is no longer necessary to change your grip, the removal opening remains in the same place in every belt position. Depending on the initial rotational position and the target rotational position, there are up to three gripping cycles.
  • a query as to whether the belt gripper is closed can be made using standard initiators. Due to the small overall width two identical units can also be placed at a small center-to-center distance of approx. 55 mm.
  • the overhang of the cable can be selected to be small if the gripper jaws, in particular the insertion gripper jaws, perform a minimal stroke and hold the cable loosely, i.e. fix it with slight play. On the one hand, this improves the cycle time and, on the other hand, the line does not tend to wobble.
  • a gripper in particular an assembly gripper or insertion gripper, positions the assembled or unassembled lines in the fixing unit.
  • the belt gripper closes and clamps the line.
  • the gripper can then open slightly, allowing the wire to rotate within it, allowing the wire to be guided by the gripper.
  • a camera system or measuring system measures the alignment and the line is rotated by the turning device. If the contact part is turned out, the gripper can close again and the belt gripper can open again.
  • a friction belt assembly may include a friction belt and pulleys or sprockets on which the friction belt is stretched. Furthermore, a friction belt unit can include a stop that supports the friction belt so that the line has a stop.
  • the friction belt units can be mounted on a pneumatic parallel gripper. Rubber toothed belts can be used to transmit the force to the fixing unit to rotate the pipe. The friction belt units are moved against each other by the pneumatic parallel gripper and are thus applied to the line. The line with the contact part is held between the friction belt units by means of the gripper. The contact pressure on the line is influenced by the pneumatic pressure.
  • the friction belt units are driven in opposite directions by a stepping motor.
  • the power can be transmitted via a toothed belt drive, which compensates for the movement of the units relative to one another by means of appropriate deflections.
  • the gripper position can be queried using a cylinder switch, the position of the motor can be queried using a rotary encoder, i.e. an encoder.
  • Electric linear units can be used instead of the pneumatic gripper to accommodate the belt units. This can increase the flexibility of the cable diameters to be processed.
  • the drive is mechanically connected to the first friction belt and the second friction belt via a drive belt or a toothed rack.
  • a rack and pinion drive can be used instead of the toothed belt drive to transmit power from the drive, i.e. a motor, to the belt units. This can also be used to compensate for the open/close movement of the belt units.
  • a complex multiple deflection as with a toothed belt is not necessary. Referencing can be performed since the position of the rack is important for control. The possible number of revolutions is limited by the free length of the toothed rack.
  • the unscrewing device includes a drive which is mechanically connected to a first axis of the first friction belt and to a first axis of the second friction belt and is set up to drive the first friction belt and the second friction belt.
  • the two friction belts can run in opposite directions at the same speed, whereby the position of the line remains the same, but there is a rotation of the line at the position of the line.
  • Running in opposite directions means that two opposite sides of each friction belt move in opposite directions, even if the axes that drive the friction belts rotate in the same direction.
  • the unscrewing device has a support piece that is set up to limit insertion of the line into the fixing unit.
  • the support piece has a recess in which the line can be arranged, the support piece being arranged on the fixing unit and set up to fix the line vertically when the line is fixed. Vertical here means parallel to the direction of insertion.
  • the object is achieved by an arrangement with an unscrewing device according to claim 1 and a gripper, the gripper being set up to insert the line into the fixing device.
  • Two of the turning devices or several turning devices can be operated side by side or together in a different arrangement.
  • the two line ends can be aligned in parallel, which can increase the cycle time.
  • the small expansion in width that is required here in order to keep the line length required for this purpose as short as possible can be achieved with the unscrewing devices according to claim 1 and/or the second aspect.
  • the cable can be gripped in the axis of rotation without damaging it.
  • the gripper is set up to open partially in order to guide the line while the line is being rotated.
  • the cable can be gripped close to a contact part, for example approx. 5 - 10 mm closer than in similar arrangements, which reduces the tendency of the cable to wobble when unscrewed .
  • the object is achieved by a method for turning out a line according to claim 10.
  • the gripper can insert assembled or unassembled cables into the unscrewing device.
  • the connecting link of the unscrewing device can be moved by the clamping cylinder and the line can be clamped in the unscrewing device.
  • the gripper can open slightly so that it can be unscrewed in the gripper and the cable is routed in the gripper. Due to the gripping position close to the contact part, this prevents the cable end from wobbling too much.
  • a measuring system starts a measurement of the rotational position of the cable end, with or without a contact part, and the unscrewing device can rotate the cable.
  • the placement gripper can clamp the line again and the The fixing unit can open the cable clamp via the link and turn it back into the starting position.
  • the gripper can insert the line into the fixing unit from above, then the sliding link is moved via the pneumatic cylinder and the gripper of the fixing unit is thus closed. The gripper is then opened slightly so that the cable is guided but not fixed in the gripper. In this case, the line is fixed in the fixing unit. The alignment process, with measuring and turning, can now be started. After the specified position of the cable, including the contact part if necessary, has been reached, the gripper is closed again and the clamping of the fixing unit is opened via the sliding gate. The fixing unit is then brought back into the basic position and the line can be removed upwards.
  • the gripper can also insert the line into the unscrewing device from above.
  • the line between the friction belt units can then be gripped via the parallel gripper.
  • the gripper is then opened slightly so that the cable is still guided but not fixed.
  • the alignment process, with measuring the rotational position and unscrewing the line, can now be started.
  • the gripper is closed again and the parallel gripper is opened.
  • the cable can now be removed. A basic position is not required.
  • the Fig. 1a and 1b 12 show different perspective representations of an unscrewing device 100 according to an exemplary embodiment.
  • the unscrewing device 100 has a fixing unit 101 .
  • the fixing unit 101 is set up to fix a line, in particular an electrical line, in particular to fix the line in the unscrewing device 100 in an axially rotatable manner.
  • the fixation of the electric line takes place here relative to the fixing unit 101, ie the line is fixed by the fixing unit 101 in the fixing unit 101.
  • the fixing unit 101 has an opening 103 for inserting the line into the fixing unit 101 .
  • the opening 103 has a conical recess which is intended to make it easier to insert the line into the fixing unit 101 .
  • the opening 103 is not recessed conically.
  • the fixing unit 101 has a gear 105 .
  • the fixing unit 101 can be driven via the gear wheel 105 .
  • the fixing unit 101 is rotatably mounted and the gear wheel 105 is fixed to the fixing unit 101 such that a rotation of the gear wheel 105 causes the fixing unit 101 to rotate.
  • the fixing unit 101 and the gear wheel 105 are fixed to one another in such a way that a common axis of rotation is formed.
  • the gear 105 has a recess 107 in the area of the opening 103 of the fixing unit 101 .
  • the recess 107 is aligned with the opening 103 so that a line that is inserted into the opening 103 is also inserted into the recess 107 at the same time.
  • a maximum width of the recess 107 is as large as a maximum width of the opening 103.
  • the turning device 100 has a drive 109 .
  • the drive 109 is set up to drive the gear wheel 105 at a first point 111 and a second point 113 .
  • a first gear wheel 115 acts at the first point 111 and a second gear wheel 117 acts at the second point 113.
  • the drive 109 is in contact with the first gear 115 and the second gear 117 via a gear drive, in particular via a plurality of gears, in order to act on the gear 105 of the fixing unit 101 in this way.
  • drive 109 comprises a toothed belt drive with a first toothed belt and a second toothed belt, with at least the first toothed belt meshing with first gear wheel 115 or the second toothed belt meshing with second gear wheel 117 of gear wheel 105 of fixing unit 101.
  • the first point 111 is spaced from the second point 113 by at least the maximum width X of the recess 107 of the gear wheel 105 . If the outer circumference of the gear wheel 105 forms a circle that is interrupted in an area where the recess 107 lies, then the maximum width X of the interruption on the circle is less than or equal to the distance from the first point 111 to the second point 113 , also related to the circle forming the circumference of gear wheel 105, see 1c .
  • the unscrewing device 100 comprises a support piece 118 .
  • the support piece 118 is arranged in alignment axially in front of the opening 103 of the fixing unit 101 and is set up to hold the line through the fixing unit 101 for fixing.
  • the turning device 100 has a linear drive 119 .
  • the linear drive 119 includes a pneumatic cylinder that is set up to perform a linear movement.
  • the linear drive is configured differently or is replaced by a different type of drive.
  • the linear drive 119 is set up to actuate a mechanism in order to fix a line in the fixing unit 101 . The mechanics are described below with reference to 2 explained in detail.
  • FIG 2 shows a schematic representation of the turning device 100 according to FIG Figures 1a to 1c , some components not being shown in order to make the mechanics of the fixing unit 101 for fixing the line visible.
  • the perspective is similar to the perspective of Fig. 1b .
  • the linear drive 119 and the drive 109 are shown.
  • the first position 111 and the second position 113 cannot be seen.
  • the fixing unit 101 has two gripping jaws 121 which are set up to grip the line.
  • the gripping jaws 121 are rubberized at the gripping areas so that the line cannot slip when it is fixed.
  • the gripping jaws 121 are additionally or alternatively structured or not.
  • the fixing unit 101 has a link clamp that includes a link driver 123 that engages with a sliding link 125 and is connected to the linear drive 119 .
  • the linear drive 119 is set up to linearly displace the connecting link driver 123 .
  • the link driver 123 is displaced, the sliding link 125 is carried along by the link driver 123 .
  • the sliding link 125 acts here onto a ramp 127 of each of the two gripping jaws 121 in order to move the gripping jaws 121 towards one another and thus clamp the line.
  • the sliding link 125 is in the form of a disc with recesses in which the gripping jaws 121 are guided and which has an interruption that is aligned with the opening 103 of the fixing unit 101 .
  • the fixing unit 101 can be rotated in the link driver 123 and closed in any desired position.
  • the sliding link 125 is rotatably arranged in the link driver 123 .
  • the length of the link driver 123 is greater than the width of the interruption, so that the link driver 123 can take the sliding link 125 with it in any rotational position.
  • the turning device 300 corresponds to the turning device 100 described above, but also has a rotary encoder 301 which is coupled to the drive 109 and is set up to detect the rotation of the second gear wheel 117 and forward it to a control unit (not shown). Thereby, the rotational position of the gear 105 of the fixing unit 101 can be precisely detected.
  • the Figure 4a and 4b show a section of an arrangement 400 with the unscrewing device 100 and a gripper 401 and a line 402.
  • the gripper 401 holds the line 402 in the fixing unit 101.
  • the fixing unit 101 is closed, i.e. the sliding link 125 is shifted in such a way that the line 402 is fixed.
  • the gripper 401 is slightly open, so that the line 402 is in the gripper 401 and is guided. In this case, the gripper 401 is arranged close to the fixing unit 101 .
  • the pipe 402 is rotated, the fixing unit 101 is rotated and the pipe 402 rotates in the fixing unit 101 and in the gripper 401.
  • the gripper 401 remains stationary at this time.
  • the Figure 5a and 5b show an unscrewing device 500 according to a further exemplary embodiment.
  • the unscrewing device 500 has a drive 502 which is connected to a fixing unit 501 via a belt 504 .
  • the fixing unit 501 has a first holder 503a and a second holder 503b.
  • the two holders 503a, 503b can be displaced in parallel and form a parallel gripper.
  • a first friction belt 505a is arranged on the first holder 503a, which has two axes 507 runs and is supported in a clamping area 509 by a first support 511a.
  • a second friction belt 505b is arranged on the second holder 503b, which also runs over two axes 507 and is supported in the clamping area 509 by a second support 511b.
  • FIG. 5b It can be seen how the strap 504 is connected to both holders 503a, 503b. If the belt 504 rotates, the two friction belts 505a, 505b are rotated in the same direction of rotation. This means that the mutually facing belt sides of the two friction belts 505a, 505b move in opposite directions, ie the two friction belts 505a, 505b can be moved in opposite directions to one another in the area where the line 402 is pinched.
  • the turning device 500 includes a support piece 512, see Figure 5b .
  • the support piece 512 is formed in such a way that the line 402 is guided in the vertical position in the clamped state, and thus additionally prevents the line 402 from wandering. If the fixing unit 501 is open, the support piece 512 offers a limitation for inserting the line 402, ie the support piece 512 is a vertical stop. If the fixing unit 501 is closed, the line 402 is fixed vertically by the support piece 512 by means of a recess in the support piece 512 . This means that when the two holders 503a, 503b are moved together, the support piece 512 is pushed around the line 402 so that the line 402 is arranged in the recess of the support piece 512.
  • the Figure 6a and 6b show parts of an arrangement 600 with the unscrewing device 500 and the gripper 401 and the line 402.
  • the two holders 503a and 503b are shifted parallel to one another to such an extent that the line 402 is clamped. If the drive 502 is now actuated, both friction belts 505a, 505b rotate and in the clamping area or in the clamping area 509 the bands of the friction belts 505a, 505b run in opposite directions. As a result, the line 402 is rotated and at the same time remains in the same position, since both friction belts 505a, 505b rotate at the same speed.
  • the rotation of the line 402 depends on the diameter of the line 402, which is known or detected via a sensor.
  • a control of the unscrewing device 500 controls the drive in such a way that the friction belts 505a, 505b are rotated exactly as far as necessary.
  • FIG. 7 shows part of the drive 502 according to a further embodiment.
  • the axes 507 are connected to a rack 703 via gear wheels 701 .
  • Will the Rack 703 moves via a gear 705 of the drive 502, the two axes 507 are rotated. As described above, this results in the pipe 402 rotating in the fixing unit 501 .
  • FIG. 8 shows a flow diagram 800 for a method according to an embodiment.
  • a step 801 the line 402 is inserted into the fixing unit 101.
  • the gripper 401 inserts the line 402 through the opening 103 into the fixing unit 101 .
  • step 802 the line 402 is fixed.
  • the drive 109 pushes the connecting link driver 123 via a pneumatic cylinder, which actuates the sliding link 125, which presses the gripping jaws 121 towards one another, which in this way clamp the line 402.
  • the internal gripper can be queried, which is advantageous for process-reliable operation.
  • step 803 the gripper 401 is opened, the line 402 is now only fixed by the fixing unit 101 .
  • the gripper 401 opens only a little in order to store or support the line 402 during a rotation.
  • the gripper 401 opens completely.
  • a rotational position of the line 402 is determined.
  • a method known per se can be used for this purpose, for example an imaging device that determines a twist via a shadow image of a connection of the line.
  • control of the unscrewing device becomes known by how much the line 402 must be rotated in order to be rotated back into a desired position.
  • step 805 the line 402 is turned, ie the line 402 is turned out.
  • the fixing unit 101 is rotated by the action of the drive 109 on the gear wheel 105 of the fixing unit 101 . Since the fixing unit 101 fixes the pipe 402, the pipe 402 is also rotated when the fixing unit 101 is rotated. Since the drive 109 can act on the gearwheel 105 at the first point 111 and at the second point 113, the fixing unit 101 can also be rotated further than up to the opening 103 of the fixing unit 101. Is for example If the first gear wheel 115 is arranged in the area of the opening 103, then only the second gear wheel 117 rotates the fixing unit 101 and vice versa. The fixing unit can thus be rotated as far as desired without it being necessary to grasp the line 402 .
  • step 806 the unscrewing is completed and the gripper 401 grips the line 402 fully again and thus fixes it to the gripper 401.
  • step 807 subsequent to step 806, the fixing unit 101 is opened to release the line 402.
  • step 808 the fixing unit 101 is returned to the initial position, in which the line 402 can be taken out through the opening 103.
  • the line 402 does not rotate with the fixing unit 101 since the fixing unit 101 has previously released the line and the line 402 is held by the gripper 401 .
  • the gripper 401 can handle the line 402 as desired, possibly with a contact piece that is correctly unscrewed.
  • FIG. 9 shows a flow chart for a method according to a further embodiment.
  • a step 901 the gripper 401 inserts the line 402 between the two friction belts 505a, 505b.
  • the friction belts 505a, 505b are spaced far enough apart that the insertion works.
  • step 902 the two holders 503a, 503b are pushed toward one another in order to clamp the line 402.
  • the friction belts 505a, 505b are thereby shifted in parallel.
  • a sensor not shown in the figure for reasons of clarity, can detect the diameter of the line 402 and transmit it to a controller of the drive 502 in order to set the holders 503a, 503b correctly and later to be able to drive the friction belts 505a, 505b precisely.
  • the diameter of the line 402 does not have to be detected.
  • the parameters for operating the unscrewing device can be preset.
  • step 903 the gripper 401 is opened, the line 402 is now only fixed by the fixing unit 501.
  • the gripper 401 opens only a little in order to store or support the line 402 during a rotation.
  • the gripper 401 opens completely.
  • a rotational position of the line 402 is determined.
  • a method which is known per se can be used for this purpose, for example an imaging device which determines a rotation via a shadow image of a connection of the line 402 .
  • a controller of the unscrewing device 500 knows how much the line 402 has to be rotated in order to be rotated back into a desired position.
  • step 905 line 402 is rotated, i.e., line 402 is turned off.
  • the two friction belts 505a, 505b are rotated in opposite directions.
  • the drive 502 drives one axis of each of the two friction belts 505a, 505b equally, so that the two friction belts 505a, 505b rotate equally.
  • the two sides of the two friction belts 505a, 505b that are directed toward one another move against one another. Since the line 402 is clamped between these, it is rotated on its own axis in place.
  • step 906 the unscrewing is completed and the gripper 401 grips the line 402 fully again and thus fixes it to the gripper 401.
  • step 907 subsequent to step 906, the fixing unit 501 is opened to release the line 402.
  • the two holders 503a, 503b are separated from one another.
  • the fixing unit 501 does not have to be turned back, since the friction belts 505a, 505b are driven via the belt 504. However, if the fixing unit 501 is operated via the toothed rack 703, then this is reset in a subsequent step.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Automatic Assembly (AREA)
  • Manufacture Of Motors, Generators (AREA)

Claims (10)

  1. Dispositif de dévissage (100, 300) pour dévisser une conduite (402) comprenant une unité de fixation (101) avec une ouverture (103) pour insérer la conduite (402) dans l'unité de fixation (101), l'unité de fixation (101) étant adaptée pour fixer la conduite (402), l'unité de fixation (101) étant montée de manière rotative dans un logement et présentant une roue dentée (105) par l'intermédiaire de laquelle l'unité de fixation (101) peut être entraînée et qui présente un évidement (107) dans la zone de l'ouverture (103) ; et
    un entraînement (109) qui est adapté pour entraîner la roue dentée (105) en un premier emplacement (111) et en un deuxième emplacement (113), le premier emplacement (111) étant espacé du deuxième emplacement (113) d'au moins une largeur (X) de l'évidement (107) de la roue dentée (105), l'unité de fixation (101) comprenant un dispositif de serrage à coulisse qui est adapté pour serrer la conduite (402), caractérisé en ce que le dispositif de serrage à coulisse comprend un entraîneur de coulisse (123), qui est en prise avec une coulisse (125), la coulisse (125) étant montée de manière rotative dans l'entraîneur de coulisse (123) et l'entraîneur de coulisse (123) étant relié à un entraînement linéaire (119) qui est adapté pour déplacer l'entraîneur de coulisse (123), la coulisse (125) étant entraînée lors d'un déplacement de l'entraîneur de coulisse (123) et agissant sur au moins une rampe (127) d'une mâchoire de préhension (121) afin de serrer la conduite (402).
  2. Dispositif de dévissage (100, 300) selon la revendication 1, dans lequel l'entraînement (109) comprend un entraînement par roue dentée avec une première roue dentée (115) et une deuxième roue dentée (117), au moins la première roue dentée (115) ou la deuxième roue dentée (117) étant en prise avec la roue dentée (105) de l'unité de fixation (101).
  3. Dispositif de dévissage selon la revendication 1, dans lequel l'entraînement (109) comprend un entraînement par courroie dentée avec une première courroie dentée et une deuxième courroie dentée, dans lequel au moins la première courroie dentée ou la deuxième courroie dentée est en prise avec la roue dentée (105) de l'unité de fixation (101).
  4. Dispositif de dévissage (100, 300) selon la revendication 1, dans lequel l'entraînement linéaire (119) comprend un vérin pneumatique qui est adapté pour provoquer un déplacement linéaire de l'entraîneur de coulisse (123).
  5. Dispositif de dévissage (100, 300) selon l'une quelconque des revendications précédentes, dans lequel l'unité de fixation (101) comprend deux mâchoires de préhension (121), notamment avec un revêtement en caoutchouc, qui sont adaptées pour saisir la conduite (402).
  6. Dispositif de dévissage (100, 300) selon l'une quelconque des revendications précédentes, comprenant une pièce d'appui (118) qui est agencée en alignement axial devant l'ouverture (103) de l'unité de fixation (101) et qui est adaptée pour maintenir la conduite (402) pour la fixation par l'unité de fixation (101).
  7. Dispositif de dévissage (100, 300) selon l'une quelconque des revendications précédentes, comprenant un capteur de rotation (301) qui est adapté pour déterminer une position de rotation de l'unité de fixation (101).
  8. Agencement (400, 600), avec :
    un dispositif de dévissage (100, 300, 500) selon l'une quelconque des revendications 1 à 7 ; et
    un préhenseur (401), le préhenseur (401) étant adapté pour insérer la conduite (402) dans le dispositif de fixation (101, 501).
  9. Agencement (400, 600) selon la revendication 8, dans lequel le préhenseur (401) est adapté pour s'ouvrir partiellement afin de guider la conduite (402) pendant une rotation de la conduite (402).
  10. Procédé de dévissage d'une conduite (402) comprenant :
    l'insertion (801) de la conduite (402) dans une unité de fixation (101) d'un dispositif de dévissage (100, 300) par une ouverture (103) de l'unité de fixation (101) ;
    la fixation (802) de la conduite (402) dans le dispositif de dévissage (100, 300) par l'unité de fixation (101) ;
    la rotation (805) de l'unité de fixation (101) par action d'un entraînement (109) sur une roue dentée (105) de l'unité de fixation (101) en un premier emplacement (111) et un deuxième emplacement (113), dans lequel la roue dentée (105) présente un évidement (107) dans la zone de l'ouverture (103) et le premier emplacement (111) est espacé du deuxième emplacement (113) d'au moins une largeur de l'ouverture (103) de l'unité de fixation (101), dans lequel l'unité de fixation (101) comprend un dispositif de serrage à coulisse qui est adapté pour serrer la conduite (402), dans lequel le dispositif de serrage à coulisse comprend un entraîneur de coulisse (123) qui est en prise avec une coulisse (125), dans lequel la coulisse (125) est agencée de manière rotative dans l'entraîneur de coulisse (123) et est reliée à un entraînement linéaire (119), qui est adapté pour déplacer l'entraîneur de coulisse (123), dans lequel, lors d'un déplacement de l'entraîneur de coulisse (123), la coulisse (125) est entraînée et agit sur au moins une rampe (127) d'une mâchoire de préhension (121) afin de serrer la conduite (402).
EP19725966.6A 2019-05-20 2019-05-20 Dispositif de dévissage Active EP3973600B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2019/062917 WO2020233781A1 (fr) 2019-05-20 2019-05-20 Dispositif de dévissage

Publications (2)

Publication Number Publication Date
EP3973600A1 EP3973600A1 (fr) 2022-03-30
EP3973600B1 true EP3973600B1 (fr) 2023-05-03

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EP19725966.6A Active EP3973600B1 (fr) 2019-05-20 2019-05-20 Dispositif de dévissage

Country Status (3)

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EP (1) EP3973600B1 (fr)
CN (1) CN113853718A (fr)
WO (1) WO2020233781A1 (fr)

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8622230D0 (en) * 1986-09-16 1986-10-22 Amp Gmbh Terminal rotating station
GB8708279D0 (en) * 1987-04-07 1987-05-13 Amp Gmbh Electrical lead parking & sorting station
US5115904A (en) * 1991-04-25 1992-05-26 Amp Incorporated Apparatus for rotating an electrical lead about its axis
DE4321249C2 (de) * 1993-06-25 1996-05-30 Kirchner Fraenk Rohr Preßzange
EP1429430B1 (fr) * 2001-10-05 2008-03-19 Komax Holding Ag Procédé et dispositif pour la mise en place d'extrémités de câble préparés d'un câble dans des boîtiers de connecteur
WO2012030597A1 (fr) * 2010-09-02 2012-03-08 Kodi Jon R Outils de torsion de fil métallique et procédés de torsion de fil métallique
CN106415739B (zh) * 2014-06-13 2018-01-09 矢崎总业株式会社 绞合线制造装置以及绞合线制造方法
FR3026487B1 (fr) * 2014-09-26 2016-10-21 Schneider Electric Ind Sas Detecteur pour reseau aerien et reseau aerien comprenant un tel detecteur
US9484700B2 (en) * 2014-10-06 2016-11-01 Milwaukee Electric Tool Corporation Hydraulic power tool
DE102015121759A1 (de) * 2015-12-14 2017-06-14 Lisa Dräxlmaier GmbH Verdrillen von Einzelleitungen
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
CN107611743A (zh) * 2017-08-28 2018-01-19 鹤壁海昌专用设备有限公司 一种视觉判向调节机构

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CN113853718A (zh) 2021-12-28
EP3973600A1 (fr) 2022-03-30

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