WO1987006424A2 - Tool for embedding and cutting cables with an industrial robot - Google Patents
Tool for embedding and cutting cables with an industrial robot Download PDFInfo
- Publication number
- WO1987006424A2 WO1987006424A2 PCT/DE1987/000158 DE8700158W WO8706424A2 WO 1987006424 A2 WO1987006424 A2 WO 1987006424A2 DE 8700158 W DE8700158 W DE 8700158W WO 8706424 A2 WO8706424 A2 WO 8706424A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cable
- tool
- interchangeable
- module
- cables
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
- H02G1/1202—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by cutting and withdrawing insulation
- H02G1/1248—Machines
- H02G1/1251—Machines the cutting element not rotating about the wire or cable
- H02G1/1253—Machines the cutting element not rotating about the wire or cable making a transverse cut
- H02G1/1256—Machines the cutting element not rotating about the wire or cable making a transverse cut using wire or cable-clamping means
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/06—Wiring by machine
Definitions
- the invention relates to a tool for laying and cutting cables using an industrial robot according to the preamble of patent claim 1.
- the invention has for its object to develop the tool described in the earlier patent application such that the change of the cables to be laid is possible without effort.
- At least one interchangeable interchangeable tube is provided, in which the cable is guided and, in particular, when the interchangeable tube is removed from the tool and stored in a bearing (claim 7).
- This makes it possible to remove the interchangeable tube for changing the installed cables together with the cables that are routed through them.
- This work can - in contrast to threading a cable into a cable duct - can be done by an industrial robot without any problems.
- the clamping mechanism that fixes the cable prevents the cable from being pulled out of the exchangeable tube when changing it.
- the tool according to the invention is particularly suitable for laying several cables; there are as many interchangeable pipes for this as there are cables to be laid at once.
- the exchangeable tubes can be used as required
- the tool according to the invention for laying and cutting cables with the help of an industrial robot has one
- Exchangeable flange 1 an unlocking module 2 for the cables, an interchangeable tube 3 for cable routing, a feed module 4 for the cables, a cutting module 5, a laying module 6 and a module 7 for checking the presence of the cables.
- the interchangeable flange 1 represents the interface between the industrial robot and the tool, so that different tools can be handled with the industrial robot as required.
- the interchangeable flange 1 also supplies the tool with electrical and pneumatic energy from the industrial robot.
- the interchangeable tube is used for cable routing.
- several, for example three, exchangeable pipes can be docked onto the laying tool, each of which receives and guides a cable. Only one of these interchangeable tubes is shown in the figure.
- the cables When entering the respective interchangeable tube 3, the cables are guided via a PTFE bushing 31, which reduces the frictional forces during the laying process.
- a non-driven friction wheel 33 is provided for the cable routing in each exchangeable tube.
- a clamping mechanism 34 which secures the position of the cable inserted into the interchangeable tube so that it does not slip out of the tube can.
- the locking or clamping mechanism is unlocked via an unlocking module 2, which in the exemplary embodiment shown has a pneumatic cylinder 21. This is shown schematically by the pneumatic components 23 and the unlocking plunger 22.
- the feed module 4 has an electric motor 41 (not shown in detail) with a gear 42.
- the electric motor is controlled via a control circuit, not shown, so that the feed can be precisely specified and programmed at any time.
- the direction of rotation of the motor can be reversed so that the cable can be fed back and forth.
- the motor drives, for example, three friction wheels 43, of which only one is shown in the figure, for three cables to be laid via the gear 42.
- These friction wheels can be pressed independently of one another by means of a pneumatic cylinder 44 against the non-driven wheel 33 in the exchangeable tube 3. This allows the three cables to be fed back and forth independently of each other.
- module 7 for the presence control of the cables, it can be queried individually for each cable duct whether there is a cable in the cable duct. If a cable breaks during the laying process, this is recognized by the module 7. The module issues an error message to the industrial robot and at the same time interrupts the laying process. In the exemplary embodiment shown, the presence of the cable is checked with the aid of a light barrier, which is only indicated schematically 71.
- the cutting module 5 consists of three pneumatic cylinders 51, only one of which is shown and which can be controlled independently of one another.
- the cylinders 51 each actuate a slide 52 with which the cables can be cut off at a defined point.
- the individual in the exemplary embodiment shown, three cables
- the desired grid dimension for example the grid dimension of an insulation displacement connector, through three different PTFE tubes 61.
- the cables are laid in the desired grid dimension.
- the formation of the guide hose 61 from the material PTFE ensures low frictional forces when laying the cable.
- the geometric arrangement of the individual guide bores in the laying module 6 is chosen so that different cable diameters can be laid with the laying module. This ensures the exact positioning of the cables even if they have different cross sections.
- all cable replacement tubes 3 are located in a memory provided for this purpose in various storage locations.
- several, for example any three, exchangeable tubes are docked onto the tool.
- the cables are conveyed in the direction of the laying pipe via the feed unit until they peel a defined piece out of the laying tool.
- the cable ends are then fixed in a holding device, for example an insulation displacement connector.
- the friction wheel is then folded away and the clamping mechanism in the replacement tube is unlocked.
- the industrial robot now moves according to the preprogrammed path.
- the cables are pulled by the industrial robot through the laying tool.
- the cables are cut off.
- the laying process with the same cables (and interchangeable pipes) can then be resumed at any point.
- a tool for embedding and cutting cables with an industrial robot has, seen in the feed direction of the cable, an interchangeable flange (1) for attaching the tool to an industrial robot, a feed module (4) for feeding the cable, a cutting module (5) for cutting the cable and an embedding module (7).
- the tool is characterized by having at least one interchangeable tube (3) through which the cable can be moved and clamped with the help of a clamping mechanism (34). This makes it possible to exchange easily the cable to be embedded by simply exchanging the interchangeable tubes.
- Tool for laying and cutting cables with the help of an industrial robot seen in the cable feed direction, an interchangeable flange (1) for attaching the tool to an industrial robot, a feed module (4) for feeding the cable, a cutting module (5) for cutting the cable and a Laying module (7).
- the tool according to the invention is characterized in that at least one interchangeable interchangeable tube (3) is provided, in which the cable is displaceably guided and can be fixed with the aid of a clamping mechanism (34). This makes it possible to easily replace the cables to be laid by exchanging the exchangeable pipes.
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
- Electric Cable Installation (AREA)
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE8787902384T DE3767639D1 (de) | 1986-04-08 | 1987-04-08 | Werkzeug zum verlegen und ablaengen von kabeln mit hilfe eines industrieroboters. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEP3611805.2 | 1986-04-08 | ||
DE19863611805 DE3611805A1 (de) | 1986-02-25 | 1986-04-08 | Werkzeug zum verlegen und ablaengen von kabeln mit hilfe eines industrieroboters |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1987006424A2 true WO1987006424A2 (en) | 1987-10-22 |
WO1987006424A3 WO1987006424A3 (fr) | 1987-12-30 |
Family
ID=6298232
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1987/000158 WO1987006424A2 (en) | 1986-04-08 | 1987-04-08 | Tool for embedding and cutting cables with an industrial robot |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0263152B1 (de) |
DE (2) | DE3611805A1 (de) |
WO (1) | WO1987006424A2 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3703011A1 (de) * | 1987-02-02 | 1988-08-18 | Fraunhofer Ges Forschung | Werkzeug zum verlegen und ablaengen von kabeln mit hilfe einer handhabungseinrichtung |
DE3820636A1 (de) * | 1988-06-18 | 1989-12-21 | Fraunhofer Ges Forschung | Vorrichtung zum kontaktieren und verlegen von leitungen |
DE4218741C2 (de) * | 1992-06-06 | 1994-10-20 | Vossloh Schwabe Gmbh | Verfahren zum Verdrahten von Anschlußstellen elektrischer Geräte oder Baugruppenelemente |
DE4312777C2 (de) * | 1993-04-20 | 1995-10-19 | Vossloh Schwabe Gmbh | Leitungsverlegewerkzeug |
DE102006032361B3 (de) * | 2006-07-13 | 2008-02-14 | Schäfer Werkzeug- und Sondermaschinenbau GmbH | Vorrichtung zur wahlweisen Zuführung von Kabeln zu einem von zwei antreibbaren Reibrollen begrenzten Spalt |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3930524A (en) * | 1974-10-17 | 1976-01-06 | Tarbox John W | Harness making apparatus |
US4593452A (en) * | 1985-02-26 | 1986-06-10 | Amp Incorporated | Robotic harness maker |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2121461C3 (de) * | 1971-04-30 | 1974-06-27 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Aus einer Mehrzahl von Rohren bestehendes Drahtmagazin für einen durch eine Person bedienten Halbautomaten |
DE3606059A1 (de) * | 1986-02-25 | 1987-08-27 | Fraunhofer Ges Forschung | Werkzeug zum verlegen und ablaengen von kabeln mit hilfe eines industrieroboters |
FR2632481B1 (fr) * | 1988-06-03 | 1991-09-27 | Automatisme Robotique Applique | Procedes et dispositifs pour selectionner un fil parmi une pluralite de fils et pour introduire une longueur determinee dudit fil dans l'entree d'une machine automatique de cablage |
-
1986
- 1986-04-08 DE DE19863611805 patent/DE3611805A1/de not_active Ceased
-
1987
- 1987-04-08 WO PCT/DE1987/000158 patent/WO1987006424A2/de active IP Right Grant
- 1987-04-08 EP EP19870902384 patent/EP0263152B1/de not_active Expired - Lifetime
- 1987-04-08 DE DE8787902384T patent/DE3767639D1/de not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3930524A (en) * | 1974-10-17 | 1976-01-06 | Tarbox John W | Harness making apparatus |
US4593452A (en) * | 1985-02-26 | 1986-06-10 | Amp Incorporated | Robotic harness maker |
Also Published As
Publication number | Publication date |
---|---|
DE3611805A1 (de) | 1987-10-15 |
EP0263152B1 (de) | 1991-01-23 |
EP0263152A1 (de) | 1988-04-13 |
DE3767639D1 (de) | 1991-02-28 |
WO1987006424A3 (fr) | 1987-12-30 |
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