WO2002049046A1 - Verfahren zur herstellung von kabelbäumen und anlage zur durchführung des verfahrens - Google Patents
Verfahren zur herstellung von kabelbäumen und anlage zur durchführung des verfahrens Download PDFInfo
- Publication number
- WO2002049046A1 WO2002049046A1 PCT/AT2001/000389 AT0100389W WO0249046A1 WO 2002049046 A1 WO2002049046 A1 WO 2002049046A1 AT 0100389 W AT0100389 W AT 0100389W WO 0249046 A1 WO0249046 A1 WO 0249046A1
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- Prior art keywords
- cable
- contact
- target
- laying
- gripping member
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- 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
- H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
- H01B13/01236—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine
- H01B13/01245—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine using a layout board
Definitions
- the invention relates to a new method and a new plant for the production of cable harnesses.
- the first and most important area is the so-called automotive area, in particular as far as the number of items produced is concerned, i.e. the automotive industry, which requires a large number of items per model in their conception and execution of completely identical cable harnesses.
- the second area relates to the field of vehicle construction with significantly smaller series or special vehicle construction, for which purpose e.g. agricultural and forestry vehicles, traction vehicles or the like, (road) construction machinery and vehicles, but also rail vehicles and also general mechanical and plant engineering are to be counted.
- purpose e.g. agricultural and forestry vehicles, traction vehicles or the like, (road) construction machinery and vehicles, but also rail vehicles and also general mechanical and plant engineering are to be counted.
- the lot sizes are small in most cases, the variety of types is high and in many cases a flexible adaptation to the often rapidly changing customer requirements and technical developments is required.
- this learning phase can mean that it takes more than twice as much time to assemble the first wiring harness in a series as for the last wiring harness in this series.
- Such systems are e.g. offered and produced by the companies Komax, AMP-ARA, Wegomat or Metzner.
- a tool for receiving, storing, contacting and laying cables which can be connected to an industrial robot, this tool itself having two grippers which hold the cable in such a way that the two cable ends each point outwards ,
- the tool has a random material store arranged between the two grippers for receiving the cable, which can have different lengths depending on the route to be laid.
- the cable is first inserted into this random material store, in such a way that it is led out again on the other side of this store, until it protrudes a little beyond its gripper on the output side. The same then holds the cable there, and the same is introduced into the cable storage device of the tool by a cable reel in a predetermined and measured length. Ultimately, the gripper on the input side is also closed. After filling the random storage with the cable that has to be rewound from the cable drum in a length to be checked for each laying aisle, the cable is held in the memory. It is then cut to length so that the two cable ends protrude from the tool on the right and left. Then the two cable ends are stripped and the contacts are crimped onto both ends. According to the procedure with the one picked up by the robot
- the first contact is inserted into a contact receptacle provided for it. Then the first gripper of the tool is opened on the side of the contact just plugged in, and the cable is then pulled out of the random material store, the cable is laid along a preprogrammed cable routing path until the cable is practically fully extended from the tool , Towards the end of this laying route, the random material store becomes of the tool opened and held by the gripper of the tool, the second contact is then inserted into the contact holder of a second contact housing located on the cable board.
- the process just described therefore comprises a large number of individual steps, starting from cutting the cable to length by stripping the cable ends and ending with the application of the contacts, and must be carried out before the process of laying the cable, which is essential for the wiring harness production, along a desired routing path the cable board.
- Another significant disadvantage relating to the mobility and flexibility of the laying tool described arises from the fact that these important properties of a cable laying tool are significantly restricted by the volume of the tangled cable storage device of this tool. This makes difficult installation routes practically impossible and furthermore creates complications in those places on the cable laying board where there is little space available for installation.
- the latter disadvantage occurs particularly towards the end of the laying process, i.e. at a point in time when a large number of cables with their contacts have already been inserted into the housing and in each case laid to form bundles and therefore less and less space for plugging in the contacts and for the movement of the tool along the laying path is free.
- DE 3822 166 C2 itself has set itself the task of creating a tool for receiving, storing, contacting and laying cables, in which the cable is also held with cable ends pointing outwards, but in which the tool is loaded with a cable should be safer to execute.
- the tool can be connected or connected to a multi-axis positioning device via an interchangeable flange and has three gripping units, the first of which holds a cable end in such a way that it points outwards, is provided with the contact and can be inserted into a connector housing such that a second gripping unit holds the cable end in such a way that it points outwards and can be provided with its contact and can also be inserted into a plug housing, and that a longitudinally divisible random goods store is provided between the first and the second gripping unit for receiving the cable.
- This tool is characterized in that each of the three gripping units is designed as a gripping unit which acts separately and independently of one another and can be controlled independently of one another and in stages.
- the gripping units are designed as jaw grippers.
- the cable storage cavity of the tool described there has a pear-shaped design with an inserted funnel, which is arranged such that the cable can be inserted into the storage from the side of the cavity with a smaller cross section. It is further provided that the tool can be inserted into a tool holder of a robot, into which control signals and energy can be transmitted via an intermediate flange, and further that the presence of a cable and the contacting and / or joining processes are monitored by means of sensors.
- DE 38 22 136 C2 shows a method for producing cable harnesses by means of an industrial robot, which is controlled by a control unit, an industrial robot gripping a first tool which can pick up, store, contact and lay cables, with a coordination of the following Steps are provided.
- the robot transfers the first tool to a cable assembly device that works simultaneously with the further laying process, then transfers an identical tool from the assembly device that already contains a stored cable with contacts that have already been crimped on, and the robot then moves the tool to the plug housing, plugged in the contacts and laid the cable stored in the tool along the respective intended route.
- the system requires a considerable number of different tools to carry out the individual work processes, namely for: a) removing the line from storage containers and cutting to length. , b) Magazine the cut-to-length lines in a kind of gripper roller (rolling up). c) Stabilize the two protruding wire ends in the gripper roller. d) Moving the gripper roll with the help of a robot to crimping stations. e) Contacting and centering the struck contacts. f) Place the gripper rollers or move directly to the laying board using a robot. g) Picking up the tools (which act as a magazine) by the robot, h) Plugging and laying the cables.
- the cables stored in the magazines are centered, positioned in some way with their stripped ends, e.g. by tightening the cables in the magazine, individual additional grippers must be held individually for the mating process on the laying board in order to ensure exact positioning for insertion into the connector housing.
- a cable assembly and transfer unit for assembling, contacting, storing and transferring cables to a laying tool has become known, in which two holding devices, including existing turntables for the laying tool, are arranged on a processing unit, which is designed in such a way that that assembly and assembly units are only available once.
- the travel unit is a linear unit.
- DE 3544219 A1 relates to a method for a wire harness production device, an industrial robot and cable barrels with cable feeds, a cutting and slitting machine with a length measuring device and a laying board being provided.
- this device it is provided that the manufacture, intermediate storage, positioning and laying of the attached cable as part of a cable harness is carried out with the same laying tool, furthermore at least one cutting and strapping machine and one laying board are arranged in the working area of an arm of the industrial robot, and furthermore on the one hand the laying of cables of different lengths to a wiring harness and on the other hand the manufacturing, Buffering and positioning of cables of different lengths is carried out simultaneously, and finally the laying tool is designed to be detachable from the respective industrial robot arm. It is provided there that the stripped cable is temporarily stored by rolling up the cable on a controllable, co-rotating roller, which is part of a gripper roller.
- This type of production is relatively susceptible to failure due to the large number of steps to be carried out by the robot and its tools and its peripheral organs to be provided, e.g. just a little problem, e.g. a lack of centering when crimping the contacts disrupts the entire process.
- the object of the invention is to avoid the disadvantages described so far and to provide a method and a system for laying cables in which the disadvantages described are avoided and an automated production of a large number of lines and complicated wiring harnesses required.
- the present invention has set itself the goal of manufacturing wire harnesses
- Another object of the invention is to design the cable laying in such a way that the complex robot used for it is used as effectively as possible, i.e. if possible only for the cable laying steps themselves, and is relieved of all preparation and other cable manufacturing steps ,
- the problems described above which arise due to lack of space, in particular during the progress of the laying process, are to be avoided by the robot no longer having to carry along a more or less voluminous tool for storing the cable and its grippers along the entire laying path the robot itself or its gripping member or its gripping members ensures that the cable is held and the various steps of plugging the contacts into the contact housing and guiding the cable along the laying path provided for the same.
- the present invention is therefore primarily not based on the above. State of the art, but rather oriented towards manual wiring harness production.
- the present invention thus relates to a new method for the automated production of cable harnesses, wherein
- start gripping member the contact (start contact) at the first end ("start end") of a piece previously cut to a predetermined size its two ends crimped and provided with a respective provided contact, such a single wire, stranded wire and / or such a wire in a first contact receptacle (“start receptacle”) of a first contact housing arranged on a cable laying board (“ Starter housing ”) is inserted or inserted,
- target gripping element By means of a second gripping element (“target gripping element”) the contact (“target contact”) located at the second end ("target end") of the cable in a contact receptacle provided for it ("target recording”) is also inserted or inserted on the laying board, second housing (“target housing”)
- the method according to the invention is of the type just described in order to achieve automated, and in the case of a resumption of a certain production in the case of repeat orders, practically no start-up and learning times requiring production errors that practically exclude and at the same time customer-oriented flexible production of, in particular complicated, cable harnesses characterized,
- start gripping element a first gripping and holding element guided by the handling system or by the robot, the start contact of the cable to be laid is one with a plurality of the same and with regard to their contacts, the cable bearings equipped with the same orientation are removed,
- target gripping element a second gripping and holding element
- the target contact of said cable is removed from the cable storage and by the mentioned target gripping organ is held
- start auxiliary gripping member first auxiliary gripping member
- start auxiliary gripping member the start contact is finally inserted or inserted into the start receptacle, - That afterwards with full maintenance of the target contact by means of the target gripping member during the entire further process - by means of the start gripping and / or starting auxiliary gripping member itself and / or by means of a cable guide member assigned to it or the same is guided along the course or laying path provided for the same over or through the support, holding, clamping and / or deflecting elements of the laying board,
- target auxiliary gripping element which also detects and locks the crimp, which is also handled by the handling system or robot, is finally inserted or inserted into the target receptacle.
- the new method differs from the known automated harness manufacturing processes of the prior art described in more detail above essentially in that the preparations for laying the individual cables with length measurement, cutting to length, stripping and contact crimping are, so to speak, "outsourced” and that there is no storage tool provided with its own gripping elements and containing the cable, which must be grasped and held by the robot and must be carried along for each wire to be laid over the entire routing path provided in each case.
- the method according to the invention also differs significantly from the hitherto usual way of laying cables to form a wire harness: hitherto - and this now applies both to manual laying and to the cable bundling machines described above - is to be laid ready in each case
- Cable possibly with the same being rolled up loosely, for example in the manner of a textile strand, i.e. after removal from a cable store, first detects a first contact of the cable and plugs it into a contact housing at the beginning of the route until it engages. Thereafter, while the cable slides and is guided, the cable or the like along a predetermined laying path via corresponding support, clamping, deflecting elements. of the cable board until the second contact of the cable is detected after installation and is inserted into the contact receptacle provided for it in the contact housing at the end of the route.
- the method according to the invention proceeds in such a way that - in any case, even before the start contact is positioned before it is inserted into the start housing with the help of the start gripping member - the target contact is also detected by means of the target gripping member is held and without any interruption while plugging in the start contact and then during the subsequent routing of the cable along the intended route becomes.
- the cable forms a loop which hangs downwards or which is partially slidable on a base plane, possibly held at a distance from the cable board by a corresponding additional device. This eliminates the need to carry along a cable store or to place the cable in between during the cable laying process, which considerably limits the spatial flexibility of the movement.
- the two gripping members work in coordination with one another. Furthermore, it has proven to be advantageous to use the start gripping member and, if applicable, the associated starting auxiliary gripping member not only for plugging in the contact, but also for the cable laying process, the distance from one another preventing the gripping members from obstructing one another Start gripping member located and thus coordinated carried gripping organ, which holds the target contact held by him, possibly in a position inclined or linearly shifted to the starting organ, and immediately after completion of the laying process with the already precise positioning of the target contact the target housing and the plugging itself can begin.
- the two ends or tips of the beak-like clamping jaws of the starting gripping member are connected to one another by a flexible strap made of a sliding plastic, which prevents the cable from falling down but does not inhibit the movement of the clamping jaws, which is under the cable is pulled in a sliding manner when the gripping member moves along the laying path.
- the method is a - at least essentially - simultaneous removal of the start and the target contact from their Mounts in the cable storage or magazine provided by means of the start and the target gripping member according to claim 2.
- the gripping members capture the contacts of the cables at the contact crimps, that is, at the contact cable connection points, there is a constantly defined position of the start and target contacts relative to the respective gripping member secured and thus an exact alignment and positioning of the contact in front of the intended receptacle of the respective contact housing. This also ensures that the contact is correctly inserted into the contact.
- this can be done particularly favorably with an approximately beak-like or pliers-like gripping member, as claimed 6 in a first variant.
- the advantage here is that the elongated beak-like design, because of the small space requirement, enables the gripping member to act even when the space required for the manipulations is already very small, as is the case, for example, when a larger number of Cables with their contacts are plugged into a respective contact housing and a further contact is to be inserted within the bundle of cables that swells out of the housing.
- the second variant of this claim is particularly favorable, according to which this also has an essentially beak-like narrow design, since then - particularly when the contact is finally pushed into the respective receptacle - its engagement can be achieved , by the beak pliers of the auxiliary gripping member engaging and holding the cable directly behind the contact crimp can be pushed between the two beak-like jaws of the gripping member which open in good time beforehand.
- the embodiment in the third variant of this claim is also particularly advantageous, according to which the area of the respective cable immediately behind the contacts or the cable crimps is arranged essentially in continuation of the contact axis and the clamping jaws of the auxiliary gripping member in their longitudinal extent be aligned parallel to the axis just mentioned, and if this relative alignment is maintained at least until the end of the respective contact plugging and checking process.
- the cable can be routed directly over a breakpoint or around or through a deflection point, i.e. without the previously mentioned dodging in an arch path.
- the laying board is removed from the cable laying position or from a "first position" "in at least one of the same different, second or further positions for reworking, bundling, finalizing and removing the finished wiring harness and for equipping the bearing board with new contact housings as well as for any intended retrofitting and / or retrofitting the same, after which it is moved back into the aforementioned cable laying or first position is returned.
- a procedure has proven to be favorable in terms of production engineering, in which it is provided that after all the cables provided for a given cable harness have been laid, this, preferably together with a further two, three or more, corresponding (post) processing steps or positions a conveyor, carousel, rotating tower, car, or the like. arranged laying boards - also on the conveyor or the like.
- laying board moved from the respective laying position to the next position in particular around a preferably vertical axis - by 120 °, 90 ° or 72 ° into a next of two, three or more post-processing, bundling, finalizing -, cable take-off, and any laying board (change or upgrade) positions are further pivoted and finally moved to the cable laying position, in particular pivoted, for a new laying process.
- the entire cable is immediately removed from the cable storage and hangs down from its contacts - held by the beak-like pliers of the start and target gripping members - as a loop, it can also be advantageous to ensure that the cables when they are laid above or through a preferably vertically or vertically or optionally away from the robot at an angle between +5 to the rear and - 7.5 ° overhanging, but preferably vertically arranged cable board Support, holding, clamping and / or deflecting elements are guided.
- Another essential object of the invention is a new system for the automated production of cable harnesses, in particular for carrying out the method as described above in its variants,
- This new wiring harness manufacturing system in accordance with Claim 9 is characterized in that, in particular for a customer-oriented flexible production of wiring harnesses,
- a handling system which is program-controlled on the basis of a cable layout plan, in particular such an industrial robot, preferably a multi-axis Articulated-arm robot with two gripper groups or cells connected to its distal working head, which are adjacent to one another and rotatable about their main axes, and which are relatively linearly movable and / or pivotable with respect to one another, namely a start and a target gripper group,
- each of which comprises a gripping member, preferably a start and a target gripping member, with a preferably beak-like or pincer-like clamping jaw, and a respective auxiliary gripping member, preferably a starting and a target auxiliary gripping member, assigned to the gripping member,
- the clamping jaws of the respective auxiliary gripping member - in a rest position of the same, that is to say in the open position, in a position - related to the main axis of the respective gripper group - are arranged axially behind the clamping jaws of the respective gripping member and
- the jaws of the respective gripping member opening or opening in a rest position - and preferably into the gap or space between the jaws mentioned - can be moved or pushed in.
- a precise and the conductive connection between the contacts and the contacts of the housing securing plugging, pushing or pushing and snapping the contacts can advantageously ensure a test device according to the fourth variant of this claim, which one for each contact or each type of contact Contact deduction check enabled. This mechanical test achieves such a high level of reliability of all contact connections that an electrical test of the finished cable harness can be completely omitted.
- this auxiliary gripping member is transferred between the open jaws of the gripping member from the clamping position of the jaws to an open position releasing the cable, that is the clamping position of the cable is released by the auxiliary gripping pliers and at the same time the roller is swiveled under the cable by means of an articulated lever, which ensures that the latter is supported against falling down and that it is aligned to follow the intended laying path on the laying board.
- a cable that closes around the cable when the auxiliary gripping member is released after the plugging and testing activity has ended e.g. can be provided with the force of a roller tension spring holding roller pair. Due to the roller tension, a certain tensioning of the cable from the previously inserted start contact is achieved along the entire laying path over the laying board, so that there is no annoying sagging of the cable on the laying board between the cable holding and deflection points during the laying process.
- Another possibility is guiding the cable by means of a guide or laying eyelet, which is used for prepositioning the cable when the cable is removed from the magazine.
- the target and end contacts are each arranged in pairs sequentially one after the other and either a cable magazine drive can be used to move a pair of contact terminals - following a cable just removed - into the same position as the previous contact pair or but the gripper arm of the robot or handling system is programmed in such a way that it extends exactly by a distance between the contact pairs in order to remove the two contacts of a next cable.
- An embodiment of the cable magazine according to the second variant of this claim is particularly preferred, which is characterized in that it can accommodate a larger number of contacts of different embodiments if they only fit into the contact recesses to some extent.
- the contacts are advantageously pushed in from bottom to top, so that during the removal process - after the jaws of the pliers of the target and start gripper organs have been aligned in parallel with the contacts - these contacts together with the cable loop that depends on you each gripping member can be pulled downwards, which has the advantage that the risk of the cable twisting and entangling itself is low.
- the magazine bars as provided for in the fourth variant of the claim, e.g. on the front with a machine-readable identification system code, e.g. Bar or number code, transponder or the like, which indicates the respective type of cable and contact, to be provided by a code reader, transmitter / receiver system or the like arranged on the working head of the handling system or robot. read and compared with the code stored in the control for a specific cable type, so that the laying process can only be continued if the magazine code matches the stored code.
- a machine-readable identification system code e.g. Bar or number code, transponder or the like
- the laying board is made of a mechanically rigid material and has a hole pattern, for example with matrix spacings of 2 x 2 cm, in its holes with corresponding clamp-fitting ones Plug-in extensions equipped with support, holding, clamping and deflecting elements for the cable routing according to a respective cable laying program, and of course the brackets for the start and target contact housings and any intermediate storage for contacts can be arranged.
- the embodiments of the support, holding, clamping and deflecting elements just mentioned can be adapted to the respective requirements in the course of the laying process. They can be bare pins with reinforced ends, which prevent a previously laid cable from slipping off the cable laying board. They can also have resilient springs, which deflect during the laying process when the cable is guided by means of the gripper pliers, but spring back after the pliers have passed and thus protect the cable from sliding off the holder, or in any other form suitable in this way be trained. Embodiments of the holding, clamping or deflecting elements according to the second variant of this claim are particularly preferred, in which the above-mentioned, e.g.
- a plurality of cables retaining spring of the clamping element is replaced by holding elements with resilient stems and resiliently held against each other, advantageously rotationally symmetrical, in particular convex outside hemispherical or spherical, holding heads.
- the cable can be guided directly over the position of the holding or deflecting point without being “bypassed”.
- the cable board is designed approximately in the form of a hollow cylinder inner surface which corresponds to the Handling system or robot with the cable, plug-in and laying gripping elements facing so that the individual paths that the laying head has to cover to the cable board are minimized.
- an embodiment of the laying board holders for the same is particularly advantageous according to the third variant of this claim, with an alignment of the housing axes or the The axes of their contact receptacles - which recesses, into which contact pins, can be inserted or which can be receiving pins onto which the contacts of the cable are pushed - should be arranged parallel to the laying board.
- this can, in spite of the fact that the beak-like design does not take up much space anyway Clamping the gripping and auxiliary gripping organs lead to difficulties with regard to the space required during the plugging process.
- the housing mounts in such a way that the contact housings held by them or their axes form an angle of at most 25 °, preferably between 10 and 15 °, with the laying board.
- FIG. 1a and 1b show the side view and top view of an embodiment of a wire harness production system according to the invention which is preferred for carrying out the method according to the invention
- FIG. 2 shows a schematic top view of a system of basically the same construction, with the activity area of an articulated arm Robot adapted arrangement of the magazine and embodiment of the laying board
- Fig. 3 shows the oblique view of an arrangement of a start and a target gripper cell with gripping member and auxiliary gripping member on one for mounting on the end arm of a handling system, for example Articulated arm robot, connecting flange to be arranged
- FIGS. 4 the oblique view of a working head of an articulated arm robot, with the start and target gripper cells or groups arranged thereon and a cable loop shielding device
- FIGS. 5a and 5b the side view and Top view of an unwinding member provided at least on the starting gripping member or starting auxiliary gripping member for guiding the cable along the laying track on the laying board
- FIGS. 6a to 6d show a front and side view and a top view of the cable board with a plurality of contact housing holders arranged thereon and a cable holding and deflecting element and a schematic sketch of a contact housing
- FIG. 7 shows the schematic view of a cable laying path
- FIG. 7 shows the schematic view of a cable laying path
- FIG 8 shows the oblique view of a cable preparation magazine according to the invention comprising several individual magazines
- FIG 9 is a plan view of a magazine stick provided for the same in a probe according to the invention
- FIG. 10 the oblique view of a special cable holding and deflecting element.
- the cable harness production system 100 shown in FIG. 1 comprises one of an articulated arm robot, such as, for example, a six-axis robot 1 with a — here fixed — location formed handling system, which can be supplied with control data from a control system 10 in accordance with a laying program LP, the working arm or head 12 of the robot 1 being equipped with the start and target gripper group 2, 3, which is not shown in any more detail here, 7) from a total of four laying boards 7 to 7 "'facing the same laying board rotating tower 79 and on both sides of the robot 1 a cable magazine 8 with cables 5 located therein.
- an articulated arm robot such as, for example, a six-axis robot 1 with a — here fixed — location formed handling system, which can be supplied with control data from a control system 10 in accordance with a laying program LP, the working arm or head 12 of the robot 1 being equipped with the start and target gripper group 2, 3, which is not shown in any more detail here, 7) from a total of four laying boards
- the magazines 8 are arranged one above the other, so to speak on two floors I, II, whereby the magazines 8 of the upper floor II are equipped with the short and therefore only short loops 55 and the magazines 8 of the lower floor I are equipped with the longer or long cables 5.
- This arrangement of the magazines enables the paths of the gripper groups of the Robot 1 for the removal of the cable 5 can be shortened and thus also the time for the removal process.
- the limits of the action space of the robot 1 are indicated by ar, the laying board 7 being arranged practically completely within the space ar mentioned, as is clear from the plan view.
- the laying board 7 has plug holes 71 which are open towards its front vs towards the front surface 750 and which have a hole grid 70, e.g. at a distance of 1 cm from each other.
- plug-in holes 71 - with corresponding plug-in feet (not shown here) holding, clamping and deflecting elements 701, 702, 703 and further contact housings at the points essential for the course of the individual cables of the cable harness to be manufactured.
- Holder 76 inserted, which hold the start housing 61 and the target housing 62.
- the laying board 7 is in a first position, namely in the cable laying position P1, while the laying boards 7 ', 7 "and 7'” e.g. are in the post-processing and finalization positions P2, P3 and an upgrade position P4.
- the turret 79 can be rotated about an axis projecting from a standing or base plate 791.
- the laying boards 7 to 7 "' are held by the turret arms 790 and are detachably attached to them.
- Fig. 2 shows only a top view of an optimal configuration or minimization of the working paths of the gripping members 2 and 3 carrying head 12 of the robot 1 optimal design of the laying board 7 and an appropriate arrangement of the magazines 8 in this regard.
- the cable board 7 is in this Embodiment essentially designed as a hollow cylinder inner surface, this concave surface 750 facing the robot 1.
- a radial beam arrangement of the cable magazines 8 on both sides of the robot 1 is shown, each also starting from a concave inner cylinder surface that continues the aforementioned surface of the laying board 7.
- a certain disadvantage of this arrangement in addition to its greater complexity, may also be that, since the magazines 8 cannot be arranged close to one another, that is to say not abutting one another, but instead have to be arranged radially in a radial manner, with a gaping outward, the space required higher than in the case of the linear arrangement of the magazines shown in FIG. 1.
- FIG. 3 shows those on a connecting flange 230 on the distal working arm of a handling system, not shown, e.g. Articulated-arm robot, arranged, assigned gripper groups, namely the start gripper group 2 and the target gripper group 3, it being noted at this point that the two gripper groups are practically identical in the case shown.
- the gripper group 2 is assigned a rotary drive 23 which enables the start gripper 21 and the start auxiliary gripper 22 located within a free space 200 between its actuating arms 202 about the main axis ha 2, this rotation being from 0 to 360 ° can go.
- the start gripping pliers 21 have the two distal beak-like clamping jaws 211, which - actuated by means of appropriate mechanics - can be moved towards or apart from one another essentially transversely to the axis ha 2 and thus hold a cable in a clamped manner, preferably axially identical to the pliers. Enable axis.
- the start auxiliary gripping pliers 22 located in the arms 202 of the gripping member 21 that bulge outward also have distal beak-like clamping jaws 221, which are designed practically in the same way as the clamping jaws 211 of the gripping member 21, these jaws 221 also being transverse to the axis ha 2 can be moved towards or away from one another in order to either clamp a cable, preferably also parallel to the axis, or to release it, for example when laying.
- auxiliary gripping pliers 22 can be advanced or withdrawn in the direction of the axis ha 2 between the - then opened - beak clamps 211 of the gripping pliers 21, by means of two articulated levers 251, 252, which on one of these levers arranged roller 25 is pivoted when the auxiliary gripper 22 is advanced between the jaws 211 of the gripper 21 into a position above the axis ha 2, so that it is between the jaws 211 of the gripper 21 and the jaws 221 of the auxiliary gripper 22, i.e. an im can essentially secure cable running along the axis ha 2 upwards.
- the two clamping surfaces of the beak-like jaws 211 of the gripping member 21 are designated 2001.
- the swivel drive 24 by means of which the starting gripper group 2 can be swiveled about an axis ha 4 transversely to the main axis ha 2, which is particularly advantageous when one of the two gripper groups 2 or 3 is currently in action , and the other, not active, e.g. the target contact, is pivoted backwards, which keeps the cable or its loop away from the laying board and also prevents possible tangling of the cable and thus unpleasant faults during the laying work.
- the target gripper group 3 is constructed identically to the start gripper group 2 in the arrangement shown, but its reference numerals begin with the number 3.
- the target gripper pliers 31 also have tongs arms 302 which diverge backwards and leave a space 300 between them, which merge distally into beak-like jaws 311 with clamping surfaces with 3001.
- the target auxiliary gripper 32 with its jaws 321 is arranged within the free space 300.
- a cable guide roller can also be provided in the target gripper group 3 by means of an articulated lever system.
- the target gripper group with the axis ha3 is shown pivoted upwards by a swivel angle ⁇ . It should be repeated here that the position of the gripper cells in the real working position is diametrically opposite to the position shown in FIG. 3.
- FIG. 4 shows - with otherwise constant reference sign meanings - how the axis and cross-axis pivotable working head 12 is arranged on the distal robot working arm 11, at the end of which the start gripper group 2 and the target gripper group 3 with their connecting flange 230 are arranged.
- the start gripper group 2 is in a vertical position with a vertical axis ha 2
- the target gripper group 3 is in an inclined position with an inclined axis ha3 which is pivoted upward to the front.
- the gripper group For the laying of a cable, the gripper group is then pivoted so that the main axis ha2 thereof essentially corresponds to the current course of the Laying track corresponds, the roller 25 in FIG. 4 still being on the observer side then located below the axis ha 2.
- a cable to be laid is positioned above the roller 25 and rests on it, so that the pulling of the cable during the laying on the cable board can proceed smoothly.
- the up and down pivoting arch 235 By means of the up and down pivoting arch 235, the cable hanging freely downwards when laid in a loop can be kept away from the laying board.
- a drive 225 is provided.
- a carriage 226 carrying the auxiliary gripping pliers 22 is moved forward or to the right in the drawing, and the cable guide roller 25, which is located in the drawing above the main axis ha 2, is articulated on the carriage and can be pivoted by means of a lever-lever system 251, 252 is arranged in the feed position of the pliers 22 in the position sg above the axis ha 2. Otherwise it has the position sa.
- FIG. 5 - that is to say a real bottom view - it is shown how a cable 5 is guided between the open clamping jaws 221 and their clamping surfaces 2001, which in the drawing points upwards, in the actual working position, but downwards is held by the roller 25 in the laying position and on which the cable 5 rolls while laying. It is also indicated how the cable 5 then passes from the unwinding reel 25 into a loop 55, not shown.
- the cable board 7 shown in FIGS. 6a to 6c has plug openings 71 which are open towards the viewer, that is to say the front side vs the surface 750 and are evenly spaced apart in a square grid 70.
- plug-in extensions 761 projecting from support plates 760 of a housing holder 76 holding a start contact plug housing 61 are inserted into the holes 71 of the grid 70.
- the cable board 7 is oriented here at an angle ⁇ of 90 ° to the horizontal, that is to say not inclined to the front.
- FIG. 6 From the top view of FIG. 6 it can also be seen how the housing holder 76 and the contact housing 61 held by it protrude obliquely to the front at an angle ⁇ from the surface 750 of the laying board 7 facing the observer, which increases the accessibility the contact recordings of the housings 61, 62 for the cable contacts held by the gripper pliers of the handling system are made considerably easier. From Fig. 6d is only for explanation the oblique view of a with its axis ga at an acute angle ⁇ from the cable board 7 obliquely forward or Start. Target housing 61, 62 shown with its contact receptacles 611, 621.
- FIG. 7 shows - by way of example only - how, by means of the robot, which is essentially controlled by the respective CAD installation plan according to corresponding algorithms, the fixing or deflecting elements 701, 703, in an alternate curved path with an increased distance to the respective element 701, 703 when driving the cable 5 is avoided in order to avoid collisions between the gripper tongs and the holding and deflecting elements 701, 703.
- FIG. 8 shows a package-like arrangement of four cable magazines 8 arranged closely next to one another, each of which has a profile frame 81 into which a magazine rod 82 is inserted.
- the magazine rod 82 On its front side 821, the magazine rod 82 carries a bar code 825, which is read by a corresponding sensor of the cable reading robot and compared with the code of the cable 5 to be removed, which code is stored in the robot controller, so that there is no confusion of cables 5 Removal can come from the magazines 8.
- Each magazine bar 82 with bar code 825 has a plurality of contact recesses 83 which are equally spaced from one another, which are each arranged in pairs and for holding the start contacts 51 and the target contacts 52 each of the contacts mentioned above or their crimping. Places 505 are provided in free loops 55 of hanging cables 5, and into which the 'contacts 51, 52 are inserted and each held by a schematically indicated clamping spring 84.
- FIG. 9 shows a particularly preferred embodiment of the magazine bars 82.
- the magazine bar 82 is constructed in three parts, namely with two flank parts 821 and a middle part 822 arranged between the two flank parts.
- the two flanks 821 point towards the middle part 822, an approximately rack-like one Shaping, which corresponds to a corresponding, also rack-like, bilateral design of the central part 822.
- Every second of the variant shown in the variant shown is inclined by an angle ⁇ of plus or minus 45 ° to the longitudinal extension of the rod 82 tooth surfaces of the two flank parts 821 has a recess or groove 831, which is designed such that a start contact 51 or a target contact 52 can be accommodated in a precisely defined position in each case.
- the recesses 831 of the two flank parts 821 of the rod magazine 82 correspond on both sides to open, approximately rectangular, substantially larger recesses or grooves 832 in every second tooth surface of the central part 822 of the magazine rod 82, which with their open sides on the open sides of the grooves Connect 831.
- leaf springs 84 extending along these grooves 832 and provided for a spring-clamped mounting of the cable contacts 51, 52, the clamping force of which is so high that the contacts 51, 52 are not affected by the weight of them downward hanging cable loops 55 can be pulled out of the grooves 83.
- Further magazine variants can consist of replacing the compression springs by rollers which themselves exert spring action, for example rubber rollers or rollers arranged on springs. But it can also with elastic material, such as Place rubber, formed contact plug-in channels or shafts in the place of the retaining springs or retaining rollers.
- the gripping pliers of the start and target gripping members engage the contacts 51, 52, clamp them and pull them downwards, the holding force of the spring 84 holding the contacts in a defined position is overcome.
- the cable (deflection) holder 703 shown in FIG. 10 is suitable, if appropriate, as a mere position holder or preferably for deflecting the cable 5 in the course of the cable laying path. It comprises a carrier plate 760 with plug-in extensions 761 for arrangement on the perforated grid 70 of the laying board 7 shown in FIGS. 1 and 6.
- two stems 7031 protrude from the plate 760 at a distance from one another from a spring-elastic one Material, which have thickenings at their ends, preferably approximately spherical holding heads 7032.
- the heads 7032 are resiliently pressed together by the resilient stems 7031.
- the two heads 7032 diverge, the cable 5 is placed in the space for between the stems, and when the gripper tongs have left the vicinity of the holder 703, close the two heads move the free space fv towards the front and hold the cable 5, or a bundle of cables growing during the laying work, secured against falling downwards.
- cable holders 703 can also be provided, which are equipped with three or four heads 7032 held resiliently against one another by the resilient stems 7031.
- Both ends of the line are held permanently and in a defined manner by the grippers during the entire removal, laying and plugging process.
- both cable ends can be stored in empty housings.
- Both cable ends or contacts are inserted into the magazine in a defined position.
- the entire cable length i.e. the wire loop, is held or guided in a defined manner while working on the laying board.
- the software of the robot controller calculates itself, e.g. based on the CAD data of the cable laying plan - the laying route. In the case of manual laying, extensive information from the staff and a corresponding need for learning, i.e. a training period, are required.
- a 6-axis robot has proven itself as a placement device. However, it is quite possible to expand this robot with additional axes.
- the method of laying the board and the method of the magazine can be provided.
- the laying board as a receptacle for the connector housing and as a processing level for the robot can be in any spatial position to the robot, e.g. "mounted overhead, so that he or she is out of the way of the cable loops.
- the cable magazines can be positioned in any spatial arrangement.
- the combination of magazine and gripping member enables the contacts to be rotated and positioned at the ends of the strands together by 360 °.
- the production lead time is significantly reduced, on average from 8 to 10 to 1 to a maximum of 2 days.
- the great advantage of the invention is its high spatial flexibility due to the extremely low space requirement of the narrow, beak-like contact gripping and holding members and, in particular, that not during the entire contact stretching and cable laying process a tool that is difficult to control and carries a voluminous cable magazine with its own grippers.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2002221317A AU2002221317A1 (en) | 2000-12-11 | 2001-12-10 | Method for producing cable harnesses and device for carrying out this method |
DE50114706T DE50114706D1 (de) | 2000-12-11 | 2001-12-10 | Verfahren zur herstellung von kabelbäumen und anlage zur durchführung des verfahrens |
EP01270894A EP1342248B1 (de) | 2000-12-11 | 2001-12-10 | Verfahren zur herstellung von kabelbäumen und anlage zur durchführung des verfahrens |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA2055/2000 | 2000-12-11 | ||
AT0205500A AT410609B (de) | 2000-12-11 | 2000-12-11 | Verfahren zur automatisierten herstellung von kabelbäumen und anlage zur durchführung des verfahrens |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002049046A1 true WO2002049046A1 (de) | 2002-06-20 |
Family
ID=3689732
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AT2001/000389 WO2002049046A1 (de) | 2000-12-11 | 2001-12-10 | Verfahren zur herstellung von kabelbäumen und anlage zur durchführung des verfahrens |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1342248B1 (de) |
AT (2) | AT410609B (de) |
AU (1) | AU2002221317A1 (de) |
DE (1) | DE50114706D1 (de) |
WO (1) | WO2002049046A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009112520A1 (de) * | 2008-03-11 | 2009-09-17 | Edag Gmbh & Co. Kgaa | Werkzeug, anlage und verfahren zur herstellung eines kabelbaums |
DE102009040697A1 (de) | 2009-03-11 | 2011-08-04 | EDAG GmbH & Co. KGaA, 36039 | Kabel-Greifwerkzeug zur Herstellung eines Kabelbaums |
CN111161919A (zh) * | 2018-11-08 | 2020-05-15 | 克龙贝格和舒伯特两合有限公司 | 用于彼此独立地抓取两个导体的抓取装置 |
EP3739697A1 (de) * | 2019-05-17 | 2020-11-18 | LEONI Bordnetz-Systeme GmbH | Vorrichtung sowie verfahren zum automatischen konfektionieren eines leitungspaares |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016013678A1 (de) | 2016-11-16 | 2018-05-17 | Audi Ag | System zum automatisierten Konfektionieren eines Leitungssatzes |
US11404183B2 (en) * | 2019-10-28 | 2022-08-02 | The Boeing Company | Apparatus for robotically routing wires on a harness form board |
WO2021191671A1 (en) * | 2020-03-24 | 2021-09-30 | System Robot Automazione S.R.L. | Cable manipulation head and system for automatically routing cables along a preset path |
DE102021127042A1 (de) | 2021-10-19 | 2023-04-20 | Siegfried Reichert | Translatorisches Doppelgreifersystem zum Ablegen eines Kabelsatzes |
Citations (3)
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EP0182592A2 (de) * | 1984-11-13 | 1986-05-28 | Westinghouse Electric Corporation | Flexibles automatisches Herstellungssystem |
WO1989000348A1 (en) * | 1987-06-30 | 1989-01-12 | Fraunhofer Gesellschaft Zur Förderung Der Angewand | Process for manufacturing cable bundles |
US4803778A (en) * | 1983-10-07 | 1989-02-14 | The Boeing Company | Method for making a wire harness |
Family Cites Families (4)
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DE3544219A1 (de) * | 1985-12-13 | 1987-06-19 | Fraunhofer Ges Forschung | Verfahren und vorrichtung fuer eine kabelbaumfertigungseinrichtung |
DE3822136A1 (de) * | 1987-06-30 | 1989-01-12 | Fraunhofer Ges Forschung | Verfahren zur herstellung von kabelbaeumen |
DE59008720D1 (de) * | 1990-02-06 | 1995-04-20 | Ttc Tech Trading Co | Einrichtung zum automatischen Montieren von elektrischen Leitern mit Kontaktteilen in Steckergehäuse. |
DE4218741C2 (de) * | 1992-06-06 | 1994-10-20 | Vossloh Schwabe Gmbh | Verfahren zum Verdrahten von Anschlußstellen elektrischer Geräte oder Baugruppenelemente |
-
2000
- 2000-12-11 AT AT0205500A patent/AT410609B/de not_active IP Right Cessation
-
2001
- 2001-12-10 AU AU2002221317A patent/AU2002221317A1/en not_active Abandoned
- 2001-12-10 DE DE50114706T patent/DE50114706D1/de not_active Expired - Lifetime
- 2001-12-10 EP EP01270894A patent/EP1342248B1/de not_active Expired - Lifetime
- 2001-12-10 AT AT01270894T patent/ATE422703T1/de active
- 2001-12-10 WO PCT/AT2001/000389 patent/WO2002049046A1/de not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4803778A (en) * | 1983-10-07 | 1989-02-14 | The Boeing Company | Method for making a wire harness |
EP0182592A2 (de) * | 1984-11-13 | 1986-05-28 | Westinghouse Electric Corporation | Flexibles automatisches Herstellungssystem |
WO1989000348A1 (en) * | 1987-06-30 | 1989-01-12 | Fraunhofer Gesellschaft Zur Förderung Der Angewand | Process for manufacturing cable bundles |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009112520A1 (de) * | 2008-03-11 | 2009-09-17 | Edag Gmbh & Co. Kgaa | Werkzeug, anlage und verfahren zur herstellung eines kabelbaums |
DE102008013591A1 (de) | 2008-03-11 | 2009-09-24 | Edag Gmbh & Co. Kgaa | Werkzeug, Anlage und Verfahren zur Herstellung eines Kabelbaums |
DE102008013591B4 (de) * | 2008-03-11 | 2010-02-18 | Edag Gmbh & Co. Kgaa | Werkzeug, Anlage und Verfahren zur Herstellung eines Kabelbaums |
DE202009018761U1 (de) | 2008-03-11 | 2013-03-12 | Fft Edag Produktionssysteme Gmbh & Co. Kg | Werkzeug und Anlage zur Herstellung eines Kabelbaums |
DE102009040697A1 (de) | 2009-03-11 | 2011-08-04 | EDAG GmbH & Co. KGaA, 36039 | Kabel-Greifwerkzeug zur Herstellung eines Kabelbaums |
CN111161919A (zh) * | 2018-11-08 | 2020-05-15 | 克龙贝格和舒伯特两合有限公司 | 用于彼此独立地抓取两个导体的抓取装置 |
EP3739697A1 (de) * | 2019-05-17 | 2020-11-18 | LEONI Bordnetz-Systeme GmbH | Vorrichtung sowie verfahren zum automatischen konfektionieren eines leitungspaares |
US11817235B2 (en) | 2019-05-17 | 2023-11-14 | Leoni Bordnetz-Systeme Gmbh | Device and method for the automatic assembly of a pair of wires |
Also Published As
Publication number | Publication date |
---|---|
AT410609B (de) | 2003-06-25 |
ATE422703T1 (de) | 2009-02-15 |
DE50114706D1 (de) | 2009-03-26 |
ATA20552000A (de) | 2002-10-15 |
EP1342248B1 (de) | 2009-02-11 |
AU2002221317A1 (en) | 2002-06-24 |
EP1342248A1 (de) | 2003-09-10 |
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