WO2010057768A1

WO2010057768A1 - Method for automated mounting of alignable devices on a mounting base and mounting arrangement

Info

Publication number: WO2010057768A1
Application number: PCT/EP2009/064520
Authority: WO
Inventors: Armin Herzog; Genadi Neumann; Jörg Diekmann; Marco Waldhoff; Michael Gockel; Lars HÜSEMANN; Peter Meyer; Walter Althaus
Original assignee: Weidmüller Interface GmbH & Co. KG
Priority date: 2008-11-18
Filing date: 2009-11-03
Publication date: 2010-05-27
Also published as: DE102009017999A1

Abstract

The invention relates to a method for automated mounting of alignable devices comprising housings (2) and one or more conductor connections, particularly terminal blocks (1), on a mounting rail, particularly on a support rail (103), using a mounting robot that comprises a moving gripper (4) for gripping at least one of the alignable devices in each case, wherein the gripper (4) grips the housings (2) and wherein the gripper (4) preferably feeds the housings to a particularly automated labeling or marking before, during, or after the housings are mounted on the support rail (103).

Description

Method for the automated assembly of stackable devices on a mounting base and mounting arrangement

The invention relates to a device and a method for the automated assembly of attachable devices, in particular terminal blocks, on a mounting base, in particular on a mounting rail.

In order to perform not only the manual assembly of attachable devices but also automated devices of this type with the aid of assembly robots, it is necessary to further develop both the electrical devices themselves and the assembly tools.

Against this background, it is the object of the invention to further develop the generic method and the generic device.

The invention achieves this object by the subject matter of claim 1. The invention further provides the method of claim 11.

It is particularly advantageous and greatly facilitates the assembly process in view of the need for marking or marking of the devices, in particular terminal blocks, when the housings are automatically marked before, during or after assembly, which is achieved by the application of markers, Displays, printed nameplates or the like. Can take place or by the direct application of markings, in particular imprints or the like. On the case or on printable films or papers on the housings.

The invention also provides an advantageous mounting arrangement for automated mounting of terminal blocks with a mounting robot with a gripper arm with a gripper, at least one or a plurality of equipped with devices, in particular terminal blocks magazines, a marking or marking station and at least one mounting rail to be populated, said Magazines, the marking or marking station and the mounting rail around the Boter are distributed so that it can reach the magazines, the marking or marking station and the mounting rail for the purpose of marking or mounting and mounting.

In this way, the components required for mounting and labeling are also structurally advantageously combined into one arrangement.

Advantageous embodiments of the invention can be found in the dependent claims.

The invention will be described in more detail below with reference to the drawing with reference to exemplary embodiments. Show it:

Fig. La c perspective views of different gripper sections and corresponding terminal blocks;

2a, b, 3, 4 are perspective views of further gripper sections and corresponding terminal blocks;

Fig. 4, 5 a plurality of terminal blocks before and after insertion into a receiving magazine; Fig. 5 is another perspective view of the arrangement of Fig. 5; and

Fig. 6 different terminal block assemblies;

8 shows an arrangement for automatically loading a mounting rail with terminal blocks; and

9a, b, c to 12a, b, c a marking or marking of a series terminal and a mounting of a mounting rail with the terminal block in four successive steps with the arrangement of Fig. 8; and FIGS. 13 to 16 show various alternatives of marking or marking

Terminal blocks during assembly.

Fig. 1 shows a terminal 1 with a housing 2 made of insulating material, which is provided with a mounting base 3 for mounting, in particular for snapping, on a mounting base, in particular a hat-shaped mounting rail (not shown here) and the terminals (of which only conductor insertion openings 12 can be seen here) for connecting electrical and / or optical conductors.

The term terminal block is not too narrow. On the one hand, it can be a pure feed-through terminal, but it can also be an electrical device having an electronic circuit. Essential is the alignability of the housings directly next to each other on a mounting base, e.g. on a DIN rail, as used to configure control cabinets. In any case, a part of the attachable housing has one or more of the conductor terminals.

The terminal block 1 is adapted to be gripped by means of a movable one-part or multi-part gripper 4 and placed and locked on the mounting rail.

The gripper 4 is designed according to a preferred embodiment as a gripper tongs and preferably forms a part of a mounting robot, which is adapted to the gripper 4 in space to move to grab the terminal blocks 1 successively and set up on the mounting base.

Preferably, the terminal blocks 1 are snapped onto the mounting rail "from above" during assembly with the gripper 4.

The gripper tongs 4 preferably have - but not necessarily - two gripping jaws 5, 6 movable relative to one another.

In order to grasp the gripper 4 anreihbare blocks, in particular terminal blocks, various configurations, is provided, the gripper 4 and the terminal 1, in particular the housing 2, with corresponding, positively and / or non-positively cooperating receiving and mounting contours 7, 8th to provide, which can be configured in various ways.

Particularly preferred are the corresponding receiving contours 7, 8 as zusammen¬ or nestable projections 7 on the gripper 4 and the Ge. housing 2 and as recesses 8 in the housing 2 of the terminal block 1 and in the gripper 4 is formed.

It is advisable to form the projections as pin 7 and the recesses as corresponding through holes, blind holes or grooves 8, such that the pins 7 and the through holes, blind holes or grooves 8 are engageable with each other.

Fig. Ia discloses a variant in which the corresponding, positively and / or non-positively cooperating receiving and mounting contours 7, 8 are formed as pins 7 on the gripping jaws 5, 6 and as blind holes 8 in the housing 2 of the terminal 1.

The pins 7 are formed according to the variant of Fig. Ia on the mutually facing inner sides of the gripper jaws 5, 6 and the recesses 8 on opposite outer side of the housing, so that this terminal 1 by a movement to move the gripper jaws 5, 6 of can be gripped outside to put them on the mounting rail.

The number and geometry of the jumps and recesses 7, 8 can be varied almost arbitrarily. In particular, they may have a corresponding tapered geometry.

According to Fig. Ia two cylindrical cross-section pin 7 and recesses 8 are provided.

By contrast, FIG. 1c shows a variant with only one trapezoidal pin 7 on the two gripper jaws 5, 6 and one corresponding blind hole 8 of a trapezoidal configuration in the housing 2 of the terminal block 1.

Alternatively, the holes or grooves 8 may also be formed on the gripper 4 and the pins 7 on the housing 2 of the terminal block 1 (Fig. Ib). Fig. 2a shows a variant in which the gripper 4 and the terminal block 1 in turn have corresponding pin 7 and holes 8, but these are designed such that the gripper 4, the terminal 1 quasi in "arrangement direction" engages.

Also, Fig. 2b shows a variant in which the gripper and the terminal have corresponding pins 7 and 8 holes, but these are designed such that the gripper 4, the terminal 1 from above -. from the side facing away from the locking foot - preferably slightly clamped attacks.

Fig. 3 shows an arrangement of gripper 4 and terminal 1, whose function corresponds to that of Fig. Ib.

The same applies to Fig. 4, which corresponds to Fig. Ic functionally, in which case the recess 8, the housing 2 of the terminal in the direction of arrangement of grooves on the opposite sides of the terminal 1 can fully enforce.

According to a variant of the invention, it is advantageous to assemble the terminal blocks 1 prior to assembly in magazines 9, from which they can take the gripper 4 of the assembly robot.

It is also advantageous also for the storage of terminal blocks 1 in the magazines 9 corresponding contours 10, 11 form on the housings 2 and on the rail-like magazines 9 on which the housing 2 are guided in the magazines 9 slidably. These contours 10, 11 can be e.g. schwalbenschanzartige grooves and webs on the terminal blocks 1 and the magazines 9 be.

In order to also be able to process terminal blocks 1 of different widths vertically or on both sides of the carrier rail with magazines 9, it is advisable to assemble them into magazines of various widths. Advantageously, for this purpose, the number of different widths perpendicular to the mounting rail on only a few widths, eg three different widths limited (Fig. 7). According to a particularly preferred variant, the terminal blocks both the receiving and mounting contours 7, 8 for the gripper 4 of the assembly robot and the contours 10, 11 for insertion into the rail-like magazine 9.

It should also be noted that the term "terminal block" in the sense of the present application also end plates, end angle and / or other housing are to be understood, which are to be mounted on the mounting rail.

It is particularly advantageous and considerably facilitates the assembly process if the housings are automatically marked before, during or after assembly, which can be done by the application of markers, displays, printed nameplates or the like, or by the direct application of markings, in particular Print or the like on the housing or on printable films or papers on the housings.

A control computer determines the information to be applied to the terminal, e.g. retrieved from a database.

Then the next terminal 1 is gripped and mounted by the assembly robot. In this case, before or after they are also preferably marked automatically in a marking or marking station, wherein it has been particularly advantageous to perform this marking or marking, in particular printing, before mounting on the mounting rail by the mounting robot, the terminal For example, it feeds to the printing station before assembly.

An exemplary arrangement for marking or marking terminal blocks and for subsequent mounting on a mounting rail shows. Fig. 7.

According to Fig. 8, a mounting robot 100 with a gripper arm with a gripper 4, a plurality of equipped with terminal blocks 1 or can be loaded magazines 9, a marking or marking station 102 and a mounting rail 103 are distributed on a mounting pad 101. In Fig. 8, several are consecutive approachable positions of the gripper arm shown. There are two of the support rails 103 arranged on a rotary base 106, so that the change of the support rails is facilitated.

Preferably, the assembly robot is arranged centrally and the magazines 9, the marking or marking station 102 and the support rail 103 are - preferably on a circle - distributed around the mounting robot so that it the magazines 9, the marking or marking 102 and the Can reach rail 103 for the purpose of marking or mounting and mounting. In the magazines 9 preferably terminal blocks of different types and / or different design are arranged.

A particularly preferred method for the automated assembly of attachable devices with housings 2 and one or more conductor terminals, in particular terminal blocks 1, on the mounting rail, in particular on the mounting rail 103 with the mounting robot 100, the movable gripper 4 for gripping each of at least one of the stackable Device has the following sequence: a) The assembly robot 100 engages with its gripper 4 one of the housing 2 from one of the magazines 9. Preferably, the mounting robot 100 is provided with a S expensive device (a microprocessor-controlled control device), which is linked to a database in which information about the assembly and marking process are stored. In particular, this information includes a flowchart, i. the sequence of the terminal blocks 1 to be mounted on the respective mounting rail as well as information about the marking to be carried out (FIG. 9).

b) Then, the assembly robot moves the terminal blocks 1 to be mounted in the region of the marking or marking station 102. Here, the marking or marking station has a printing station 104 and a fixation s station 105. First, the mounting robot 100 holds the respective terminal 1 to be mounted under the printing station, which has a print head. This printhead can be used as an inkjet be formed printhead, which is provided with an ink for printing surfaces of plastic. Preferably, the mounting robot 100 moves the terminal under the print head perpendicular to its print area (a portion of a straight line). For this purpose, the movements of the print head 104 and the mounting robot 100 are synchronized, ie their S expensive devices must be linked to each other or the entire control is done using only a single control s device. In this case, the printing of the terminal, so their mark is done. This method is particularly clear and reliable in that the assembly robot 100 in each case provides the terminal block with the appropriate mark and faulty conditions are largely ruled out. Theoretically, this marking can also take place in other ways, for example by scribing a label with a laser or by gluing the terminal block to a pre-printed label so that the assembly robot removes it from a separate magazine or pre-printed marker mat (FIG. 10).

c) Preferably, the terminal block 1 printed in this way is then held under the fixing station 105 or moved under it (FIG. 11). It can be provided to carry out the printing with a UV-curable ink and then to fix it by means of UV light irradiation.

d) Then sets - preferably snapped - the mounting robot, the terminal block on the support rail 102 on.

The invention thus provides a particularly advantageous assembly method, in which the process of labeling or (hereby equated) labeling or (in turn equivalent) marking the individual terminals is integrated, which increases the process reliability.

Figures 13 to 16 show various alternatives of marking. FIG. 13 illustrates first that these markings include variants:

1. a direct labeling of the terminal blocks;

2. 2. Indirect labeling of the terminal blocks

3. a direct and indirect labeling of the terminal blocks (see Fig. 3).

These three individual variants in turn comprise a plurality of alternatives, which are shown in FIGS. 14 to 16.

First of all, in the three alternatives of labeling the terminal blocks, it is necessary to distinguish whether the individual terminal blocks are labeled or a whole row, i. a plurality of terminal blocks. Then, these alternatives continue to branch out according to the disclosure of FIGS. 14 to 16. These variants are all to be highlighted as advantageous. In particular, mention should be made in each case of the alternatives of directly labeling the clip material or labeling a marker (label or label) which is plugged onto the terminal block, preferably already during / directly after its production.

While Figs. 9-12 show marking prior to mounting the devices on the mounting rail 103, the labeling of the terminal block may alternatively be done after mounting, e.g. by moving the entire support rail under a print head, e.g. with the gripper or another tool.

Particular preference is given to a label of each terminal, in particular on a pre-assembled white plate, in particular glued or snapped and again preferably a label in black by means of UV ink and a fixation via UV LED unit.

After removal of the clamp or the part to be labeled, this is passed by the robotic arm to a driving tape. The driving tape synchronizes the homing signal and thus determines the position of the object. A positionally accurate lettering is carried out and the applied Ink then hardened in the fixation s station (the robot preferably transports the part to be labeled to this station). After curing, the terminal block is snapped onto the appropriate position of the mounting rail.

The data are generated, for example, by means of a planning program for planning the assembly of mounting rails and sent to the robot. At the same time, the associated label data is sent to the printing system to couple both units, robot and printing system.

Claims

claims

1. A method for the automated assembly of attachable devices with housings (2) and one or more conductor terminals, in particular row terminals (1), on a mounting rail, in particular on a mounting rail (103), with a mounting robot having a movable gripper (4 ) for gripping in each case at least one of the attachable devices, wherein the gripper (4) engages the housing (2) and wherein preferably the gripper (4) before, during or after the mounting of the housing on the mounting rail (103) this particular one automate labeling or marking feeds.

2. The method according to claim 1, characterized in that the assembly robot information about the device to be mounted and to be marked removes a database and moves the gripped housing for marking or marking under the print head of a printing station (104) ago, where they are printed.

3. The method according to claim 2, characterized in that the movements of the assembly robot (102) and of the print head are synchronized.

4. The method according to any one of the preceding claims, characterized in that the devices are individually labeled.

5. The method according to any one of the preceding claims, characterized in that several of the devices are labeled in chronological succession directly successively.

6. The method according to any one of the preceding claims, characterized in that the housing of the devices are labeled directly or that a label is labeled on the housing.

7. Mounting arrangement for automated mounting of terminal blocks with a mounting robot (101) with a gripper arm with a gripper (4), at least one or a plurality of equipped with devices, in particular terminal blocks (1) magazines (9), a marking or marking station (102) and at least one mounting rail (103) to be loaded.

8. Mounting arrangement according to claim 7, characterized in that the magazines (9), the marking or marking station (102) and the support rail (103) are distributed to the mounting robot so that he

Magazine (9), the marking station (102) and the mounting rail (103) are accessible for the purpose of identifying and mounting the mounting robot.

9. Mounting arrangement according to claim 7 or 8, characterized in that the marking or marking station has a printing station (104) and preferably a fixation s station (105).

10. Mounting arrangement according to claim 7, 8 or 9, characterized in that the printing station (104) comprises an ink jet print head.

11. Mounting arrangement according to claim 10, characterized in that the printing station (104) and the assembly robot are synchronized during printing.

12. Mounting arrangement according to one of the preceding claims, characterized in that the gripper (4) and the device, in particular the terminal block (1), with corresponding positive and / or non-positively cooperating receiving and mounting contours (7, 8) are provided.

13. Mounting arrangement according to claim 12, characterized in that the gripper (84) is designed like a pliers and has two relatively movable gripping jaws (5, 6).

14. Mounting arrangement according to one of the preceding claims, characterized in that the corresponding receiving and mounting contours (7, 8) as zusammen- or nestable

- Projections (7) on the gripper (4) or to be mounted terminal blocks, and

- As recesses (8) in the terminal blocks to be mounted (2) or in the gripper (4) are formed.