WO2019068547A1 - Procédé de fabrication d'une connexion par enfichage - Google Patents

Procédé de fabrication d'une connexion par enfichage Download PDF

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Publication number
WO2019068547A1
WO2019068547A1 PCT/EP2018/076242 EP2018076242W WO2019068547A1 WO 2019068547 A1 WO2019068547 A1 WO 2019068547A1 EP 2018076242 W EP2018076242 W EP 2018076242W WO 2019068547 A1 WO2019068547 A1 WO 2019068547A1
Authority
WO
WIPO (PCT)
Prior art keywords
plug
search
socket
gripper
contact
Prior art date
Application number
PCT/EP2018/076242
Other languages
German (de)
English (en)
Inventor
Sebastian Schädler
Andreas Münster
Tobias Burtscher
Original Assignee
Thyssenkrupp Presta Ag
Thyssenkrupp Ag
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 Thyssenkrupp Presta Ag, Thyssenkrupp Ag filed Critical Thyssenkrupp Presta Ag
Publication of WO2019068547A1 publication Critical patent/WO2019068547A1/fr

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39506—Grip flexible wire at fixed base, move gripper to top of wire and grip

Definitions

  • the invention relates to a method for inserting an electrical plug in the plug-in direction into a socket into a contact position in which contact elements of the plug are in electrical contact with corresponding mating contact elements of the socket, comprising the steps:
  • plug-in connections are known in which a plug having electrical contact elements is mechanically connected to a corresponding mating contact elements having plug socket for generating a
  • the plug is inserted in a predetermined spatial orientation in a linear movement in the insertion direction, which in the following corresponds to the x-direction of a rectangular coordinate system, into a corresponding receptacle of the receptacle, for example in the form of at least one section of the plug positively receiving, open against the insertion direction plug-in opening, also referred to as a receiving opening.
  • plug-in position is positioned in the insertion direction in front of the socket, so that he then with a rectilinear movement in the insertion direction, in the x direction, to into the final contact position.
  • plug and socket have small tolerances, so that the plug transversely to the plug-in direction (x-direction) in the rectangular According to the coordinate system must be aligned exactly in the yz plane perpendicular to the direction of insertion.
  • the aim is to produce the ever-increasing number of electrical plug-in connections by means of robots which have flexibly usable robot manipulators, for example at least one robot arm with a preferably multi-axially movable gripper.
  • robots which have flexibly usable robot manipulators, for example at least one robot arm with a preferably multi-axially movable gripper.
  • it is basically possible to grasp a plug in the gripper, and to bring it into position exactly in front of the socket in the desired plug-in position, and then insert it in the plug-in direction.
  • high-resolution sensors precise positioning relative to the socket is possible in principle.
  • In practice shows that already due to unavoidable, minimal deviations of the plug when inserting in the insertion direction in the socket can tilt. To compensate for these undesirable effects automatically by means of suitable sensors and control, so far, a considerable effort is required, or the assembly time is increased. Therefore, it is still widely used to manually make connections by human employees.
  • the aim is to make the production of electrical connectors by robots.
  • the method comprises the steps:
  • the plug is received in the gripper and positioned in the direction of insertion in front of the socket.
  • According to the connector is moved in the insertion direction against the socket, ie in the x-direction approached until the plug in a search area extending in an area around the receiving opening, can mechanically strike from the outside of the socket.
  • a search position is defined. In the search position, the plug is in the direction of insertion before reaching the contact position on the socket.
  • the plug does not yet enter the receptacle of the socket, but is located in the x direction at the level of the opening of the socket whose open receiving cross section extends in a plane transverse to the insertion direction, which forms the search plane extending in the yz direction ,
  • the stop of the plug on the socket can be recognized by measuring the force exerted on the gripper in the plug-in direction via the plug, for example by means of a force sensor arranged between the gripper and the robot manipulator.
  • a seek movement of the plug transversely to the direction of insertion and moved in the yz-seek plane.
  • the plug abuts against the socket from the outside within the search range, wherein the search range is formed by a defined surface area on the outside of the socket, which encloses the open cross-section of the receptacle of the socket.
  • the search area has a surface, namely the search area, which is larger than the open cross-sectional area of the receptacle of the socket, which in turn corresponds to the cross-section of the plug, which is positioned in the desired plug-in position substantially congruent in the open cross-section of the socket ,
  • the search area of the search area may be smaller than the 2-fold open cross-sectional area of the receptacle of the socket, preferably smaller than the 1.5 times open cross-sectional area.
  • the plug slides within the search area on the outside of the socket.
  • the plug can be moved in the region of the desired insertion position along a continuous search path.
  • the plug is moved on a continuous line in the search plane within the search area. This ensures that at least one instantaneous actual position of the plug within the search movement coincides with the desired plug-in position. In the method according to the invention, this match is recognized, as will be described below, and then inserted in the yz direction positionally arranged connector from the search position in the insertion direction into the socket and moved to the contact position.
  • the search movement runs along a two-dimensional search pattern over a surface section of the search plane, the entire search region can be swept over the surface by the plug, so that the actual position of the plug as it passes through the search pattern forming search path coincides with the desired plug position
  • the search pattern can be uniformly grid-shaped, so that the connector scans or scans the search area until a match between the actual position and the desired plug-in position is detected.
  • the search pattern can be configured chaotically in the sense of a random, stochastic movement, as a result of which the desired agreement is achieved with a high degree of probability.
  • the target plug position can be achieved quickly with the required accuracy, and immediately after the detection of the match, the plug of the Robotemanipulator threaded in the direction of insertion into the receptacle of the socket, ie be inserted in the x-direction and plugged into the socket until reaching the contact position.
  • the method can be performed quickly and reliably by means of a robot manipulator, whereby an automated production of a connector can be realized faster and with less effort than in the prior art.
  • the search movement comprises arcuately curved movement sections, such as spiral or Lissajous-figure-like trajectories.
  • arcuately curved movement sections such as spiral or Lissajous-figure-like trajectories.
  • oscillations in the yz-direction for example sinusoidal vibrations
  • trajectories can be generated in the search plane.
  • harmonic motion patterns that are defined as search patterns and can be traversed at a high path speed.
  • helical movements enable a substantially circular scanning of the search area, and Lissajous figure-like trajectories run in a rectangular search area.
  • the plug is preferably moved in an oscillating manner during the search movement.
  • the deflection of the search movement is preferably smaller than the distance of the search plane from the contact position. Due to the deflection of the search movement, the plug is moved within the above-mentioned search range, wherein the deflection in yz-direction determines the area of the search range in the search level.
  • the deflection can be relatively small, in particular smaller than the path in the insertion direction from the search position to the contact position, which defines the distance of the search plane from the contact position.
  • the deflection of the search movement can be determined in such a way that the search area swept by the plug during the search movement is smaller than the 2-fold open cross-sectional area of the receptacle of the receptacle or the cross-sectional area of the plug, preferably smaller than the ones 1, 5 -fold open cross-sectional area of the receptacle or plug.
  • An advantageous embodiment of the invention provides that the plug is pressed during the search movement with a threading force from the outside in the insertion direction against the socket.
  • the threading force is by definition the force with which the plug is loaded by the robot manipulator in the insertion direction against the socket. With the threading force, the plug is pressed against the search area during the search movement in the search plane.
  • the threading force by the described engagement of the plug in the socket ensures a secure positioning in the threading, so that when plugging further by means of the robot manipulator no tilting of the plug can occur. Consequently, the inventive method allows the automated production of a connector by plugging the plug into a socket with less effort, more reliable and faster than in the prior art.
  • the threading force is preferably chosen so that the plug during the search movement can easily slide along the socket and securely locks in the threading.
  • the insertion force which is exerted on the plug after the detection and finding of the desired plug-in position is preferably greater than the threading force in order to safely reach the contact position.
  • the threading force is measured during the search movement, and is evaluated to detect the coincidence of the actual position of the plug with the desired plug position.
  • the threading force remains substantially the same, and the measured amount of force can be readjusted via a control loop and kept constant.
  • the threading force falls off briefly, producing a control fluctuation.
  • the drop in the threading force is detected by the force measurement, and can be used to detect the coincidence of an actual position of the plug with the desired plug-in position.
  • This procedure which is controlled by the threading force, can be realized by a force-controlled robot manipulator.
  • an insertion force in the direction of insertion is exerted on the plug, which is greater than the threading force, and the plug is moved with the insertion force into the contact position.
  • the instantaneous position of the plug is measured, and evaluated for detecting the coincidence of the actual position of the plug with the desired plug-in position.
  • the measured actual position of the plug can be used to determine compliance with the desired plug-in position, or used for a check.
  • An electrical plug is usually attached to the end of a cable having one or more electrically conductive wires and the surrounding insulation in the form of a cable tube. To adapt to the installation situation, the cable is flexible.
  • a frequently occurring mounting situation is that the cable with a device-side end is firmly connected to an electrical component, such as a motor, a sensor or the like, and at its free, plug-side end of the plug, for establishing an electrical connection with a corresponding socket of a power supply, a switching or control unit or the like must be connected.
  • an electrical component such as a motor, a sensor or the like
  • the gripper In order to be able to grasp the plug from the gripper, the gripper must be positioned in the open position relative to the plug so that the plug is located between the open gripper jaws. Then the jaws are moved against each other until they rest in the gripping position with a predetermined gripping force on the plug and the plug is held in the gripper.
  • the problem is that the flexible cable can not be removed from an exact position without further aids, and the cable can interfere with the automated gripping of the plug by means of a robot manipulator due to an unfavorable position. For this reason, the production of a connector is currently performed manually by human technicians. Since the electrical connectors, in particular in mechatronic If vehicle systems are frequently critical to safety, the assembly process must be safeguarded by means of additional measures, such as double worker testing, random checks or complex test equipment. Due to the manual installation, it is not possible to record and evaluate the process forces.
  • the method provides that for gripping the plug, the gripper of a robot manipulator is attached in the course of the cable, and is guided along the cable until, by means of a sensor attached to the robot manipulator, the plug is detected in the region of the gripper, and the gripper on Plug is brought into the gripping position.
  • the gripper is positioned relative to the cable, so that the cable is in its course between the device side and stecker Jerusalemem end between the jaws.
  • the attachment of the gripper can for example take place in a Ansetzposition the vicinity of the device-side end of the cable, where the cable is firmly connected to an electrical component.
  • This attachment position is then already spatially predetermined by the predetermined during assembly spatial orientation of the electrical component, such as a motor.
  • the gripper may be moved by the robot manipulator for detecting the cable in an open position to this attachment position, so that the gripping jaws comprise the area in which the cable is firmly attached to the electrical component, for example, outwardly from an outer wall of the component or a device housing exits to the outside.
  • the cable can be found in the simplest case already by the defined spatial positioning of the gripper safely.
  • a sensor for finding the cable may be provided, for example by a system for detecting the position of the electrical component.
  • a sensor device can be attached to the gripper.
  • be attached for example, an optical sensor or a force sensor with which can be detected and distinguished whether the gripper is in the course of the cable and is attached to the cable, or whether the plug is located between the jaws.
  • the gripper is designed to be force-sensitive, and has, for example, at least one force sensor or is attached to a force sensor.
  • the force sensor which may for example be attached to the gripper jaws, the gripping force exerted on the gripper jaws can be measured and fed to a gripper force control.
  • About the gripping force control can be concluded on the mechanical nature of the befindaji in the gripper object, for example, it can be distinguished whether there is a flexible, flexible cable between the jaws, or a relatively thicker, rigid plug.
  • an optical, inductive or a sensor operating according to another measuring method can be attached to the gripper, which enables a clear and unambiguous recognition as to whether the cable or the plug is located between the gripper jaws of the gripper.
  • the gripper is moved from the device-side end to the plug-side, free end along the cable.
  • the measurement results of said sensor are evaluated, which are attached for example to the gripper.
  • the plug attached there is located between the open gripper jaws.
  • the sensor which can detect optical, mechanical or other characteristic measured variables as described, it can be clearly and reliably determined that now the plug is located between the gripper jaws and the gripper is closed by closing the gripper jaws on the plug, i. can be brought into grip position. This allows a secure gripping of the plug in the gripper of the robot manipulator done.
  • a gripping of the plug between the jaws of the gripper of a robot manipulator can be realized, which can be used advantageously as a method step in the aforementioned method according to claim 1 for inserting an electrical plug in the plugging direction into a socket to a contact position in which contact elements of the plug are in electrical contact with corresponding mating contact elements of the socket, comprising the steps:
  • the gripper encloses the cable tube (the cable) and moves its fingers (gripping jaws) to the connector at the end. As soon as he has reached him, he shakes the small plastic part (plug) until he has seized it safely. Now, the plug into the socket (socket) of a control unit: a short swing towards the target, careful touchdown, followed by gentle shaking (oscillating movement in the search plane transverse to the direction of insertion) - until the plug slowly into the socket (socket) occurs and stuck in the end (in contact position).
  • Speed and flexibility are the hallmarks of the Advanced Robotics Lab, and the young team has two robots to work with, as well as developers who can quickly make parts or have them made by a 3-D printer, and if something goes wrong, they can get it Spontaneously standard items such as aluminum profiles, and adapt them with simple means, or they sometimes use materials from the model making, as quickly as possible to realize a gripper or a jig.
  • the control software for the robot is also within a few days in teamwork, on one Tafel just wrote down the team, how the seven axes of iiwa are for the newest Project should move.
  • FIG. 1 shows a schematic view of a first mounting situation
  • FIG. 2 shows a schematic view of a second mounting situation
  • FIG. 3 shows a schematic view of a third mounting situation
  • FIG. 4 shows a schematic view of a fourth mounting situation
  • Figure 5 is a schematic view in the insertion direction of the socket in the third
  • FIGS. 1 to 4 show successive phases of the method according to the invention during the assembly process.
  • a flexible, elongated electrical cable 1 is at its device-side end 1 1 fixed to an electrical component 2, such as a motor, connected, and has at its plug-side end 12 a plug 3.
  • a second electrical component for example a control unit 4, has a socket 5.
  • the socket 5 corresponds to the plug 3, such that the plug 3 can be plugged into the socket 5 in an insertion direction x for the purpose of establishing an electrical connection.
  • the socket 5 has a receptacle opening 51 which receives a form-locking receptacle at least over a section of the plug and is open towards the plugging direction x.
  • the plug-in direction x extends in the direction of the x-axis of a rectangular coordinate system whose y- and z-axis are perpendicular to it.
  • a robot manipulator comprises a robot 6 to which a multi-axially movable gripper 7 is attached.
  • the gripper 7 has jaws 71, which can be moved from an open position against each other by motor in a grip position, as indicated by the arrows directed against each other.
  • sensors 72 and 73 are mounted on the gripper 7, for example force sensors, with which the force exerted by the robot arm 6 on the gripper 7 force can be measured in the insertion direction x, and / or operate optically, inductively or according to other measurement principles, and with where an object located between the jaws 71, in particular the cable 1 and the plug 3, are detectable.
  • the gripper 7 is brought in the open position as shown in Figure 1 in Ansetzposition, and attached in the course of the cable 1, for example, as shown in the region of the device-side end of the cable 1 1 1, so that this is located between the jaws 71.
  • This attachment position is detected by the sensors 72, 73.
  • the gripper 7 is moved by the robot arm 6 on the cable 1 in the direction of the plug-side end 12, as indicated by the arrows which follow the course of the cable 1.
  • the state shown in Figure 2 is reached, in which the plug 3 is located between the gripping jaws 71 of the gripper 7.
  • the gripping of the plug 7, by the gripping jaws 71 are moved from the open position against each other in the grip position against the plug 7, so that the plug 7 is held in the gripper 7.
  • the inventive method for gripping the plug 3 is realized.
  • the gripper 7 is brought by the robot arm 6 in the search position shown in Figure 3, in which the plug 3 is approximated to the socket 5 and is aligned in the insertion direction x.
  • the plug 3 strikes with its front in the insertion x front on the - left in the figure - outside of the socket 5 at.
  • the contact takes place in the search plane S, which extends perpendicular to the insertion direction x parallel to the y-z plane.
  • the plug 3 In the search position, the plug 3 is still outside the contact position, and is not yet inserted into the receiving opening 51 of the socket 5. While the plug 3 is pressed by the robot arm 6 with a threading force F against the socket 5, the gripper 7 performs a seek movement in the yz plane, wherein the plug 3 slides along the outside of the socket 5. In the seek motion, the plug 3 is moved on one in a two-dimensional, planar search path within a search area 52 which extends around the receiving opening 51, as shown schematically in an x-direction view in FIG.
  • the search movement as indicated schematically in FIG. 5, can take place in spiral or other, for example, Lissajous-like or random trajectories.
  • the plug 3 is thereby moved by the threading force out of the search plane slightly in the insertion direction x to the contact position in the so-called threading position, without the need for a complex control or the like would be required.
  • the plug 3 In the threading position, the plug 3 is fixed in the yz direction in the socket 5.
  • an insertion force which is preferably greater than the starting delkraft F, the plug can be inserted in a straight line and without tilting in the insertion direction x further into the socket 5 until the final contact position shown in Figure 4 is reached.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé servant à enficher une fiche (3) électrique dans une direction d'enfichage (x) dans une douille d'enfichage (5) jusque dans une position de contact dans laquelle des éléments de contact de la fiche (3) se trouvent en contact électrique avec des éléments de contact antagonistes correspondants de la douille d'enfichage (5). Le procédé selon l'invention comprend les étapes consistant à : saisir la fiche (3) dans le grappin (7) d'un manipulateur robotisé ; positionner la fiche (3) dans une position d'enfichage théorique par rapport à la douille d'enfichage (5) de manière transversale à la direction d'enfichage (x) ; déplacer la fiche (3) dans la direction d'enfichage (x) aux fins de l'introduction dans la douille d'enfichage (5) jusque dans la position de contact. L'invention vise à rationaliser et à améliorer la fiabilité d'une fabrication automatisée d'une connexion par enfichage au moyen d'un robot. L'invention propose à cet effet les étapes consistant à : approcher la fiche dans une direction d'enfichage (x) jusque dans une position de recherche, dans laquelle la fiche (3) touche mécaniquement la douille d'enfichage (5) à l'extérieur de la position de contact ; effectuer un déplacement de recherche de la fiche (3) dans un plan de recherche (S) situé de manière transversale par rapport à la direction d'enfichage (x) ; identifier une correspondance entre une position réelle de la fiche (3) et une position d'enfichage théorique ; déplacer la fiche (3) hors de la position de recherche dans la direction d'enfichage (x) jusque dans la position de contact.
PCT/EP2018/076242 2017-10-04 2018-09-27 Procédé de fabrication d'une connexion par enfichage WO2019068547A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017217601.6A DE102017217601A1 (de) 2017-10-04 2017-10-04 Verfahren zur Herstellung einer Steckverbindung
DE102017217601.6 2017-10-04

Publications (1)

Publication Number Publication Date
WO2019068547A1 true WO2019068547A1 (fr) 2019-04-11

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WO (1) WO2019068547A1 (fr)

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CN113615005A (zh) * 2019-04-02 2021-11-05 大众汽车股份公司 用于在第一构件与第二构件之间建立经公差补偿的连接的方法和电驱动装置
US11643227B2 (en) 2019-09-24 2023-05-09 Astroscale Israel, Ltd. In-orbit spacecraft servicing through umbilical connectors

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EP3974121A1 (fr) 2020-09-23 2022-03-30 Liebherr-Verzahntechnik GmbH Dispositif de fabrication automatisée d'un connecteur enfichable
EP3974119A1 (fr) 2020-09-23 2022-03-30 Liebherr-Verzahntechnik GmbH Dispositif automatisé de raccordement de prises
CN112993720B (zh) * 2021-03-30 2024-05-14 西南电子技术研究所（中国电子科技集团公司第十研究所） 高密度pcb板接插高速信号连接器免焊压接工装

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CN113615005B (zh) * 2019-04-02 2024-02-06 大众汽车股份公司 用于在第一构件与第二构件之间建立经公差补偿的连接的方法和电驱动装置
US11643227B2 (en) 2019-09-24 2023-05-09 Astroscale Israel, Ltd. In-orbit spacecraft servicing through umbilical connectors

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