WO2022195324A1 - Traitement de câble avec amenée et retrait - Google Patents

Traitement de câble avec amenée et retrait Download PDF

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Publication number
WO2022195324A1
WO2022195324A1 PCT/IB2021/052219 IB2021052219W WO2022195324A1 WO 2022195324 A1 WO2022195324 A1 WO 2022195324A1 IB 2021052219 W IB2021052219 W IB 2021052219W WO 2022195324 A1 WO2022195324 A1 WO 2022195324A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
cables
cable processing
processing machine
transfer
Prior art date
Application number
PCT/IB2021/052219
Other languages
German (de)
English (en)
Inventor
Michael ZBINDEN
Willi Blickenstorfer
Andreas VON NIEDERHÄUSERN
Wolfgang Fischer
Thomas ZBINDEN
Simon Berger
Original Assignee
Schleuniger 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 Schleuniger Ag filed Critical Schleuniger Ag
Priority to PCT/IB2021/052219 priority Critical patent/WO2022195324A1/fr
Priority to JP2023556733A priority patent/JP2024519651A/ja
Priority to CN202311503297.9A priority patent/CN117790078A/zh
Priority to MX2023010952A priority patent/MX2023010952A/es
Priority to PCT/IB2022/051939 priority patent/WO2022195395A1/fr
Priority to EP22708238.5A priority patent/EP4309194A1/fr
Priority to CN202280022041.3A priority patent/CN117043895A/zh
Publication of WO2022195324A1 publication Critical patent/WO2022195324A1/fr
Priority to JP2023213825A priority patent/JP2024036321A/ja

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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
    • H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
    • B65D85/02—Containers, packaging elements or packages, specially adapted for particular articles or materials for annular articles
    • B65D85/04—Containers, packaging elements or packages, specially adapted for particular articles or materials for annular articles for coils of wire, rope or hose

Definitions

  • the invention relates to a cable processing system according to the preamble of claim 1, which includes a cable processing machine with a machine control for the automatic processing of cable ends of heavy, relatively rigid cables on a frame.
  • it is a cable processing system in which pre-lengthened cable pieces or cable products of a defined length are processed, preferably on a or two cable ends, i.e. not a system that only works from the roll - i.e. almost endlessly - but a cable processing system for processing previously lengthened cables or cable pieces, which are fed in the form of piece goods.
  • the cables are often fed to the machine or to one or more cable processing stations manually. This is particularly true when cable ends of heavy, relatively rigid cables have to be processed, which often behave in an undefined and stubborn way when they are to be moved, bent or twisted. Specially stiff or rigid, inflexible or inflexible cables, which can only be bent or twisted with effort and mostly elastically.
  • cables with cross-sections from 2.5mm 2 to 150mm 2 coaxial cables or cables with a total diameter >lcm, multi-conductor cables 2.5mm 2 to 6mm 2 , minimum bending radius equal to or greater than 17 to 270mm, with shielding, with a thick inner conductor or with a large number of individual conductors, and/or with specially resistant sheaths, for example for power cables in motor vehicles, etc.
  • Human Workers can usually deal with such cables intuitively or from experience, whereas automated or robotic systems repeatedly fail at such tasks, at least sporadically, which can lead to machine downtime or missing parts.
  • US Pat. No. 5,125,154 or US Pat. No. 5,152,395 shows a machine in which a whole box containing cables individually suspended on transport units moves through a machine during processing.
  • DE 10 201 611 645 also works with special cable boxes for each of the cables that are fed in as such.
  • the cables are often fed to the machine or to one or more cable processing stations manually. This is particularly true when processing cable ends of heavy, relatively rigid cables that often behave undefined and unruly when moved, bent or twisted. Stiff or rigid, inflexible or inflexible cables, which can only be bent or twisted with the application of force and mostly elastically, are particularly affected.
  • cables with cross-sections from 2.5mm 2 to 150mm 2 coaxial cables or cables with a total diameter >lcm, multi-conductor cables 2.5mm 2 to 6mm 2 , minimum bending radius the same or greater than 17 to 270mm, with shielding, with a thick inner conductor or with a large number of individual conductors, and/or with specially resistant sheaths, for example for power cables in motor vehicles, etc.
  • Human workers can usually handle such cables intuitively or from experience, whereas Automated or robotic systems repeatedly fail at least sporadically in such tasks, which can lead to the machine stopping or to missing parts.
  • An object of the present invention is therefore to provide a cable processing system which does not have the aforementioned disadvantages and, in particular, provides fast and reliable cable processing, which preferably also does not depend on the permanent presence and skill of a worker.
  • the processes of cable processing should also be better integrated into a higher-level, automated, electronic production or factory management system, i.e. be geared towards Industry 4.0, for example.
  • a cable processing system includes a cable processing machine with a machine control for the automatic processing of cable ends of heavy, relatively rigid, pre-cut cables on a frame.
  • the system according to the invention is specially designed to be fed with cables in the form of pre-cut cable pieces on which at least one, preferably both cable ends are processed.
  • the cables can be present specifically as essentially straight pieces of a defined cable length, or in the case of longer cables also as cable coils with a predefined cable length, which coils are also transported and the ends of which are kept at least approximately straight.
  • the cable end does not just mean the blunt end of a cut surface of the cable, but a cable end area, e.g. an area at the end of the cable, in particular of e.g. 5cm or 10cm or up to about 30cm.
  • the machine has an input side for receiving the cables to be processed and an output side for delivering the processed cables. Between the input side and the output side there is a processing of the cable, preferably - but not mandatory - a processing of the cable ends, for example with a stripping, twisting, bending, crimping, assembly, assembly, etc. with at least one, preferably with at least two or more frame-supported cable processing stations.
  • the The cable processing machine is designed on a frame, which means that the cable processing stations are combined as a unit in one machine and are not scattered around a factory building.
  • the cable processing stations can be connected to one another and/or by means of a frame construction to form a machine and can preferably also be combined under a common housing.
  • the cable processing system also has a cable transport device for transporting at least one cable.
  • this cable transport device has at least one movable gripper for the cable, which gripper is also frame-supported.
  • a gripper is designed on the one hand with a sub-area designed as a gripping system for releasably holding a cable or cable end, for example with a type of pincer gripper with movable jaws or another device for releasable positive and/or non-positive clamping of a cable, a vacuum holder or an adhesive , magnetic or gravitational, detachable holding device - with or without a corresponding sensor system for determining whether and/or how currently a cable is being held.
  • the gripper is designed to be movable, which means that it is designed to move the cable in relation to a machine base, ie for example the frame, the cable processing stations and/or the input or output side.
  • the transport system and/or the moveable gripper therefore has at least one rotary or linear movement axis.
  • the cable transport device is equipped with a cable transport device designed as a multiple storage device, which has several cable holders for one of the cables or has at least one cable end of the cable.
  • This is specially designed as an actively conveying cable conveying device to actively convey several of the cables, ie to move the cables with an active mechanism in order to move the cables contained in the multiple store within the multiple store and in relation to it.
  • a cable conveyor device in the form of a conveyor belt, a walking beam conveyor, a chain conveyor for preferably separable chains with quick-release fasteners in the segments, etc. - specifically as described and/or outlined in more detail below.
  • the cable holders can be designed, for example, as clamps, supports, compartments or separators (pairs) for one of the cables or one of the cable ends, which are moved with the cable conveyor device in the multiple store, specifically as described below by way of example.
  • Two cable holders spaced apart from one another are preferably used for a cable, preferably with one of them designed as a clamp and the other as a support.
  • a clamp is, for example, an element that clamps the cable in a partial area of its circumference between two elastic, essentially parallel parts that partially enclose the cable with a force.
  • a support can be designed, for example, as a recessed shape in which the cable comes to rest due to gravity, and preferably hold the cable laterally in a defined position area by lateral separating webs without clamping the cable with a force between the separating webs.
  • At least one of the grippers is designed as a transfer gripper. This is specially designed to remove one cable after the other from the respective cable holder and attach it pass on another gripper as a transfer gripper and/or to one of the cable processing stations.
  • a transfer gripper and/or transfer/handover gripper is designed to be movable with a frame-supported transfer mechanism in order to carry out a transfer of the cable from one of the cable processing stations to another of the cable processing stations.
  • the at least one transfer gripper is also moved by a transfer mechanism.
  • the cable conveyor device can preferably be docked by means of a docking mechanism on the input side of the cable processing machine in a defined positional relationship, specifically at least during operation of the cable processing machine.
  • the cable transport device can essentially only be attached temporarily (e.g. as a carriage or similar) or also essentially permanently (e.g. permanently installed) on the input side of the cable processing machine.
  • the docking mechanism preferably has a mechanical guide for the positioned docking of the multiple store on the cable processing machine.
  • a mechanical, magnetic or electronic infeed device for such a transporter with which it can preferably be positioned in a defined manner in relation to the cable processing machine.
  • a sensor for determining a docking and/or a docking position, a locking device for locking and unlocking the docking, an inlet damper for the transporter, etc. can also be provided.
  • a safe and defined docking of the transporter on the cable processing machine can be achieved.
  • the cable conveyor device is supported on a floor or ceiling-based transporter, which is independent of the cable processing machine is movable.
  • a transporter can be designed as a wheeled transport system—such as a wagon or trolley or the like—either freely movable or rail-bound.
  • a ceiling or wall-bound transport system such as a gondola or the like.
  • a releasable coupling is preferably formed between the multiple store and the cable processing machine.
  • Such a connection can be formed in particular in the area of the docking mechanism.
  • This detachable coupling is specially designed to bring a drive of the cable processing machine with the cable conveyor device into a mechanical operative connection when docking.
  • This can be done, for example, by means of gears, which interact in the coupled state.
  • one of these gears can be rotatably mounted in an intermediate gear holder, which intermediate gear holder is preferably rotatably mounted around another gear and this rotatable mounting is pretensioned with a passive force element.
  • all of the gears can preferably be separated from the environment by casing.
  • This casing has an opening which is closed by a closure element during the transport of the multiple store, which closure element has a mechanism which releases this opening when docking in order to make the gearwheel required for coupling accessible.
  • the closing element can be a flap, a slider or something similar.
  • the cable conveying device has a local drive. This can be done with a preferably local Control be connected, which interacts in the operating state with the machine control.
  • the multiple store preferably has a removal area and/or an insertion area for the cables, which areas are separated from the grippers and/or from one another by a housing of the cable processing machine and can preferably be operated manually.
  • the multiple store can be continuously docked to the cable processing machine while it is in operation, and the areas outside the housing can be loaded or unloaded with the cables continuously or cyclically during operation.
  • a docking mechanism that can be detached during operation can also be completely dispensed with and the multiple store can therefore be a fixed part or a permanently installed module of the cable processing machine.
  • continuous operation of the machine can be achieved.
  • several according to the invention can be loaded or unloaded in particular with cyclical
  • Wire processing systems are operated in parallel, e.g. with alternate operation of their removal areas and/or insertion areas.
  • a fill level can be monitored automatically, for example with a warning if the fill level in the loading area is low or the removal area is almost full.
  • the multiple store after docking, can also be essentially completely accommodated within a housing of the cable processing machine.
  • a loading or unloading of the multiple memory can then, for example, with a Undocking of the multiple memory take place, whereupon the same or another loaded multiple memory is docked again.
  • Each of the cable holders preferably has at least one web or driver, a support and/or a clamp.
  • one clamp and one support can be arranged in parallel on a common belt and/or chains or on two belts and/or chains running synchronously with one another.
  • the clamps can have elastic elements, the prestressing of which can preferably be adjusted.
  • the clamps can be fixed in seats which are guided by guides along the conveying direction of the belts and/or chains.
  • a f-length or coil transport device is preferably additionally provided for transporting cable coils.
  • each cable coil can be moved in a suspension or coil transport unit provided for this purpose, preferably synchronously with the movement of the respectively associated cable ends using the grippers.
  • the cable processing machine is preferably designed in such a way that thin cables, standard cables and thick, rigid cables can be processed with the same machine, in particular without having to make significant modifications to the machine.
  • both short cable pieces of, for example, several 10 cm and long cables of several meters can be processed with the same machine, especially by using an overhead transport device of the cable processing machine for the longer cables in addition to the multiple storage for the cable ends.
  • a multiple store according to the invention can also be designed in such a way that it can also be used to provide or convey limp cables.
  • the transporter as an alternative to an embodiment with a transporter moved by muscle power—is designed with a drive device for moving the transporter.
  • the transporter can be equipped as an autonomous or guided vehicle with its own driving control for at least partially autonomous navigation.
  • the driving control of the transporter can be designed for communication with the machine control and/or with a higher-level control system.
  • the transporter can also be designed to be coupled to an autonomous transport system of a factory and to be moved in a controlled manner.
  • At least one magazine is preferably arranged on the input side above at least a partial area of the cable conveyor device, which is designed with an actuatable underside in such a way that cables located in the magazine can be released downwards into the cable conveyor device and/or another magazine with the aid of an actuating device. for example with flaps, sliders or similar on the underside.
  • the magazine or a group of several magazines can preferably be moved using a transporter and/or can preferably be docked to the cable processing machine using a docking mechanism.
  • At least one magazine for accommodating processed cables with an actuatable underside is preferably arranged on the output side, which underside is designed in such a way that cables located in the magazine can be released downwards with the aid of an actuating device, eg similar to that described above.
  • the magazine can be designed with an actuatable underside in such a way that, with the aid of an actuating device, cables located in the magazine can be pushed down into another magazine in the cable conveying device and/or a transport or storage box can be released.
  • the magazine or a group of several magazines can preferably be moved using a transporter and/or can preferably be docked to the cable processing machine using a docking mechanism.
  • the cable transport device is designed on the output side with a further cable transport device designed as a multiple store, which has a number of further cable holders.
  • This cable transport device can also be dockable by means of a docking mechanism on the output side in a defined positional relationship.
  • a second moveable gripper of the cable transport device is designed to remove one cable after the other from one of the cable processing stations and to feed it to the respective further cable holder.
  • the multiple memories for the input side and/or the output side can be of the same or at least similar design and can be interchangeable.
  • the chain segments are specially designed in such a way that they are easy to remove, ie in particular without special tools, for example by hanging or unhooking or clipping additional chain links at the beginning or end of the chain, by a user and/or by automated stations and/or assemblies can be separated from one another or connected to one another in the cable processing machine.
  • the chain can be provided as a quasi-endless multiple conveyor device in that the chain is lengthened with additional chain segments during operation of the cable processing machine or is shortened by chain links that have already been used.
  • the cable processing machine or the cable transport device preferably includes a drive which is designed in such a way that the chain can be transported with it, especially when the chain is not tensioned, ie not closed but with open ends.
  • the chain segments are preferably fed into or removed from the machine on transport units such as carriages or the like.
  • the empty chain segments are preferably collected or stored in chain supply collection containers in the area of the cable conveyor devices, for example in boxes or on rollers. Additional sensors are preferably used here, preferably cameras, in order to monitor the fill level.
  • the two cable conveyors on the The input and output sides can also be connected to one another in such a way that the empty chain segments on the input side are conveyed directly to the output side. There can also be another sensor for detecting the end of the chain on the input side, in order to stop the machine in good time before the end of the chain.
  • the invention also relates to a method for the automatic processing of cable ends of heavy, relatively rigid cables. This takes place at least by picking up or providing several of the cables in several cable holders of a multiple store designed as a cable conveying device.
  • Multiple memory is provided on an input side of a cable processing machine. This can be done in particular with an at least partial introduction of the multiple store, which is preferably designed to be mobile, into a housing of the cable processing machine.
  • Cable processing station through the transfer and transfer gripper using at least one associated transfer drive. After the cable or cable end has been processed in the first cable processing station, the cable or cable end is transferred from the first cable processing station into at least one second cable processing station by the transfer and transfer gripper. After the cable or cable end has been processed in the second cable processing station, the processed cable or cable end is removed from the second cable processing station by the transfer and transfer gripper.
  • the cable or cable end is transferred from the first transfer gripper to a transfer gripper using at least one transfer drive associated therewith, and the cable or cable end is fed to at least a first cable processing station by the transfer gripper using at least one transfer drive associated therewith.
  • the cable processing station the cable end is processed and then the cable or cable end is transferred from the first cable processing station to at least one second cable processing station by a transfer gripper using at least one transfer drive associated with it, followed by processing of the cable or cable end in the second cable processing station .
  • further cable processing stations can also follow in the same way.
  • the processed cable or cable end is removed from the second cable processing station by a transfer gripper using at least one transfer drive associated with it, and the cable or cable end is transferred from this transfer gripper to a second transfer gripper using at least one transfer drive associated with it .
  • the method can be carried out by moving the cable or cable ends with a plurality of transfer grippers, with at least one further transfer gripper being provided for transferring the cable end between these at least two transfer grippers.
  • the cable conveyor device is preferably moved by driving the cable conveyor device by means of a power transmission from the cable processing machine to the multiple store.
  • a mechanical coupling take place during docking, through which coupling the power transmission takes place.
  • the cable conveyor device can be moved by driving the cable conveyor device by means of a local drive on the multiple store.
  • the local drive can be supplied with a local power supply on the cable conveyor device and/or with an electrical coupling of the cable conveyor device to the cable processing machine during docking.
  • the cables or cable ends can be clamped or inserted into the cable holder, preferably manually and outside of a housing of the cable processing machine.
  • At least one suspended transport unit for a cable coil of a respective cable is moved along with it, at least when the cables or cable ends are being fed in and transferred in the cable processing machine.
  • the method also includes moving the multiple store spatially on the floor or ceiling in a factory environment.
  • this movement also includes the preferably automatic docking and undocking on the cable processing machine.
  • this movement can take place by means of an autonomously controlled transporter, in particular with preferably autonomous navigation and/or communication between a local control unit of the multiple memory and the cable processing machine, especially at least when docking.
  • an autonomously controlled transporter in particular with preferably autonomous navigation and/or communication between a local control unit of the multiple memory and the cable processing machine, especially at least when docking.
  • a preferably automatic, precisely positioned The multiple memory is docked to the cable processing machine, in particular by producing a mechanical and/or electrical coupling between them.
  • the cables are also fed to the cable conveying device with at least one magazine for a plurality of cables.
  • the cables can be fed to the cable conveying device and/or passed on to a magazine underneath, e.g. by releasing an underside of the magazine using an actuating device in the area of the magazine.
  • the processed cables are preferably also removed with at least one magazine for the cables.
  • the cables can be passed on to a magazine below by means of gravity.
  • the processed cables are preferably inserted into the uppermost magazine directly by the gripper, without a further cable conveying device also being present on the output side.
  • the cables are preferably provided and/or removed by actuating an actuatable underside.
  • an actuatable underside By pressing this - for example, a flap, push, or the like. the underside of a magazine - the cables can be triggered to fall from one section of the magazine into the cable holder below or into another section of the magazine below.
  • the magazine is preferably assigned to the multiple store or the cable conveyor device.
  • a docking of a second multiple store on an output side of the cable processing machine preferably also takes place as part of the method.
  • the cable or cable end can preferably also be deposited mechanically in a cable holder of the second multiple store on the output side of the cable processing machine, specifically by a transfer or transfer gripper, preferably by a second transfer gripper and with the aid of a transfer drive associated with it.
  • a transfer or transfer gripper preferably by a second transfer gripper and with the aid of a transfer drive associated with it.
  • the cables can be fed in and/or removed with a cable conveying device with at least one open chain as a multiple store.
  • the chain links or chain segments of the chain have the cable holders and can be easily separated from one another.
  • the cables are fed in or removed, preferably by providing the chain segments on trolleys or the like and using a Cable processing machine existing chain part connected or separated from this.
  • the empty chain segments at the other end of the chain are here preferably in chain storage tanks or directly on the wagons collected or stored; or the two chains on the input and output sides are connected to one another in such a way that the empty chain segments on the input side are conveyed to the output side and serve as storage there.
  • the cables can also be fed in and/or removed using a cable conveying device with at least one external gripper outside the housing. This external gripper transfers a cable between an external ceiling or floor-bound transport system outside the cable processing machine and a removal area and/or insertion area of the cable processing machine located outside the housing
  • a number of cables are temporarily stored in an intermediate buffer store within the cable processing machine, between the multiple store and one of the cable processing stations by means of a gripper.
  • one embodiment of the invention also relates to a feed system for heavy, relatively rigid cables to a cable processing machine, in which cable ends of the cables are automatically processed in at least one cable processing station or cable end processing device of the cable processing machine.
  • This feed system has a cable transport unit, which is designed as a floor or ceiling-mounted transporter, which can be docked to the cable processing machine with a docking mechanism between the transporter and an input side of the latter.
  • the cable transport unit has a plurality of cable holders in the form of a multiple store, which cable holders such are designed such that one of the cable ends can be removed mechanically from a cable transport device of the cable processing machine and can be fed to a plurality of cable processing stations for processing the cable ends.
  • the transport device can be specially designed such that the transport device
  • Cable transport unit remains on the input side and the cable is moved separately from the cable transport unit from and to the cable processing stations in the cable processing machine.
  • one embodiment of the invention also relates to a removal system for heavy, relatively rigid cables from a cable processing machine, which is designed to automatically process cable ends of the cables in at least one cable processing station or cable end processing device of the cable processing machine.
  • the discharge system has a cable transport unit, which is designed as a floor or ceiling-bound transporter, which with a docking mechanism between the transporter and a
  • the cable transport unit has several cable holders in the form of a multiple store, which cable holders are designed in such a way that one of the cable ends can be machined into this by a cable transport device of at least one of the
  • Cable processing stations of the cable processing machine can be removed and stored in this cable holder.
  • the transport device can be specially designed in such a way that the cable transport unit remains on the output side and the cable is moved separately from the cable transport unit to and from the cable processing stations in the cable processing machine. Accordingly, the invention also relates to a system with a cable processing machine and at least two
  • Fig. 2a and Fig. 2b is an isometric view of the
  • FIGS. 4a to 4d various sectional and detailed views of FIG Fig. 2b, looking in the direction of the arrows drawn there, with some elements hidden for a better view of the coupling and the docking mechanism
  • Fig. 5a and Fig. 5b a special embodiment of
  • Cable transport unit for transporting coiled cables similar to that shown in Fig. le,
  • FIG. 6 shows an isometric view of a cable winding conveyor device or multiple transport device for multiple strand transport units, here designed as a walking beam, Fig. 7a to Fig. 7e the functioning of a multiple
  • Transport device with walking beam drive principle and rotary, preferably electric drive, and
  • FIG. 8a to 8f show the functioning of a multiple transport device with a walking beam drive principle and a translational, preferably pneumatic drive.
  • FIG. 1a to 11 show schematic sketches of various embodiments of a system according to the invention made up of a cable processing machine 90 and the associated cable transport system 10, which in some versions extends outside of the cable processing machine 90.
  • this cable transport system 10 consists of at least one transfer gripper 11, two transfer grippers 20a, 20b, the transfer mechanisms 12, 22a, 22b belonging to the grippers, and two groups of cable transport units 30a, 30b for transporting a plurality of cables 80.
  • These cable transport units 30a, 30b are designed as carriages or trolleys and can move independently of the cable processing machine 90.
  • the carriages 30a used for loading the cable processing machine 90 can dock on the input side 95a of the cable processing machine 90 with the aid of the docking mechanism 300a.
  • the carriages 30b used for unloading the cable processing machine 90 can in this case dock on the output side 95b of the cable processing machine 90 with the aid of the docking mechanism 300b.
  • the carriages 30a and 30b can each be designed differently, ie specifically either for the input side 95a or for the output side 95b, or the carriages 30a and 30b can also be of the same type be designed so that the same carriage 30a, 30b can be used on the input side 95a or on the output side 95b.
  • a plurality of cable holders 32a, 32b are provided in each of the two carriages 30a, 30b. These can either be designed as simple dividers (as shown here in Fig. La) or pads 324 (as shown in Fig. 3a), but also as spring-loaded cable clamps 323 (as shown in Fig. lh, Fig. 3a and Fig. 3b) . Preferably, several cable holders 32a, 32b are used per cable 80, preferably in combination with a clamp 323 and a support 324, e.g., as shown in Figure 3a.
  • the cables 80 For processing the cables 80, they are successively removed from a cable holder 32a or a pair of cable holders 323, 324 of the loading carriage 30a by the first transfer gripper 20a.
  • the transfer gripper 20a transfers the removed cable 80 to the transfer gripper 11, which feeds it to at least one, preferably at least two or more cable processing stations 70a, 70b for processing.
  • the transfer mechanisms 12 and 22a associated with them also move.
  • the cable 80 is transferred from the transfer gripper 11 and the transfer mechanisms 12 and 22b to another transfer gripper 20b in the area of the output side 95b, which then places it in a cable holder 32b or a pair deposits or transfers from two cable holders 32b of the unloading trolley 30b.
  • the cables can also be stored directly in a transport or packaging box for finished cables.
  • one cable 80 after the other can be processed fully automatically until the loading carriage 30a is empty and/or the unloading carriage 30b is full - represented by the thin arrows which illustrate the movement of the cable 80, with solid lines the current movement and broken lines represent other possible movements.
  • All grippers 11, 20a, 20b and the associated drive axles or transfer mechanisms 12, 22a, 22b for moving them are part of the cable processing machine 90 and connected to its controller 93, for example via various control cables (not shown). Both all transfer mechanisms 12, 22a, 22b and all cable processing stations 70a, 70b, ... are attached to the frame or stand 92 of the cable processing machine 90.
  • an enclosure 91 or other safety device such as a light curtain, etc. can be provided. This is designed in such a way that it covers at least the travel range of all grippers 11, 20a, 20b and transfer mechanisms 12, 22a, 22b but still does not prevent the carriages 30a, 30b from moving in and out (represented by block arrows).
  • a safe loading and/or unloading of cables 80 can thus also take place during the operation of the cable processing machine 90 .
  • the docking mechanisms 300a, 300b are designed in such a way that they enable the carriages 30a, 30b to be easily and reliably docked to the cable processing machine 90 and also to inform its controller 93 whether a carriage 30a, 30b is currently docked or not.
  • the docking preferably takes place here with a defined position from the carriage 30a, 30b to the machine 90, so that there is preferably a known removal or depositing position for the cables 80.
  • a position reference determined by means of sensors 3042 and made available to the controller 93 of the cable processing machine 90--as is shown, for example, in the exemplary embodiment in FIGS. 4a and 4b.
  • the multiple storage 30a, 30b so in the figure shown the carriages 30a, 30b can be designed in various embodiments from very simple to "intelligent" or fully autonomous, the actual transporter 34 of the multiple storage area with the cable holders 32a, 32b and/or can be made separable from the docking mechanism 300a, 300b.
  • Schematically shown in Fig. 1 is an embodiment as an intelligent car 30a on the input side 95a, for example with its own controller 35, drive motors 352 for moving the moving elements 33, sensors 353 for navigation, a power supply 354 and cables 351 which all of these Connect elements, etc.
  • the controller 35 can in this case be specially designed so that they with the controller 93 of the cable processing machine 90, the
  • a rechargeable battery is preferably used as the energy supply 354, which can be charged, for example, in the docked state.
  • the power supply for operation and/or Charging can also be done wirelessly or contactless via induction or pantographs with sliding contacts.
  • Wheels are preferably used as moving elements 33 in the case of ground-based carriages, ideally 4 per carriage 30a, 30b.
  • Mecanum wheels with additional rollers in the wheel e.g. as in US3876255
  • a motor 352 preferably an electric servomotor with gearing.
  • alternative drive principles can also be used, for example with balls similar to those in old computer mice, classic wheels and swivel joints, and/or leg-like movement elements for overcoming steps and/or other obstacles.
  • the carriages 30a, 30b can also be designed with wheels suitable for rails, an air cushion bearing with a suitable drive and/or a magnetic levitation train.
  • the carriages 30a, 30b can alternatively also be designed to be mounted on the ceiling or wall in other embodiments.
  • carriages 30a, 30b In minimal embodiments of carriages 30a, 30b according to the invention, drive elements and/or sensors can also be completely dispensed with.
  • Such trolleys 30a, 30b can, for example, be moved and/or docked or undocked by the operating personnel themselves - e.g. similar to a shopping trolley in a supermarket. Any desired intermediate stages of the carriages 30a, 30b can be formed between this minimal and a fully autonomous embodiment and, if necessary, also be used jointly in a system.
  • the manufacturer of the cable processing machine 90 largely agrees with this decision leaves to customers and only provides the cable holder 32a, 32b and the docking mechanism 300a, 300b; with a simple and clearly defined mechanical interface 341 to the actual carriage 34, which can then be provided by the customer according to his needs and equipped with the aforementioned components.
  • An embodiment of such a structure is shown schematically on the left on the output side 95b of FIG.
  • the multiple storage device 30b specifically the cable holders 32b and their support structure with the docking mechanism 300b attached to it, is attached to the transporter 34, for example via the easily detachable, mechanical interface 341.
  • This transporter 34 can be procured by the customer himself, e.g.
  • Multiple memory 30a, 30b and possibly equipped with a mechanical or virtual / sensor-based docking mechanism are also possible at any time, for example by transferring the cable holder 32b and/or the docking mechanism 300b to a motorized and/or autonomous transport system, e.g. with the interface 341 whose transport through the machine is changed, any downtime of the machine 90 can thus be reduced or avoided.
  • Intermediate buffers 40a, 40b are preferably used for this purpose, for example as shown later in FIG. 1b shows an alternative embodiment according to the invention with a cable transport device 10, in which the cable holders 32a, 32b are not (as in FIG , but not necessarily, on both sides of the cable processing machine 90.
  • the input side 95a can take place as shown and the output side 95b with a simple deposit of the finished cable in a transport box, possibly on a trolley 34 (not shown).
  • the cable conveying devices 320a, 320b shown here are part of the cable processing machine 90, in particular firmly connected to the frame 92, and are controlled by their controller 93. Separate, separable from the machine 90 cable transport units 30a, 30b (as in Fig. La) are not provided.
  • the travel path of the transfer mechanisms 22a, 22b for the transfer grippers 20a, 20b can be made correspondingly shorter, as can the mechanical or virtual housing 91 for personal protection from moving machine parts.
  • These cable conveyor devices 320a, 320b are preferably designed as a conveyor belt, for example as explained in the example of FIG second belt 3204 designed as a support 324. As described in more detail in the embodiment of FIG also works without tension of the chain 3205a, 3205b. As described in FIG. 7 and FIG. 8, the cable conveyor devices 320a, 320b can also be designed as walking beams. similar to the multiple transport units 52d for the hanging transport units 53.
  • the outer areas of the two cable transport devices 320a, 320b are accessible to operators at all times.
  • the operators place the unprocessed cables 80 or cable sections in the cable conveyor device 320a on the input side 95a (represented by the bold block arrow in the loading area 321a) and remove the processed cables 80 from the cable conveyor device 320b on the output side 95b (represented by bold block arrow in removal area 321b).
  • This can also take place during the operation of the machine 90, preferably not individually but in tranches, e.g. according to a warning message if the filling level of the cable conveyor device 320a or 320b is exceeded or fallen below.
  • Corresponding sensors 322 preferably designed as cameras or non-contact proximity switches, are used for this fill level measurement, and/or there can also be several binary sensors (e.g. inductive sensors, capacitive proximity sensors, limit switches, light barriers, etc.), the arrangement of which varies depending on the embodiment can. Only the filling level sensor 322 on the input side 95a is shown here as an example. In the same way, corresponding sensors 322 can also be provided on the output side 95b.
  • binary sensors e.g. inductive sensors, capacitive proximity sensors, limit switches, light barriers, etc.
  • a special drive 3111b on the exit side 95b - where the chain 3205b loaded with cables 80 is mainly pushed - is a special drive 3111b, in which instead of the drive wheel 3111a with teeth, a drive belt with internal and external teeth is used, and a matching one , straight mating surface 3112b.
  • a drive of this type or of a functionally similar design offers the advantage that it can be used in the linear part of the conveyor section and can therefore be placed at a location where the majority of the chain is still predominantly pulled instead of pushed, which makes it more reliable.
  • a simple drive can also be installed on the output side 95b, identical to the input side 95a, and the Chain 3205b runs in a guide, which prevents unwanted buckling of the chain links when pushing.
  • Chain 3205b not assembled by user but pieces in appropriate length separated, for example, corresponding to the length of a trolley 34b - shown here by the arrow with the scissors symbol.
  • automatic separating can also be carried out using drives of the cable processing machine 90 (not shown).
  • the transport carriages 34a, 34b can be configured very simply in a minimal configuration; a planar support surface and wheels will suffice, optionally with rails or guides for the 3205b chain. Also on a precise docking relative to
  • chain stock collection devices 329a, 329b are provided below the cable conveyor devices 320a, 320b, preferably designed as a box 329a on the input side and preferably as a roller 329b on the output side.
  • Their filling level can be monitored by corresponding sensors 322b (only shown here as an example on the outlet side 95b).
  • another sensor 322a is preferably also on the
  • the chains 3205a, 3205b are also connected to one another on both sides in such a way that the empty chain links 3206 are conveyed in front of the input-side cable conveyor device 320a to the output-side cable conveyor device 320b. If the chain segments 3206 are designed in such a way that they also enable mechanical opening, the empty chain pieces can also be placed on the chain supply collection device 329a on the input side, already prepared to the lengths suitable for the carriages 30a, 30b.
  • the chain links 3206 which have been emptied and prepared to a suitable length, can also be deposited again on the entry side directly in a lower carriage area on the transport carriage 34a (instead of in a chain storage collection device 329a). Similarly, a supply of empty chain links 3206 on the exit side can also be taken from a lower portion of the trolley 34b (rather than from a chain supply collector 329b). In both cases, when changing carriages, the chain is connected and disconnected manually or automatically at the appropriate point (e.g. below and/or above). This means that both new and used chain links can be added and removed when the carriage is changed.
  • such a mechanism can be designed in such a way that, in addition to or as an alternative to manual opening and closing, it also enables automated opening and closing.
  • fully automatic operation can also be implemented, for example with automatic carriage change and/or autonomously moving carriages.
  • a cable conveyor device 320a, 320b according to the automatic conveyor system just described with chains 3205a, 3205b can easily be converted to a "simple" operating mode for loading and/or unloading individual cables 80 - similar to that shown in FIG. 1b, for example. be designed to be convertible. This can be done, for example, by the cable conveyor device 320a, 320b being designed in such a way that the chain 3205a, 3205b can be provided both as a broken chain with open ends as described above and also joined together to form a closed chain, specially designed with corresponding guides or paths (not shown) for the respective chain configuration which can be used and converted or converted as desired.
  • Fig. Li shows a simplified design similar to Fig. La.
  • the entire cable transport is realized by a single gripper, the transfer and transfer gripper 20d.
  • a single transfer drive 22d belonging to the gripper 20d extends and thus the working area of the gripper 20d over the entire machine 90.
  • the machine 90 is thus designed for a transfer-free cable transport by means of a single gripper 20d from a multiple store 32a on the input side, through the cable processing stations 70a, 70b and to a second multiple store 32b on the output side .
  • FIG. 3a shows a detailed view of FIG. 2a, according to the arrow 3A drawn there, with some elements hidden for a better view of the cable holders 32a and the cable conveyor device 320a, which moves them, designed here as a conveyor belt.
  • each cable holder 32a includes a clamp 323 and a support 324.
  • the conveyor belt 320a consists of two belts or toothed belts 3203, 3204, which are driven via a common shaft 327. There is also a common shaft (not visible) on the opposite side in the area of docking mechanism 300a (see also FIG. 4a) and coupling 310a (see also FIG. 4c).
  • gear wheels are preferably attached to both shafts.
  • the biasing force of the clamping jaws can be adjusted by moving the holders 3232a, 3232b in the C-profile, suitable for the type and diameter of the cable 80.
  • the receptacle 3231 and thus the cable clamp 323 is fixed to the belt 3203 with two screws, which are arranged transversely to its conveying direction. This allows the cable clamps 323 to move smoothly around the curve at the shaft 327 (see also Figure 3a).
  • the attachment of the supports 324 to the belt 3204 (see also FIG. 3a) and also the guidance of this belt 3204 takes place in an analogous manner.
  • FIG. 4a to 4d show various sectional and detailed views of FIG. 2, looking in the direction of arrows 4A, 4C in FIG. 2a, arrow 4B in FIG. 2b and arrow 3D in FIG. 3c; with some elements partially hidden to provide a better view of input coupler 310a and input docking mechanism 300a.
  • a tapering entry area for side surfaces of a guide element of a carriage at least one preferably circular opening for a locking pin 302 of the carriage with a locking unit 304 behind the opening w which is designed to hold the locking pin 302 in a form-fitting manner in a locking position and to release it in an open position, and with a ramp surface for a damping element of the carriage, the locking unit preferably being designed in such a way that an inserted locking pin 302 is automatically locked and an unlocking device that can be actuated in a controlled manner , optionally with a sensor to detect a docked car.
  • FIG. 5b shows a further design for the carriages for transporting the cable coils 80c.
  • the guide rail 51a for the hanging transport units 53 is attached to a separate hanging transporter or extra carriage 30e, which can be moved independently of the main carriage 30a.
  • This main carriage 30a is preferably designed identically to the carriages 30a, 30b already used for shorter cables 80, for example as shown in Figs. 2 to Figs. 4 shown.
  • Another docking mechanism similar to 300a, 300b can be provided for the correct positioning of the extra carriage 30e - either between the two carriages 30a, 30e or between the extra carriage 30a and the cable processing machine 90.
  • the cable 80 can be rotated more easily and with less torque for correct alignment for later processing.
  • the length of the unfixed cable between clamp 323 and cable coil 80c is longer, which can lead to adjacent cables or cable coils 80c getting caught.
  • a swivel joint 54 (shown in FIG. 1e) is provided at least in each hanging transport unit 53 to support simple cable rotation.
  • FIG. 6 shows an isometric view of a cable winding conveyor device or multiple transport device 52d for a number of hanging transport units 53, designed here with a walking beam drive.
  • the multiple transport device 52d includes several drivers 521, arranged at a distance of
  • the drivers 521 of the walking beams do not run around for transport, but move back and forth at a predetermined distance, taking the hanging transport units 53 with them or promoting them in only one direction return empty in the opposite direction.
  • Exemplary drive variants are shown in the two following figures.
  • the cable conveyor device 320a, 320b (for example in FIG.
  • the entire walking beam drive could be designed with a similar width or 2x parallel, eg like the previously described variants with conveyor belts or chains.
  • the length of driver 521 and the distance between multiple transport device 52d and guide rail 51a is selected in such a way that the form fit between driver 521 and overhead transport units 53 is created or broken in the areas in which the movement component of connecting beam 522 reversed along the conveying direction, visible in sub-figures a, c and d.
  • the discs 523a, 523b rotate counterclockwise, the overhead transport units 53 are conveyed to the right (FIGS. 7c to 7e) and during the rest of the movement (FIGS. 7a to 7c), the drivers 521 are brought back to the starting point without that thereby the hanging transport units 53 are disturbed.
  • FIGS. 8a to 8b show an exemplary embodiment of how a multiple transport device 52d works with the walking beam conveying principle and a translational, preferably pneumatic drive 525p and spring-loaded drivers 521.
  • the drivers 521 are attached to the connecting beam 522. However, this is only moved back and forth in the conveying direction, preferably driven by a pneumatic cylinder 525p.
  • the drivers 521 are pivoted in the connecting beam 522 and spring-loaded. As soon as they come into contact with the flange transport units 53 (Fig. 8b) counter to the conveying direction, they fold in (Fig.
  • the rotatable mounting does not allow any movement in the opposite direction, which is why the suspended transport units 53 are reliably carried along in the conveying direction (FIGS. 8d to 8f).
  • the spring force in the rotary joint between the driver 521 and the connecting bar 522 is selected in such a way that both reliable folding back is ensured (FIGS. 8c to 8d) and undesired conveying in the wrong direction is prevented.
  • the spring force must be selected to be lower than the static friction force between the hanging transport unit 53 and the guide rail 51a.
  • the drivers 521 in the connecting bar 522 can also be moved actively transversely to the conveying direction, preferably with another pneumatic cylinder or a pair of cylinders, which preferably moves the entire connecting bar 522 transversely. It is also conceivable to generate the transverse movement via at least one link guide.
  • Automatic loading device 400b Automatic unloading device 4020 transfer (gripper) 4022 transfer mechanism (robot) 4091 housing (casing) 4093 control 4099 sensor (camera)

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  • Manufacturing & Machinery (AREA)
  • Specific Conveyance Elements (AREA)
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Abstract

L'invention concerne un système de traitement de câble comprenant une machine de traitement de câble (90), en particulier pour le traitement automatique des extrémités de câbles lourds, relativement rigides en flexion, et de préférence également de câbles légers et minces et de câbles longs et courts, de préférence dans la même machine de traitement de câble. La machine de traitement de câble présente un côté entrée (95a) pour recevoir les câbles (80), une pluralité de stations de traitement de câble (70a, 70b), un dispositif de transport de câble (10) pour transporter au moins un câble (80), comprenant au moins un élément de préhension (11a, 11b, 20a, 20b, 20c) mobile, et un côté sortie (95b) pour faire sortir un câble traité (80). Selon l'invention, le dispositif de transport de câble (10) est équipé d'un dispositif d'acheminement de câble (320a, 320b) qui se présente sous la forme d'un magasin multiple (30a, 30b) et comporte une pluralité de supports de câble (32a). Au moins l'un des éléments de préhension (20a) se présente sous la forme d'un élément de préhension de transfert destiné à retirer les câbles (80) les uns après les autres des supports de câble (32a, 32b) respectifs et acheminer lesdits câbles à au moins l'une des stations de traitement de câble (70a, 70b) et/ou à au moins un élément de préhension (11a, 11b, 20b, 20c) supplémentaire en tant qu'élément de préhension de transfert, lequel élément de transfert (11a, 11b, 20b, 20c) supplémentaire peut être déplacé au moyen d'un mécanisme de transfert (12a, 12b, 22a, 22b, 22c) supporté par un bâti pour transférer le câble (80) à l'une des stations de traitement de câble (70a).
PCT/IB2021/052219 2021-03-17 2021-03-17 Traitement de câble avec amenée et retrait WO2022195324A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
PCT/IB2021/052219 WO2022195324A1 (fr) 2021-03-17 2021-03-17 Traitement de câble avec amenée et retrait
JP2023556733A JP2024519651A (ja) 2021-03-17 2022-03-04 送り込み及び送り出しを備えるケーブル加工
CN202311503297.9A CN117790078A (zh) 2021-03-17 2022-03-04 包括送入和送出的线缆处理
MX2023010952A MX2023010952A (es) 2021-03-17 2022-03-04 Procesamiento de cables que comprende entrada y salida.
PCT/IB2022/051939 WO2022195395A1 (fr) 2021-03-17 2022-03-04 Traitement de câble comprenant une entrée et une sortie
EP22708238.5A EP4309194A1 (fr) 2021-03-17 2022-03-04 Traitement de câble comprenant une entrée et une sortie
CN202280022041.3A CN117043895A (zh) 2021-03-17 2022-03-04 包括送入和送出的线缆处理
JP2023213825A JP2024036321A (ja) 2021-03-17 2023-12-19 送り込み及び送り出しを備えるケーブル加工

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3876255A (en) 1972-11-13 1975-04-08 Ilon B E Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base
DE3822146A1 (de) * 1987-06-30 1989-01-12 Fraunhofer Ges Forschung Vollautomatische kabelkonfektionier- und uebergabeeinheit zum abisolieren, anschlagen und speichern von kabeln in crimptechnik
EP0483462A1 (fr) * 1990-10-29 1992-05-06 Ttc Technology Trading Company Appareil de transport de morceaux de câble
US5125154A (en) 1990-09-28 1992-06-30 The Boeing Company Automated termination station and method of using same
US5152395A (en) 1990-09-28 1992-10-06 The Boeing Company Wire carrier and method of using same
EP1073163A1 (fr) * 1999-07-26 2001-01-31 komax Holding AG Dispositif de transport d'extrémités de câble pour une unité de confection de câbles
EP2565992A1 (fr) 2011-08-31 2013-03-06 Komax Holding AG Dispositif et procédé d'amenée d'extrémités de câble vers des unités de confection
EP3000545A1 (fr) * 2014-09-29 2016-03-30 Tyco Electronics Corporation Dispositif de singularisation de fil
EP3327879A1 (fr) * 2016-11-23 2018-05-30 Airbus Defence and Space SA Dispositif et procédé de traitement de câbles électriques

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3876255A (en) 1972-11-13 1975-04-08 Ilon B E Wheels for a course stable selfpropelling vehicle movable in any desired direction on the ground or some other base
DE3822146A1 (de) * 1987-06-30 1989-01-12 Fraunhofer Ges Forschung Vollautomatische kabelkonfektionier- und uebergabeeinheit zum abisolieren, anschlagen und speichern von kabeln in crimptechnik
US5125154A (en) 1990-09-28 1992-06-30 The Boeing Company Automated termination station and method of using same
US5152395A (en) 1990-09-28 1992-10-06 The Boeing Company Wire carrier and method of using same
EP0483462A1 (fr) * 1990-10-29 1992-05-06 Ttc Technology Trading Company Appareil de transport de morceaux de câble
EP1073163A1 (fr) * 1999-07-26 2001-01-31 komax Holding AG Dispositif de transport d'extrémités de câble pour une unité de confection de câbles
EP2565992A1 (fr) 2011-08-31 2013-03-06 Komax Holding AG Dispositif et procédé d'amenée d'extrémités de câble vers des unités de confection
EP3000545A1 (fr) * 2014-09-29 2016-03-30 Tyco Electronics Corporation Dispositif de singularisation de fil
EP3327879A1 (fr) * 2016-11-23 2018-05-30 Airbus Defence and Space SA Dispositif et procédé de traitement de câbles électriques

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