WO2023227289A1 - Dispositif de câblage automatique - Google Patents

Dispositif de câblage automatique Download PDF

Info

Publication number
WO2023227289A1
WO2023227289A1 PCT/EP2023/059807 EP2023059807W WO2023227289A1 WO 2023227289 A1 WO2023227289 A1 WO 2023227289A1 EP 2023059807 W EP2023059807 W EP 2023059807W WO 2023227289 A1 WO2023227289 A1 WO 2023227289A1
Authority
WO
WIPO (PCT)
Prior art keywords
wire
wiring device
robot arm
wire section
gripper
Prior art date
Application number
PCT/EP2023/059807
Other languages
German (de)
English (en)
Inventor
Christian DÜLME
Sören HOLLENSTEINER
Matthias KAFTAN
Luca ISENBERG
Karsten Thornø AHRENTSEN
Søren Petersen JOHANSEN
Original Assignee
Weidmüller Interface GmbH & Co. KG
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 Weidmüller Interface GmbH & Co. KG filed Critical Weidmüller Interface GmbH & Co. KG
Publication of WO2023227289A1 publication Critical patent/WO2023227289A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B25J15/0038—Cylindrical gripping surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0433—Connections means having gripping members
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear

Definitions

  • the invention relates to an automatic wiring device for at least one electrical component, which can be placed on a mounting rail section.
  • Electrical components such as terminal blocks, switching or safety devices, power supplies, etc. are generally used in control cabinet construction. d. R. placed on mounting rail sections and then wired together.
  • automatic assembly machines are known which remove the required electrical components from magazines and place them on a mounting rail section according to an assembly plan in order to prepare it for installation in a control cabinet.
  • Such placement machines are usually very complex, require a large number of settings and are correspondingly expensive.
  • a gripped wire section can be aligned so that it can subsequently be accurately inserted into insertion openings of the electrical components for their wiring.
  • the wire sections can be provided, for example, by an automatic wire cutting machine.
  • the alignment of the protruding wire section provides the conditions for further autonomous and flexible processing of the wire by the robot.
  • Any existing processing stations can also be approached and used correctly with the aligned wire section.
  • Such a processing station can advantageously be, for example, an automatic stripping machine, an automatic marking machine, an automatic crimping machine or a cable bundler.
  • the clamping device has clamping jaws that can be pivoted open or moved apart in order to clamp the wire section.
  • the clamping jaws can, for example, be provided with interlocking slats in order to securely grip wire sections.
  • the slats can be V-shaped transversely to the direction of the wire in order to bring the wire into a defined position when the clamping jaws are closed.
  • the wiring device has a wire sensor with which a bend in the wire section can be detected.
  • the wire section gripped by the robot arm can be measured with regard to its orientation and/or protruding length in order to be able to position it as correctly as possible.
  • the wire sensor preferably has two optical measuring forks aligned transversely, in particular orthogonally, to one another. A protruding length and bend of the wire section can then be determined without contact by passing through the optical measuring forks in conjunction with a known movement sequence of the robot arm.
  • the wiring device is set up to straighten the wire section by the robot arm moving the wire section against the detected bend, while the end region of the wire section is fixed in the clamping device.
  • the at least one clamping device has a swivel arm on which the clamping jaws are arranged, the robot arm and the swivel arm being set up to carry out coordinated movements.
  • a wire section can not only be effectively straightened, but can also be placed transversely to its alignment, for example in a processing station.
  • there are automatic marking machines on the market in which a section of wire to be marked is inserted transversely to the longitudinal direction of the wire into a processing slot in which it is provided with the marking.
  • the wiring device has at least one component magazine for holding electrical components that can be grasped by the robot arm and placed on the at least one mounting rail section.
  • the component magazine preferably has at least one base with an inclined support onto which a box with the electrical components can be placed.
  • the electrical components that are suitable for mounting on mounting rails e.g. terminal blocks
  • the box can then simply be inserted into the component magazine after removing a lid or opening a cover to load the component magazine.
  • the lower one is then grabbed and pulled out transversely, in particular perpendicular to the stacking direction, forwards and diagonally upwards by the robot arm.
  • the inclination of the support then causes the remaining components to slide without being unintentionally pulled out.
  • the angular orientation relative to the horizontal is approximately 30-60°, in particular 40-50°. This angular range has proven to be particularly advantageous for safe removal.
  • two angle rails are mounted on the support at a variable distance to accommodate the box. This allows boxes of different widths to be accommodated as flexibly as possible, which contain electrical components of different widths.
  • an extension base is mounted on the base of the at least one component magazine, which has a further support, which is also oriented obliquely, onto which a further box containing components can be placed.
  • the further support can also be provided with angle rails at a variable distance to accommodate the box.
  • the expansion base creates an additional removal level and thus increases the capacity of the component magazine with the same elevation dimensions. This concept can be continued by placing a second expansion base on top of the first expansion base, etc.
  • component magazine described here in connection with the wiring device can also be used independently of this in other devices in which electrical components, in particular electrical components that can be placed on mounting rails, are kept available for removal.
  • the use of the component magazine described is not limited to the wiring device according to the invention.
  • the wiring device has at least one magazine for holding various grippers that can be picked up by the robot arm and that are adapted to various of the electrical components.
  • at least one of the grippers has at least one plug-in dome, which engages positively and/or frictionally in an opening of the electrical component.
  • the opening of the electrical component used for this purpose can be a conductor connection and/or an actuation opening and/or a channel for receiving cross-connectors and/or a receptacle for marker elements and/or a dedicated notch on the top of the electrical component.
  • the wiring device has at least one gripper with two gripper halves, between which a cable channel is formed for gripping the wire section.
  • the two gripper halves can be moved towards or away from each other by the robot arm. This allows the wire section to be firmly gripped and released, or even loosely gripped, making it possible to move along the wire section. By moving along, the wire section can be processed at both ends by the robot arm.
  • Figure 1 shows a spatial overall view of a first exemplary embodiment of a wiring device, designed as an assembly and wiring device
  • Figure 2 is a top view of the device according to Figure 1;
  • Figure 3a is a spatial view of a section of a robot arm
  • Figure 3b shows the gripper from Figure 3a in a detailed view
  • Figure 4a is a spatial view of a section of a robot arm
  • Figure 4b shows the gripper from Figure 4a in a detailed view
  • Figure 5 is a spatial view of a wire sensor of the wiring device of Figures 1 and 2;
  • Figure 6 is a spatial view of a clamping device of the wiring device according to Figures 1 and 2;
  • Figure 7 shows a spatial overall view of a second exemplary embodiment of a wiring device, designed as an assembly and wiring device;
  • Figure 8 is a top view of the device according to Figure 7;
  • Figure 9 is a spatial detailed view of a component magazine of the wiring device of Figures 7 and 8;
  • Figure 10 shows the component magazine of Figure 9 with inserted boxes with electrical components
  • Figure 11 is a spatial view of an automatic marking machine of the wiring device according to Figures 7 and 8;
  • Figures 12a, b show a spatial view and a top view of a further clamping device of the wiring device according to Figures 7 and 8;
  • Figures 13a, b show a spatial view and a front view of a gripper of the wiring device according to Figures 7 and 8 in an open state;
  • Figures 14a, b show a spatial view and a front view of the gripper according to Figures 13a, b in a closed state;
  • Figures 15a, b show a spatial view and a side view of a gripper half of the gripper according to Figures 13a, b and 14a, b.
  • the wiring device is designed as an assembly and wiring device. It is therefore not only able to wire electrical components, but also assembles them independently on a provided mounting rail section.
  • the same reference numerals indicate the same elements. However, for reasons of clarity, not every element in each of the figures is provided with a reference number.
  • a robot arm 2 is arranged centrally on the work platform 1 and reaches and operates all of the components of the wiring device described below and arranged around it.
  • the robot arm 2 has a plurality of arm elements 21, which are connected to one another in a movable and, in particular, actively rotatable manner via joints 22.
  • a gripper receptacle 23 At the free end of the robot arm 2 there is a gripper receptacle 23, into which different grippers 24 can be accommodated independently by the robot arm 2.
  • the robot arm 2 is designed as a so-called “co-robot”, i.e. as a robot that can work together with people by having a plurality of force sensors that are constantly evaluated and which detect unplanned forces acting on the robot arm 2. This minimizes the effects of collisions with people or objects and allows the robot arm 2 to work in a work environment together with people without having to be behind protective grilles or similar. must be positioned.
  • co-robot i.e. as a robot that can work together with people by having a plurality of force sensors that are constantly evaluated and which detect unplanned forces acting on the robot arm 2. This minimizes the effects of collisions with people or objects and allows the robot arm 2 to work in a work environment together with people without having to be behind protective grilles or similar. must be positioned.
  • the sensors in particular the majority of force sensors that the robot arm 2 has, are also used in connection with the activities carried out by it, as will be explained in more detail below.
  • a gripper magazine 3 is arranged on the platform 1, which has at least one magazine fork 31, in the present example three magazine forks 31, having. Different grippers 24 can be stored in these magazine forks 31 or different grippers 24 can be picked up by the robot arm 2 from these magazine forks 31.
  • FIG. 3a the front section of the robot arm 2 with the gripper holder 23 and an inserted gripper 24 is shown enlarged in more detail.
  • the gripper 24 used has gripped a terminal block as an example of an electrical component 52 for further processing.
  • the gripper 24 used for this purpose is shown separately in an enlarged isometric view. Specifically, the gripper 24 shown is only a gripper half 241.
  • the robot arm 2 usually has options for receiving and, if necessary, moving two such gripper halves 241 in order to be able to implement an active gripping movement.
  • the gripper 24 has a plug adapter 242 with which it is inserted into the corresponding gripper receptacle 23 of the robot arm 2.
  • a groove 243 is formed in the lower region of the plug-in adapter 242, with which the gripper 24 can be inserted into the magazine fork 31 of the gripper magazine 3.
  • two plug-in mandrels 244 are formed on the gripper 24, which engage in openings of the electrical component 52 in a positive and/or frictional manner, so that it can be picked up and further processed.
  • the openings mentioned on the electrical component 52 can be made into a housing of the component 52 specifically for this purpose. However, it is possible and advantageous to use openings on the electrical component 52 for this purpose anyway.
  • Different grippers 24 are provided for different electrical components 52, which provide their plug-in mandrels 244 suitably dimensioned and positioned.
  • FIG 4a shows, in a manner comparable to Figure 3a, the free end of the robot arm 2 with a gripper 24 for a different function, specifically for gripping wires or wire sections.
  • this gripper 24 is shown enlarged separately from the robot arm 2.
  • the gripper 24 for gripping wire sections comprises two gripper halves 241, each of which is designed with a plug-in adapter 242 and the aforementioned groove 243 for storage in the gripper magazine 3.
  • Each gripper half 241 has a gripping jaw 245, on the inside of which (ie the side facing the other of the gripper halves 241) comprises a number of slats 246.
  • the slats 246 of the two gripper halves 241 are designed to interlock with each other, so they fit when the gripper is closed 24 into each other, which gives the gripper 24 increased stability in the closed state.
  • the slats 246 are provided with V-shaped incisions, which lie one behind the other and form a wire channel 247.
  • a wire section is positioned in the wire channel 247, surrounded by the gripping jaws 245 and can protrude from the gripper 24 at both ends.
  • the gripping jaws 245 are aligned at an angle to the plug adapter 242 so that a wire protruding through does not hit the robot arm 2.
  • the V-shaped incisions in the slats 246, which form the wire channel 247 ensure that the wire is reliably gripped, even if it is not positioned exactly.
  • the component magazines 4 each have a base 41 which carries an inclined support 42.
  • the support 42 is provided with a border on the sides and its lower end; an upper end is designed without a border.
  • a stack of the components 52, usually enclosed in cardboard, is inserted into the supports 42.
  • the various electrical components 52 can each be removed from the robot arm 2 by a suitable gripper 24.
  • the term “electrical components” also includes those components that are equipped with electronic components, such as power supplies, and also those components that have a purely mechanical function, such as end plates for terminal blocks.
  • the components 52 are generally designed to be lined up on a mounting rail section, they are essentially flat and disc-shaped. Of the components 52 stacked in a component magazine 4, the lower one is grabbed and pulled out transversely, in particular perpendicular to the stacking direction, forwards and obliquely upwards by the robot arm 2. The inclination of the support 42 then leads to that the remaining components 52 slide without being unintentionally pulled out.
  • the angular orientation relative to the horizontal is approximately 30-60°, in particular 40-50°. This angular range has proven to be particularly advantageous for safe removal.
  • a mounting rail receptacle 5 is arranged on the work platform 1, on which at least one mounting rail section 51 that is to be equipped is positioned.
  • at least one mounting rail section 51 that is to be equipped is positioned.
  • three short mounting rail sections 51 are provided next to each other. These are - also purely by way of example - already provided with various electrical components 52.
  • the mounting rail receptacle 5 is constructed in the shape of a desk, with the mounting rail sections 51 being arranged on an inclined surface of the mounting rail receptacle 5 that faces away from the robot arm 2. This leads to an advantageous working angle at which the wiring is carried out by the robot arm 2. Furthermore, the inclination causes already inserted wire sections to bend down to one side in a controlled manner due to gravity, thereby preventing further wiring openings on the electrical components 52 from being covered.
  • a wire cutting machine 6 is also arranged on the work platform 1, to which a coil carrier 61 with a coil 62 is assigned. Wire is provided on the coil 62, which is inserted into the wire cutting machine 6 and is output cut to a predeterminable length by the wire cutting machine 6 in the direction of the robot arm 2.
  • a wire cutting machine 6 is known from wiring technology and can be used in automated wiring systems as well as in manually wired systems.
  • the wire cutting machine 6 is controlled by a higher-level control device, which also controls the robot arm 2, via a communication interface in order to output a cut piece of wire of the required length at a specific time.
  • a higher-level control device which also controls the robot arm 2, via a communication interface in order to output a cut piece of wire of the required length at a specific time.
  • the robot arm with its gripper 24 is positioned in front of the wire cutting machine 6, so that the piece of wire is inserted from the wire cutting machine into the wire channel 247 and, after being cut by the wire cutting machine 6, can be gripped by the gripper 24 for further processing.
  • the robot arm 2 during removal of the wire performs a movement to support the cutting to length.
  • the suitable time for the movement can be communicated to the robot arm 2 via the communication interface.
  • a movement and/or vibration transmitted from the wire cutting machine 6 to the wire section can be detected and evaluated by force sensors of the robot arm 2 in order to determine a suitable time for the supporting movement of the robot arm 2.
  • the electrical components 52 are usually wired with slack wire, which is why the exact alignment of a projection with which the cut piece of wire protrudes forward from the gripper 24 is undetermined.
  • a wire sensor 7 is arranged on the work platform 1, which is shown separately in more detail in Figure 5.
  • the wire sensor 7 has two optical measuring forks 72, 73 mounted on a base 71.
  • the optical measuring forks 72 and 73 are aligned orthogonally to one another.
  • Each measuring fork 72, 73 has two fork arms, with an optical emitter, in particular a light-emitting diode, being arranged in one fork arm and an optical receiver, for example a photodiode, in the opposite fork arm.
  • an optical emitter in particular a light-emitting diode
  • an optical receiver for example a photodiode
  • the robot arm 2 After picking up a cut piece of wire, the robot arm 2 moves it to the wire sensor and moves the protrusion of the cut piece of wire one after the other through the optical measuring forks 72 and 73. During the movement, the time at which the light beam is interrupted along the detection lines 74, 75 is recorded and displayed the known position of the robot arm 2 at the moment of interruption determines a bend in the projection of the cut piece of wire.
  • the robot arm 2 moves with the cut piece of wire to a clamping device 8, which is also mounted on the work platform 1 and which is shown in detail in FIG is reproduced separately.
  • the clamping device 8 has two clamping jaws 82 pivotally mounted on a base 81.
  • the robot arm 2 positions a front part of the cut wire section between the swung-open clamping jaws 82, taking into account the previously determined bend in order to position the piece of wire appropriately.
  • the two clamping jaws 82 then pivot and clamp the piece of wire in its free end region.
  • the clamping jaws 82 are V-shaped and have interlocking slats for stability reasons.
  • the robot arm 2 moves and/or pivots the gripper 24 in such a way that the previously determined bend is counteracted.
  • An “over-bend” of a certain percentage against the measured bend can be provided, through which the previously measured bend is compensated for as optimally as possible, so that after opening the clamping jaws 82, the cut wire is as straight as possible and in an extension of the wire channel 247 of the gripper 24 survives. It can be provided that the protruding piece of wire is then guided through the wire sensor 7 again in order to detect its current bend and, if necessary, compensate for it again using the clamping device 8.
  • the end of the cut wire protruding from the gripper 24 of the robot arm 2 is inserted into an automatic stripping machine 9. This removes an insulating sheath from the wire over a specified length. At the same time it can be provided that a wire end sleeve is also put on and crimped.
  • the stripping machine 9 is a self-sufficient device that can be used in automated wiring devices, but also for manual wiring. In a preferred embodiment of the wiring device, no external communication between the robot arm 2 or the control device that controls it and the stripping machine 9 is required. Instead, the inevitable movements of an inserted wire end transmitted to the wire by the stripping machine 9 are detected and evaluated by force sensors of the robot arm 2. This type of haptic feedback from the stripping machine 9 to the robot arm 2 is used for process control.
  • the wiring device can be equipped with different insulation lierautomaten 9 can work together, even if they do not have a communication interface for external process control.
  • the end of the wire section is passed through the wire sensor 7 again in order to detect any bending of the protruding wire section that may have arisen as a result of the stripping process and, if necessary, to correct it using the clamping device 8.
  • the wire section is inserted into a corresponding contact opening of a contact terminal of one of the electrical components 52 on one of the mounting rail sections 51.
  • the contacts of the electrical components 52 are preferably so-called “snap-in contacts”, which are triggered by the insertion of the wire and contact the wire in a clamping manner under spring force.
  • the robot arm 2 can be programmed so that it only applies force to insert the wire section in defined spatial areas in order to ensure safe operation.
  • contacting can be detected by the robot arm 2 through corresponding haptic feedback via the wire.
  • the robot arm 2 presses down the wire section in order to move it out of the area of the contact openings to be subsequently wired with wires and then opens its gripper 24 in order to carry out a further wiring process.
  • the oblique arrangement of the mounting rail sections 51 means that the orientation of the wire section is maintained.
  • FIGS. 7-15b A second exemplary embodiment of a wiring device, again designed as an assembly and wiring device, is shown in FIGS. 7-15b.
  • Figures 7 and 8 initially show, in the manner of Figures 1 and 2, the overall structure and functionality of the wiring device using a spatial view or a top view.
  • the wiring device of the second embodiment is a modification with extensions of the wiring device of the first embodiment.
  • the basic structure and the basic operation are comparable for both wiring devices. With regard to the basic structure and function, reference is therefore made explicitly to the comments on the first exemplary embodiment. Differences between the two exemplary embodiments are explained in more detail below.
  • multi-story component magazines 4 are used in the second exemplary embodiment of the wiring device.
  • each of the component magazines 4 includes a base 41 which provides a support 42 that slopes towards the robot arm 2.
  • Figure 9 shows one of the component magazines 4 separately in an enlarged and more detailed view.
  • the component magazine 4 is equipped with boxes 53 in which the electrical components 52 are arranged.
  • the basic principle explained in connection with the first exemplary embodiment is implemented, namely that the electrical components 52 are provided in an inclined stack by the component magazines 4. If the frontmost component 52 is removed from the lower end facing the robot arm 2, the following electrical components 52 slide due to gravity.
  • the electrical components 52 are already delivered in the box 53.
  • the box 53 can easily be inserted into the component magazine 4 after removing a lid or opening a cover.
  • there are not fixed edges on the support 42 but two angle rails 421 are arranged on the support 42, which are in Their distance from each other can be varied so that they can be adapted to boxes 53 of different widths.
  • transverse elongated holes 422 are formed in the support 42, in which the angle rails 421 can be fixed in a displaceable manner, for example using screws or clamping elements.
  • a bracket 423 is optionally provided, which reaches over the electrical components 52 at a distance of approximately the stacking height of one of the components 52 from the lower end of the box 53.
  • the bracket 423 prevents caught components 52 from being unintentionally lifted when the frontmost electrical component 52 is removed.
  • the bracket 423 can be adjusted in height, i.e. H. its distance from the support 42 and its distance from the lower stop can be adjusted in order to adapt its position to the size and in particular the stacking height of the electrical components 52.
  • an extension base 43 is placed on the base 41 and fixed, for example, with screws.
  • the extension base 43 provides a further support 44 parallel to the support 42 and spaced from it to accommodate another cardboard box 53.
  • angle rails 441 are used, which define the receptacle for the box 53.
  • the angle rails 441 can be adjusted in their distance and position using elongated holes 442.
  • a bracket 403 is also provided.
  • the extension base 43 creates a further removal level and thus increases the capacity of the component magazine 4. This concept can be continued by placing a second extension base 43 on the first extension base 43.
  • the number of extension bases 43 used for a component magazine 4 is ultimately only limited by the reach of the robot arm 2 and the stability of the bases 41 or extension bases 43.
  • the cutting machine 6 which provides wire sections for wiring the electrical components 52.
  • the cutting machine 6 is able to output two different types of wire, for example with different diameters.
  • a coil carrier 61 is used, which offers the possibility of using two wire coils to store the types of wire used.
  • the automatic wiring machine of the second exemplary embodiment is supplemented by an automatic marking machine 10 for marking the processed wire sections. This will be explained in more detail below with reference to Figures 11 and 12a, b, together with a further clamping device 11, which is used to handle the wire sections in connection with the automatic marking machine 10.
  • Figure 11 shows a spatial view of the automatic marking machine 10 and the further clamping device 11 during its use by the robot arm 2.
  • the marking machine 10 has a horizontal processing slot 101, into which a wire section 63, onto which a marking 102 is to be applied, is inserted lengthwise. After inserting the wire section 63, the marking machine 10 wraps an adhesive label, which it may have previously printed individually, as a marking 102 around the wire section 63.
  • Figure 11 shows the inserted wire section 63 after the marking 102 has been applied.
  • the robot arm 2 is supported by the further clamping device 11.
  • the wire section 63 protrudes from the wire section by a length in the range of a few centimeters Gripper 24 of the robot arm 2.
  • the robot arm 2 first moves to the further clamping device 11.
  • this has a swivel arm 112 which is pivotably mounted on a base 111.
  • the position of the swivel arm 112 can be adjusted in a defined manner by a drive arranged in the base 111.
  • a gripper 113 is arranged, which has two clamping jaws 114, which can be opened and closed like the clamping jaws 82 of the clamping device 8 and which can clamp an inserted wire section 63.
  • the further clamping device 11 is shown in more detail in a side view and a top view. Similar to what was explained in connection with the gripper 24 of FIG. 4b, the clamping jaws 114 have interlocking clamping lamellas 115, which are also V-shaped so that they can center and clamp the end of an inserted wire section 63.
  • the robot arm 2 After inserting and clamping the wire section 63 into or through the gripper 113, the robot arm 2 opens its gripper 24 just enough so that the gripped wire section 63 remains fixed in the transverse direction, i.e. does not slip out of the gripper 24, but in the longitudinal direction of the wire section 63 can be pulled by the gripper 24.
  • An embodiment of the gripper 24 that is particularly suitable for this and that is used in this second exemplary embodiment of the wiring device is explained in more detail below in connection with Figures 13a to 15b.
  • the robot arm 2 then moves the gripper 24 away from the gripper 113, with the wire section 63 being held as tightly as possible between the gripper 113 and the gripper 24.
  • the robot arm 2 removes the gripper 24 to such an extent that the length of the tensioned wire section 63 between the gripper 113 and the gripper 24 is sufficient to be able to insert the wire section 63 into the processing slot 101.
  • the robot arm 2 and the further clamping device 11 carry out coordinated movements in such a way that the tensioned wire section 63 is inserted into the processing slot 101 and assumes the position shown in Figure 11. After this has taken place, a corresponding command can be issued to the marking machine 10 by a control device of the robot arm 2 so that the marking 102 is applied to the wire section 63.
  • the marking machine 10 itself detects the inserted wire section 63 and applies the marking 102.
  • the further clamping device 11 is present in addition to the clamping device 8.
  • the additional clamping device 11 is not only used to insert the wire section into the marking machine 10, but also also together with the wire sensor 7 for aligning the wire section 63.
  • Figures 13a-15b the gripper 24 used in the second exemplary embodiment of the wiring device for the robot arm 2 is shown in more detail and separately from the robot arm 2.
  • Figures 13a, b show the gripper 24 with both gripper halves 241 in the open position in a spatial representation and a view from the front, i.e. looking along a wire channel 247 in which a gripped wire or wire section runs lengthwise.
  • Figures 14a, b show the gripper 24 in the closed state, i.e. with the gripper halves 241 closed.
  • Figures 15a, b finally show only one of the gripper halves 241 in a spatial representation and in a side view.
  • the two gripper halves 241 have the same structure in this example, so they are not only mirror-symmetrical to one another, but also the same with regard to their front and rear sections (based on an inserted wire section).
  • the gripper halves 241 each have a plug-in adapter 242 for insertion into the gripper receptacle 23 of the robot arm 2. Lateral grooves 243 are also formed on the plug-in adapter 242, which support storage of the gripper 24 in the gripper magazine 3.
  • a gripper jaw 245 is formed transversely to the insertion direction of the plug adapter 242, through which the wire channel 247 runs in the longitudinal direction. This is, as can be clearly seen in particular in Figures 15a, b, semi-cylindrical in a central section in each of the gripper halves 241. Towards the end, the wire channel 247 widens and opens into a semi-conical cross section, through which an insertion funnel 248 is formed.
  • the gripper 24 is designed in particular to grip wires with an outer diameter that is slightly larger than the diameter of the wire channel 247 formed. When the gripper halves 241 are closed around a wire section, this is centered along the wire channel 247. Depending on the pressure or force When the gripper halves 241 are closed, the wire section is either firmly gripped, released or held so that it is transverse does not slip out of the gripper 24, in the longitudinal direction, i.e. in the direction of the wire channel 247, but can be pulled through the gripper 24.
  • This option can also be used by the automatic wiring machine of the second exemplary embodiment to wire a wire section at both ends.
  • the wire section is first received by the cutting machine 6 as described in connection with the first exemplary embodiment, so that a free end of the wire section protrudes beyond the end of the gripper 24 by a certain distance, for example a few centimeters.
  • This protruding end can be measured in its orientation and also the length of the protrusion using the wire sensor 7 and, if necessary, aligned using the clamping device 8.
  • the robot arm 2 moves the wire section in or out of the wire sensor 7 in a zigzag movement, so that a first or last interruption in the optical measuring path can be detected, from which the length of the protrusion can be calculated .
  • the length measurement of the wire section can also be carried out in order to check measured length data of the wire section provided by the automatic cutting machine 6 against planning data and to compare actual travel paths of the robot arm 2 with predetermined ones based on a difference.
  • the already stripped first end can be fixed in the clamping device 8, for example.
  • the robot arm 2 then opens its gripper 24 just enough that the wire section still remains in the gripper 24, but the gripper 24 can be moved along the wire.
  • the robot arm 2 then moves the gripper 24 almost to the free, second end of the wire section, for example again a few centimeters in front of the second end. This is done on the basis of the length of the processed wire section known to the control system of the robot arm 2.
  • the gripper 24 is then closed further so that the wire section is gripped and the first end of the wire section is released from the clamping device 8.
  • the robot arm 2 has thus grasped the wire section so that the second end can now be processed.
  • the robot arm 2 moves this still unprocessed second end of the wire section through the wire sensor 7 in order to determine its orientation and the length of the protrusion. This means that the position of the wire section in the gripper 24, which was initially only calculated, can actually be measured and, if necessary, corrected using the clamping device 8.
  • the marking process can already be used to encompass the wire section.
  • the previously described separate gripping using the clamping device 8 can then be omitted.
  • a cable bundler 12 is shown as a further processing station, which makes it possible to combine several wires into a cable harness.
  • the cable bundler 12 has a feed-through opening 121 into which the wires are inserted. They are then bundled into a cable harness by the cable bundler 12 using two self-adhesive strips joined together.
  • a crimping machine can be provided, for example, which applies a wire end sleeve to stripped ends of a wire section, or an machine which attaches a plug connector to a wire end.
  • additional devices can be used that provide the wire end sleeves, connectors or other contact elements used. Cable feed units that provide pre-assembled cables can also be used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de câblage automatique pour une section de rail de montage (51), comprenant un bras robotique (2), un support de rail de montage (5) avec au moins une section de rail de montage (51) sur laquelle au moins un composant électrique (52) peut être placé, et un dispositif pour distribuer une section de fil. Le dispositif de câblage est caractérisé en ce que, dans une plage d'activité du bras robotique (2), il y a un dispositif de serrage (8, 11) dans lequel une région d'extrémité de la section de fil reçue par le bras robotique à partir du dispositif de distribution d'un fil peut être serrée afin de fixer ladite région d'extrémité et d'orienter ladite région d'extrémité par déplacement du bras robotique (2).
PCT/EP2023/059807 2022-05-25 2023-04-14 Dispositif de câblage automatique WO2023227289A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022113257.9 2022-05-25
DE102022113257 2022-05-25

Publications (1)

Publication Number Publication Date
WO2023227289A1 true WO2023227289A1 (fr) 2023-11-30

Family

ID=86271353

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/059807 WO2023227289A1 (fr) 2022-05-25 2023-04-14 Dispositif de câblage automatique

Country Status (1)

Country Link
WO (1) WO2023227289A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4593452A (en) * 1985-02-26 1986-06-10 Amp Incorporated Robotic harness maker
WO2015169611A1 (fr) * 2014-05-09 2015-11-12 Picanol Dispositif délivreur de trame
US20200052476A1 (en) * 2017-05-09 2020-02-13 Conductix-Wampfler Gmbh Feed device and power supply system
WO2021037297A1 (fr) * 2019-08-29 2021-03-04 Rittal Gmbh & Co. Kg Procédé de remplissage d'une carte de montage avec des composants d'assemblage d'un système d'appareillage de commutation et/ou d'un système de commande
US20210181704A1 (en) * 2018-05-04 2021-06-17 Zoller & Fröhlich GmbH Modular wire processing center
US20210183541A1 (en) * 2019-12-11 2021-06-17 The Boeing Company Temporary Holder for Transferring End of Wire Between End Effectors

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4593452A (en) * 1985-02-26 1986-06-10 Amp Incorporated Robotic harness maker
WO2015169611A1 (fr) * 2014-05-09 2015-11-12 Picanol Dispositif délivreur de trame
US20200052476A1 (en) * 2017-05-09 2020-02-13 Conductix-Wampfler Gmbh Feed device and power supply system
US20210181704A1 (en) * 2018-05-04 2021-06-17 Zoller & Fröhlich GmbH Modular wire processing center
WO2021037297A1 (fr) * 2019-08-29 2021-03-04 Rittal Gmbh & Co. Kg Procédé de remplissage d'une carte de montage avec des composants d'assemblage d'un système d'appareillage de commutation et/ou d'un système de commande
US20210183541A1 (en) * 2019-12-11 2021-06-17 The Boeing Company Temporary Holder for Transferring End of Wire Between End Effectors

Similar Documents

Publication Publication Date Title
DE2649920C2 (de) Kontaktieranlage für isolierte elektrische Leitungsdrähte
DE69300906T2 (de) Mechanismus für das Einfügen verdrahteter Klemmen in dem Verbindergehäuse.
DE69107638T2 (de) Verfahren und Vorrichtung zur Montage von elektrischen Leitern mit Kontaktteilen in Steckergehäuse.
DE69409218T2 (de) Verfahren und Vorrichtung zum Wickeln eines Bandes
WO2019105502A1 (fr) Procédé pour le câblage électrique par une séquence de câbles de composants électroniques dans la construction d'installations de commutation et dispositif robotique correspondant
EP0703646B1 (fr) Procédé et dispositif pour câbler les bornes de raccordement de composants d'appareils électriques
EP3236544A1 (fr) Dispositif et procédé de regroupement de conduites individuelles d'un faisceau de câbles
DE68910437T2 (de) Apparat zum einstecken von kabelendstücken in die öffnungen eines elektrischen steckverbinders.
DE102010017981A1 (de) Einrichtung und Verfahren zum Zusammenführen von Leitern
DE102017206141B4 (de) Anlage sowie Verfahren zur automatisierten Vorbereitung und Bereitstellung von einzelnen Leitungselementen für einen Kabelsatz
DE102017104865B3 (de) Vorrichtung und verfahren zum automatisierten abdichten einer verbindungsstelle von miteinander verschweissten elektrischen leitungen
EP0924799B1 (fr) Dispositif pour câbler des places de raccordement des composants des appareils ou des installations électriques
EP0419524B1 (fr) Procede et dispositif pour la fabrication d'un faisceau de cables
WO2023227289A1 (fr) Dispositif de câblage automatique
EP3938153B1 (fr) Pince pour le câblage automatisé de composants électriques d'une installation de commutation électrique, robot correspondant et procédé correspondante
DE102015017014B4 (de) Anker mit Wicklungen und Verfahren zum Verbinden von Wicklungsenden des Ankers mit einer Anschlussklemme
EP1342248B1 (fr) Procede de production de faisceaux de cables et installation pour la mise en oeuvre de ce procede
EP1251605B1 (fr) Appareil et méthode pour l'insertion de bout de câble dans des boítiers de connecteurs
EP2779327B1 (fr) Pince rotative pour câble et méthode de guidage d'un conducteur électrique
DE102019102164B4 (de) Vorrichtung zum Einführen einer flexiblen Leitung
EP0917259A2 (fr) Procédé et dispositif pour le câblage automatique de bornes de composants d'appareils électriques
DE102020128437A1 (de) Vorrichtung und Verfahren zur Montage eines Steckverbinders
DE202021000135U1 (de) System zur automatisierten Herstellung von Kabeln und Kabelbäumen
DE69107658T3 (de) Verfahren und Gerät zur Einführung von Statorwicklungsadern in Drahtaufnahmekanäle aufweisende Verbinder.
EP0444032B1 (fr) Procede et dispositif de fabrication d'harnais de cables

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23720068

Country of ref document: EP

Kind code of ref document: A1