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WO2018189103A1 - Tête d'usinage ainsi qu'installation et procédé servant à équiper de manière automatisée des boîtiers de connecteur enfichable en éléments conducteurs - Google Patents

Tête d'usinage ainsi qu'installation et procédé servant à équiper de manière automatisée des boîtiers de connecteur enfichable en éléments conducteurs Download PDF

Info

Publication number
WO2018189103A1
WO2018189103A1 PCT/EP2018/059017 EP2018059017W WO2018189103A1 WO 2018189103 A1 WO2018189103 A1 WO 2018189103A1 EP 2018059017 W EP2018059017 W EP 2018059017W WO 2018189103 A1 WO2018189103 A1 WO 2018189103A1
Authority
WO
WIPO (PCT)
Prior art keywords
line
plant
manipulator
plug
gripping
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2018/059017
Other languages
German (de)
English (en)
Inventor
Fabian Dietlein
Christian Guni
Paul Heisler
Roland Jaecklein
Paulo MARTINS
Onur Tavsel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leoni Bordnetz Systeme GmbH
Friedrich Alexander Universitaet Erlangen Nuernberg
Original Assignee
Leoni Bordnetz Systeme GmbH
Friedrich Alexander Universitaet Erlangen Nuernberg
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 Leoni Bordnetz Systeme GmbH, Friedrich Alexander Universitaet Erlangen Nuernberg filed Critical Leoni Bordnetz Systeme GmbH
Publication of WO2018189103A1 publication Critical patent/WO2018189103A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • 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

Definitions

  • the invention relates to a system and a method for automated loading of connector housings with line elements.
  • the system is used to equip plug housings with line elements, especially in the manufacture of cable harnesses, especially for motor vehicles. It is preferably part of an overall system for the fully automated production of cable harnesses.
  • a harness generally includes a plurality of individual conduit members connected together.
  • the line elements are in particular wires, twisted wires (pairs), optical waveguides or prefabricated sub-lines, such as sheathed cables.
  • Under vein is generally understood to be a conductor surrounded by an insulation, either a conductor wire or a stranded conductor.
  • a respective cable set has a branched structure, which corresponds to a later laying structure, for example, within a motor vehicle or in another system.
  • a branched structure is understood here to mean that individual line elements branch off from a main line at different positions of the cable set. Normally, at the end of the cable set, connectors or other contact elements are struck on the end of the cable set at least at some of the line elements.
  • the individual line elements are laid manually along so-called cable boards according to a predetermined individual branched structure, and then the individual line elements are manually fixed to one another, for example by banding.
  • Plug housings to a predetermined position.
  • the present invention seeks to provide a system and a method for process-reliable and rapid automated loading of connector housings with line elements.
  • the system has a manipulator which has a plurality of degrees of freedom of movement and for receiving a respective line element from a ready position and for transferring the line element into a
  • Plug station provided plug housings is formed.
  • the manipulator has a base and a machining head attached to the base.
  • the machining head in turn comprises a carrier and at least two positioning grippers fixed to the carrier, each having at least one gripping unit for gripping the line ends of a respective individual conduit element.
  • the system is in particular part of an overall system for the fully automated production of a cable set.
  • This consists of a plurality of individual line elements, which are assembled individually for each cable set.
  • pre-assembled cable elements are attached to plug housings at the ends.
  • Prefabricated line elements here are understood as meaning both individual wires and a twisted pair of wires, whereby these are each cut to a required length, for example also a desired conductor. have diameter and in particular are equipped at their line elements with contact elements.
  • These contact elements are, for example, contact sockets or contact pins. These are, for example, resolutionkrimmt or in any other way, for example, fluidly connected to the head.
  • the particular aspect of the specially designed machining head with the at least two positioning grippers is to be seen in that in operation, the two line ends of a single line element are gripped in parallel by the two positioning grippers and individually fed to a respective connector housing. The one line end is thus fed to a first connector housing and the other line end to a second connector housing.
  • the manipulator must be moved between the staging station, where the individual line elements are provided, and the connector station, where the connector housings are fitted with the line elements.
  • the positioning grippers are arranged adjustable with respect to the base.
  • the carrier is adjustable together with the positioning grippers.
  • Plug station for individual recording of the individual line ends and for the individual plugging into the connector housing allows. Another method of the manipulator is not required or adjusting movements of the manipulator are reduced.
  • the carrier is a rotary carrier which is rotatable about a rotation axis.
  • the positioning gripper are preferably arranged stationary. The positioning gripper are therefore each brought by a rotational movement in a desired working position in which they receive a respective line end or plug into the connector housing.
  • the positioning grippers are evenly distributed on the carrier, in particular evenly distributed around the circumference of the carrier. According to one embodiment, exactly two positioning grippers are arranged on the carrier, which are therefore arranged offset in particular by 180 degrees to each other.
  • a total of three positioning grippers are arranged on the carrier, in particular on the rotary carrier.
  • the third positioning gripper serves as a redundant protection if a positioning gripper is impaired in its function. Therefore, no interruption of the process is required if one of the positioning gripper fails.
  • each gripping unit of the positioning gripper is designed for the separate gripping of two wires of a line element formed by a twisted wire pair.
  • each gripping unit has two clamping areas.
  • each positioning gripper has two gripping units spaced apart from one another, so that in operation a respective line element can be gripped by the gripping unit at two spaced-apart regions. As a result of this measure, the respective line element is guided reliably and safely in the region of the line ends.
  • the positioning gripper with the two gripping units is U-shaped with a free space between the two gripping units.
  • This space is used in particular for gripping around a holder in which the line elements are held in particular in the staging station.
  • the holder expediently has a unit designed, for example, in the manner of the gripping unit, which can be received in the free space for transferring the line end from the holder to the positioning gripper.
  • the manipulator in particular the carrier and especially a respective positioning gripper, has a sensor unit for monitoring the plugging operation.
  • the sensor unit has, in particular, a pressure sensor and / or a position sensor for monitoring the plug-in operation when inserting the line end into the plug housing.
  • the contact element of the prefabricated line elements must be inserted at a predefined position and with a predetermined force in the connector housing.
  • the manipulator is designed in particular as a multi-axis articulated arm robot. Specifically as a common industrial robot with multiple rotational and translational degrees of freedom of movement. For example, it is designed as a six-axis industrial robot.
  • the base of the manipulator is in particular the so-called robot hand, to which the machining head can be exchangeably attached as a replaceable tool in the manner of a module.
  • the manipulator itself is movable between the staging station and the connector station.
  • the manipulator in this case has a base body, with which he can be moved in total.
  • the manipulator is therefore not stationary within the system. For example, it is rail-guided between the staging station and the connector station movable. Alternatively, it is fixed in place.
  • the connector housings are fastened to transporters at the connector station, which are distributed over a plurality of rails and can each be moved individually along the rails.
  • the transporter with the plug housings mounted thereon are arranged in a compact, close position to each other, in particular directly next to each other. As a result, the travel paths when loading the connector housing the line elements are reduced.
  • the individual plug housings with the cable ends fastened therein are then moved in an expedient development into a branched, two-dimensional structure of the cable set.
  • the rails are movable relative to each other, so that so the rails can be moved apart.
  • Plug housing allows.
  • further steps for forming the cable set, such as banding, etc. are then expediently carried out within the overall system.
  • FIG. 1 is a partial view of the system in the area of a
  • Fig. 3 is an enlarged view of the further processing head when loading a connector housing with a line end of a line element
  • Fig. 4 is an enlarged view of Figure 3 in the region of the plug housing.
  • Fig. 1 shows a fragmentary view of a system 2, which is for fully automatic placement of connector housings 4 with line ends 6 of line elements 8 (shown in Fig. 3, 4) is formed.
  • the system 2 is in particular part of an overall system for the fully automated production of a cable set especially for a motor vehicle.
  • the entire system has, in particular, a first part for automated pre-assembly of the line elements, and a second part for assembling the prefabricated line elements to an individual cable set.
  • a connector station 10 is shown, which is in particular the first processing station in the second part of the system.
  • the prefabricated line elements 8 are provided in a previous provisioning station, also referred to as a buffer station. This is not shown here.
  • the individual prefabricated line elements 8 are provided on holders in particular suspended.
  • the individual line ends 6 of a respective line element 8 are arranged side by side.
  • the individual processing stations are designed in the manner of shelf-like frameworks, which are typically oriented in a vertical direction 12.
  • the entire plant 2 also typically extends in a longitudinal direction 14, in which the individual scaffolds are lined up directly next to each other.
  • the processing stations continue to extend in a transverse direction 16.
  • the connector housing 4 are provided on transporters 18, which are arranged on rails 20 movable in the manner of carriages. As can be seen in FIG. 1, the individual transporters 18 are distributed over a plurality of rails 20 arranged parallel to one another. Some of the transporters 18 are also equipped with deflecting elements 22. These serve, for example, for deflecting individual line elements 8 at branch points of the cable set.
  • the individual transporters 18 are arranged individually and independently of one another along the respective rail 20.
  • the individual rails 20 can also be moved in the vertical direction 12. After equipping the individual transporters 18, these are transferred in a manner not shown here into a defined two-dimensional, distributed structure which corresponds to the branched structure of the cable set to be manufactured.
  • a manipulator 24 is provided in total, which is specifically a multi-axis industrial robot. This is arranged, for example, in the region of a front side of the plug-in station 10, in particular movable. In the embodiment of Fig. 1, a hanging attachment is shown.
  • the manipulator 24 has, in a manner known per se, a main body 26 which already provides several degrees of freedom of movement.
  • a robot hand base 28 is formed, which represents the interface to a replaceable tool or machining head 30.
  • the machining head 30 has a rotary support 32, which is rotatably arranged about a hand axis A of the robot hand and thus the base 28.
  • a plurality of positioning gripper 34 are arranged on the rotary carrier 32.
  • exactly three positioning grippers 34 are arranged. These are distributed uniformly around the circumference of the rotary support 32, so they each have an angular distance of 120 °.
  • the rotary carrier 32 has in particular a turntable on which a three-armed support unit 36 is attached. In each case a positioning gripper 34 is attached to a respective arm of the three-armed support unit 36.
  • the individual arms are arranged at an angle with respect to the turntable and thus also with respect to the hand axis A, in particular at an angle of 45 °.
  • a respective positioning gripper 34 has a main body, with which it is attached to the rotary support 32 and in particular to a respective arm of the support unit 36. At the front end of the main body, the positioning gripper 34 has a gripper for gripping line elements 8. This has at least one gripping unit 38. In the exemplary embodiment, this gripper has two gripping units 38, which are spaced apart in the direction of extension of the respectively to be gripped line element 8 and between them include a space 40. The gripper preferably has an approximately U-shaped configuration, wherein the two opposite U-legs are formed by the two gripping units 38.
  • a respective gripping unit 38 has at least one and preferably two clamping regions 42, in which the respective line element 8 is clamped.
  • the clamping regions 42 are arranged side by side, so that at the same time two adjacent line ends can be gripped. This is used in particular for gripping the wire ends of a twisted wire pair.
  • the positioning gripper 34 is therefore designed to grip separately both a single wire and the wires of a twisted wire pair.
  • the clamping regions 42 each show a V-shaped groove, in which a respective wire or line end 6 is inserted for clamping fixation.
  • the entire gripper is formed by three juxtaposed U-shaped Gripper elements which are movable in Querhchtung each other to clamp the line ends 6 between them and release.
  • the opening or closing of the individual parts of the gripping units 38 is controlled, for example pneumatically, hydraulically or by electric motor. Preferably, this is done by an electric motor, as this no supply lines are required. All that is required is an electrical supply for the positioning gripper 34.
  • the two juxtaposed clamping regions 42 are spaced from each other by a pitch a.
  • this grid dimension corresponds to a grid dimension a of two adjacent plug positions on the plug housing 4.
  • the positioning grippers 34 form generally rigid units, and therefore preferably themselves have no degrees of freedom of movement - apart from the required movement of the gripping units 38 for gripping and releasing the line ends 6.
  • the degrees of freedom of movement are provided exclusively by the manipulator 24.
  • the manipulator 24 receives a first line end 6 of a first line element 8 in the supply station. For this one of the
  • Positioning gripper 34 to the corresponding holder in the staging station. It engages around the holder with the free space 40 and re-clamps the cable end 6 provided. At the same time, the holder releases the line end 6.
  • the manipulator 24 then moves, in particular rotates the rotary support 32 by 120 °, so that the next, second positioning gripper 34 is guided for gripping the second line end of the conduit member 8 to the appropriate provision position.
  • the second line end 6 is gripped by the second positioning gripper 34.
  • the one line element 8 is then moved from the ready position to the plug station 10 with the aid of the manipulator 24.
  • the two stations are arranged directly next to one another, so that the travel paths are short, for example less than one meter.
  • the cable ment 8 is transported in particular suspended, ie the conduit member 8 depends in the vertical direction 12 downwards and is only at the two
  • the manipulator assumes the position shown in FIG.
  • the line ends 6 are transferred from the original orientation in the vertical direction 12 in an orientation in the horizontal direction 16.
  • the rotary support 32 is in this case positioned at an angle of 45 ° to a vertical plane, which is spanned by the vertical direction 12 and the longitudinal direction 14.
  • the positioning gripper 34 By arranging the positioning gripper 34 at 45 ° to the manual axis A, the line ends 6 are aligned in the horizontal direction 16.
  • the manipulator 24 moves in the transverse direction in the direction of the connector housing 4.
  • the positioning gripper 34 is formed for such a feed movement, for example telescopically extendable.
  • a sensor unit 46 is provided in particular, which is preferably integrated in the main body of the positioning gripper 34.
  • this sensor unit 46 has a sensor for position monitoring, for example an optical, camera-based system. Additionally or alternatively, it preferably has a force sensor with which the force exerted during the insertion operation is detected. As a result, a process-reliable loading of
  • Plug housing 4 ensures with the line ends 6, so that the end of the line ends 6 posted contact elements are used at the defined, intended position and with the intended force in the connector housing 4.
  • the gripping unit 38 releases the line end 6. Subsequently, the rotary support 32 rotates in particular by 120 °, so that the second line end 6 is brought into the horizontal orientation. In parallel, the manipulator 24 moves to a second connector housing 4, which is to be equipped with the second line end 6. The insertion of the line end 6 takes place as described above.
  • the manipulator 24 then moves back to the staging station and receives the line ends 6 of a further line element 8 and inserts them into the intended plug-in positions of two plug housings 4.
  • a hand axis a grid

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automatic Assembly (AREA)

Abstract

L'invention concerne une installation (2) servant à équiper de manière automatique des boîtiers de connecteur enfichable (4) d'un élément conducteur (8) qui comporte deux extrémités (6) de conducteur. Un manipulateur (24) est utilisé à cet effet, lequel est réalisé en particulier sous la forme d'un robot industriel classique. Ce dernier comporte une tête d'usinage (30) qui comporte un support (32) ainsi qu'au moins deux grappins de positionnement (34) fixés sur le support (32). Chacun des grappins de positionnement (34) comporte respectivement une unité de préhension (38) servant à saisir une extrémité (6) respective de l'élément conducteur (8) respectif. Cela permet d'atteindre un équipement de boîtiers de connecteur enfichable (4) avec une vitesse de processus élevée.
PCT/EP2018/059017 2017-04-10 2018-04-09 Tête d'usinage ainsi qu'installation et procédé servant à équiper de manière automatisée des boîtiers de connecteur enfichable en éléments conducteurs Ceased WO2018189103A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017206142.1 2017-04-10
DE102017206142.1A DE102017206142A1 (de) 2017-04-10 2017-04-10 Anlage sowie Verfahren zum automatisierten Bestücken von Steckergehäusen mit Leitungselementen

Publications (1)

Publication Number Publication Date
WO2018189103A1 true WO2018189103A1 (fr) 2018-10-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/059017 Ceased WO2018189103A1 (fr) 2017-04-10 2018-04-09 Tête d'usinage ainsi qu'installation et procédé servant à équiper de manière automatisée des boîtiers de connecteur enfichable en éléments conducteurs

Country Status (2)

Country Link
DE (1) DE102017206142A1 (fr)
WO (1) WO2018189103A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109911564A (zh) * 2019-03-20 2019-06-21 苏州友荣自动化设备有限公司 一种汽车电池传感器自动上料设备
CN111361990A (zh) * 2020-04-28 2020-07-03 东莞市卡丁精密机械有限公司 一种机械臂取放料夹爪
DE102019106710A1 (de) * 2019-03-15 2020-09-17 Rittal Gmbh & Co. Kg Greifer für die automatisierte Verdrahtung elektrischer Komponenten einer elektrischen Schaltanlage, ein entsprechender Roboter und ein entsprechendes Verfahren
DE102023119777B3 (de) 2023-07-26 2024-12-12 Kromberg & Schubert Automotive Gmbh & Co. Kg Crimpen bereits auf Werkstückträger verlegter Leitungen

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018124972B3 (de) * 2018-10-10 2020-02-20 Kromberg & Schubert Gmbh & Co. Kg Verfahren zur Prüfung einer Steckverbindung an zwei miteinander verdrillten Leitern
DE102019204289A1 (de) * 2019-03-27 2020-10-01 Volkswagen Aktiengesellschaft Vorrichtung und Verfahren zum automatisierten Einsetzen von elektrischen Leitern
DE102019108810B4 (de) * 2019-04-04 2021-06-24 HELLA GmbH & Co. KGaA Griffelement zur Anordnung an einem Bauteil
DE102019130288A1 (de) * 2019-11-11 2021-05-12 Metzner Holding GmbH Vorrichtung, Verfahren und System zur Montage eines elektrischen Steckverbinders
CN112157667A (zh) * 2020-09-15 2021-01-01 广东广沃智能科技有限公司 一种工业机器人装配工作站
CN116729991A (zh) * 2023-06-01 2023-09-12 北京天玛智控科技股份有限公司 一种抓手装置
DE102024104684A1 (de) 2024-02-20 2025-08-21 Kromberg & Schubert Automotive Gmbh & Co. Kg Vorrichtung und Verfahren zum Fügen zumindest eines an einem Leitungsende einer Leitung angeordneten Steckkontakts in ein Steckergehäuse
EP4632393A1 (fr) * 2024-04-12 2025-10-15 Lisa Dräxlmaier GmbH Dispositif, ensemble de test et procédé de test d'une isolation d'un conducteur

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EP0440955A1 (fr) * 1990-02-06 1991-08-14 Ttc Technology Trading Company Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise

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EP1653576B1 (fr) * 2004-11-02 2008-08-06 komax Holding AG Dispositif pour stocker des câbles
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DE3327583A1 (de) 1983-07-30 1985-02-07 Bach Gmbh + Co, 7100 Heilbronn Verfahren und vorrichtung zur herstellung von kabelbaeumen aus einzelleitern
DE3544219A1 (de) * 1985-12-13 1987-06-19 Fraunhofer Ges Forschung Verfahren und vorrichtung fuer eine kabelbaumfertigungseinrichtung
DE3820635A1 (de) * 1988-06-18 1989-12-21 Fraunhofer Ges Forschung Verlegewerkzeug zum verlegen von vorkonfektionierten leitungen
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EP0440955A1 (fr) * 1990-02-06 1991-08-14 Ttc Technology Trading Company Dispositif pour le montage automatique de câbles électriques avec pièces de connexion dans des boîtiers de prise

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019106710A1 (de) * 2019-03-15 2020-09-17 Rittal Gmbh & Co. Kg Greifer für die automatisierte Verdrahtung elektrischer Komponenten einer elektrischen Schaltanlage, ein entsprechender Roboter und ein entsprechendes Verfahren
WO2020187349A1 (fr) 2019-03-15 2020-09-24 Rittal Gmbh & Co. Kg Pince pour le câblage automatisé de composants électriques d'une installation de commutation électrique, robot correspondant et procédé correspondante
DE102019106710B4 (de) 2019-03-15 2022-03-17 Rittal Gmbh & Co. Kg Greifer für die automatisierte Verdrahtung elektrischer Komponenten einer elektrischen Schaltanlage, ein entsprechender Roboter und ein entsprechendes Verfahren
US12155184B2 (en) 2019-03-15 2024-11-26 Rittal Gmbh & Co. Kg Gripper for automated wiring
CN109911564A (zh) * 2019-03-20 2019-06-21 苏州友荣自动化设备有限公司 一种汽车电池传感器自动上料设备
CN111361990A (zh) * 2020-04-28 2020-07-03 东莞市卡丁精密机械有限公司 一种机械臂取放料夹爪
DE102023119777B3 (de) 2023-07-26 2024-12-12 Kromberg & Schubert Automotive Gmbh & Co. Kg Crimpen bereits auf Werkstückträger verlegter Leitungen

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