EP4170683B1 - Système de double préhension de translation pour déposer un faisceau de câbles - Google Patents

Système de double préhension de translation pour déposer un faisceau de câbles

Info

Publication number
EP4170683B1
EP4170683B1 EP22192258.6A EP22192258A EP4170683B1 EP 4170683 B1 EP4170683 B1 EP 4170683B1 EP 22192258 A EP22192258 A EP 22192258A EP 4170683 B1 EP4170683 B1 EP 4170683B1
Authority
EP
European Patent Office
Prior art keywords
cable
guide
gripper
grippers
cables
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.)
Active
Application number
EP22192258.6A
Other languages
German (de)
English (en)
Other versions
EP4170683A1 (fr
Inventor
Siegfried Reichert
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to MA62682A priority Critical patent/MA62682B1/fr
Priority to RS20260243A priority patent/RS67807B1/sr
Publication of EP4170683A1 publication Critical patent/EP4170683A1/fr
Application granted granted Critical
Publication of EP4170683B1 publication Critical patent/EP4170683B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
    • H01B13/01236—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine
    • H01B13/01245—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine using a layout board
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
    • H01B13/01236—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses the wires being disposed by machine
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form
    • H01B7/0045—Cable-harnesses

Definitions

  • the invention relates to laying cables as a cable set on a form board.
  • a cable laying system for the production of cable sets consisting of a number of cables and/or wires comprising at least two robots to which a different control hierarchy is assigned in the system and which are equipped with gripping elements for gripping at least one wire of the cable set for laying the wire on a cable forming board or directly in an end application.
  • a control device comprises a control part that controls at least one of a first movable part and a second movable part, such that a linear object is held by a holding part provided on the first movable part; and a contact part provided on the second movable part is placed in contact with the linear object when the linear object is arranged in a first object.
  • a wire guiding tool grasps a wire, inserts one end into a connector, and, under the control of a robot, guides the wire along a predetermined path to another connector at the other end, where it inserts the second end into this connector.
  • the rear end of the wire is detected by an electrical circuit using electrostatic technology.
  • the tool can move the wire along a predetermined linear path to establish the connection.
  • a formwork board for a cable assembly is known, which can be used jointly by robots and humans.
  • robot grippers cut the cable to length, strip the insulation, crimp it, and place it in terminals.
  • a device for manufacturing a cable harness comprising a board holder for receiving a board; and a processing machine with at least one robot arm, wherein the board holder is provided on a frame such that the board is fixed or fixable in a defined position relative to the frame, and wherein the processing machine is mounted or mountable on the frame, and the processing machine and the board holder are positioned or positionable in a defined position relative to each other such that one end of the at least one robot arm can repeatedly reach any or substantially any point in at least a partial area on a surface of the board.
  • the object of the present invention is to propose improvements with regard to the laying of cables as a cable set on a form board.
  • the laying machine is designed for laying cables as a cable set (also called “cable harness,””wiringharness,” or “wiring string”) onto a designated forming board.
  • a cable set also called “cable harness,””wiringharness,” or “wiring string”
  • “Designed” means that the laying machine is structurally adapted to a specific or specific type of forming board and configured for use there; for example, it is designed to meet the resulting geometric requirements, etc. In other words, the geometry and other characteristics of the forming board in question are assumed to be known.
  • the invention is based on the following formwork board:
  • This board has guide channels.
  • the guide channels correspond to a structure/design/specification of the cable set, i.e., they define the structure of a corresponding cable set.
  • the guide channels are open on at least one guide side.
  • Each cable can be pulled into and/or laid down in a specific guide channel up to a respective target position and can be laid down in the target position therein.
  • each cable is assigned to exactly one guide channel, or exactly one guide channel is provided for each cable.
  • a guide channel can also accommodate several cables.
  • Guide channels can also be identical in sections, e.g., where cables run parallel/side by side.
  • the forming board therefore, corresponds in its basic function (at least with regard to "insertion") to a familiar forming board on which cable sets are manually assembled by placing the cables, with the cables also being retractable.
  • the intended purpose of the forming board is to place multiple cables, each with two ends, in their respective designated positions within a guide channel to create a cable set according to a predefined structure.
  • the term "cable” is to be understood broadly here and includes electrical as well as other types, such as pneumatic lines, hoses, etc.
  • the cable set to be laid down can also be part of a larger cable set, meaning it will be added later to form a complete cable set/cable harness.
  • the predefined structure describes, in particular, where each cable is to run, begin, and end.
  • the laying machine can be designed to accommodate any number of forming boards, which are interchangeable with respect to the laying machine.
  • the laying machine can be integrated into a production line/conveyor belt for cable harnesses, with forming boards being passed through several laying machines and each being loaded with a subset of cables.
  • several laying machines are arranged as stations along a path for the forming boards.
  • Each of the laying machines then produces, for example, one cable harness as part of a complete wiring harness.
  • the unloading machine includes, in particular, a positioning aid/retainer for one of the forming boards. This serves, or is designed, for aligning/fixing the position of the The forming board is in a predetermined relative position to the laying machine, e.g., its stationary base frame (see below), installation location, etc.
  • the forming board is specifically removable from the corresponding holder, and similar forming boards can be inserted/removed from it in the same way.
  • the positions of the guide channels relative to the laying machine are also fixed or known by this positioning.
  • the guide channels define the aforementioned structure.
  • the guide channels have a groove/U-shape (in cross-section relative to their longitudinal extent), meaning they are open on at least one side – relative to their longitudinal direction or the direction of the cable/cable harness in its intended position.
  • the corresponding open side extends along the guide channels.
  • the "open guide side” therefore does not refer, for example, to the already open longitudinal ends/faces of the guide channels.
  • “Retractability” means that a cable can be pulled or dragged along the guide channel, i.e., it can move along its own longitudinal direction. This contrasts with “inserting" the cable in a transverse direction to the longitudinal direction of the guide channel, specifically inserting it through the open guide side and into the guide channel.
  • the guide side opens the guide channel laterally/on one side with respect to its longitudinal direction/direction of the cables/cable set.
  • the guide side is the one that – when laying the cables – faces the X-Y plane explained below.
  • the laying machine contains at least two grippers.
  • the grippers are designed to grasp one of the cables to be laid down. Each gripper grasps one of the cables at a specific point on the cable. Specifically, the laying machine has exactly two grippers. At least two of the grippers grasp the same cable, meaning they manipulate a single, identical cable together.
  • the laying machine includes a staging area. At least one cable can be provided at this staging area, or such a cable is provided during the intended operation of the laying machine.
  • the cable forms part of the cable set or is to be laid as such on the forming board.
  • the staging area is designed and configured so that the cable provided as intended is accessible from at least two of the Each gripper can grasp the cable at a specific gripping point. As intended, each gripper grasps a specific gripping point on the cable, with the gripping points being different sections, particularly the two ends, of the cable for each gripper.
  • the gripping point is not permanently assigned to the cable but describes the location where the gripper actually grasps the cable. In other words, the gripping point is created on the cable by the gripper's grasping action. Therefore, at least two grippers pick up the same cable from the staging area and place it on the forming board.
  • Each cable is provided loosely at the staging area. It is not provided while, for example, held on a transport carrier, roller, or similar device. In other words, the cable is gripped directly by the two grippers and held, carried, and manipulated exclusively by them.
  • the laying machine includes a stationary base frame, which in particular comprises two parallel, spaced-apart portals.
  • “Stationary” means that this is permanently installed, for example, on the floor of a machine hall.
  • the aforementioned positioning aid/mount is permanently attached to the same floor or to the base frame, so that forming boards can be fixed in the same position relative to the base frame by securing them in the mount.
  • the placement machine contains one slide for each gripper.
  • Each gripper is guided relative to its respective slide by means of a gripper guide, allowing it to move or travel along that slide. This movement extends to at least one translational degree of freedom.
  • the gripper movements on the slides are independent of each other; see also below.
  • each slide is equipped with only a single gripper (a single gripper clamp, etc.).
  • a single gripper clamp a single gripper clamp, etc.
  • Each of the carriages is guided or mounted on the base frame by its respective carriage guide, allowing it to move or travel relative to the frame. Each carriage is thereby The carriage is movable relative to the base frame exclusively in an XY plane.
  • "Movable in an XY plane” means that the carriage can move in two non-parallel directions; that is, it can move in a plane spanned by the two directions. These directions are perpendicular to each other (X and Y directions). Therefore, the carriage is not only movable linearly in a single direction.
  • “Exclusively” means that the carriage has no other degrees of freedom for its movement: it can only move translationally in the XY plane, with rotational movement optionally as well.
  • carriages are guided in different, mutually parallel XY planes on the base frame; however, two, several, or all carriages are guided in the same or a single XY plane, meaning the carriages are arranged side by side in the XY plane.
  • the "movability" of the carriages may optionally include rotational movement of the carriage relative to the base frame.
  • the carriage is exclusively movable translationally relative to the base frame in the XY plane.
  • At least two of the sleds can move independently of each other in the XY plane.
  • "Independent” here means “individual,” i.e., a desired movement of one sled does not necessarily lead to a movement of the other sled. This independence only includes, for example, a dependency that arises from one sled being obstructed by a second sled, which is guided, for instance, in the same XY plane, since two sleds cannot be in the same place.
  • the laying machine contains a control unit.
  • This unit is designed to control the movement of the grippers by controlling the carriage guide and the gripper guide. This refers to the movement of the grippers with respect to their position; additionally, the grippers are controlled to execute the gripping movement, i.e., to grasp or release a cable. Specifically, the control of the grippers with respect to their position is achieved exclusively by controlling the carriage guide and the gripper guide.
  • the formwork board in its intended mounting position relative to the base frame (e.g., fixed in the aforementioned positioning aid/retainer), extends, in particular, horizontally parallel to the X-Y plane. Specifically, the X-Y plane runs horizontally in space.
  • the guidance of the grippers on the base frame allows, in particular, that at least two of the grippers together or complementarily to reach any location.
  • the grippers can reach the mold board and the staging area.
  • the corresponding movement ranges of the grippers overlap, or both grippers can even reach each such location independently.
  • the entire surface area of the mold board and the staging area can thus be traversed by the grippers, especially their carriages, projected vertically onto the mold board/staging area.
  • This design consists of a base frame, slide guide, slide, gripper guide, and gripper.
  • a three-axis (“Cartesian X-Y-Z system”) cascaded solution of three linear guides (X, Y, Z) is advantageous, to which only a relatively “short” rotary guide for the gripper—at most three axes—is attached.
  • Short means, for example, at most 1/10, 1/20, or 1/50 of the transverse dimension of the XY plane or the mold board.
  • the control unit is specifically designed to actuate the grippers for the complete picking up and placement of each (identical, single) cable; thus, additional human intervention is eliminated or avoided.
  • the placement machine therefore handles the fully automated picking up of the cables, or of a single identical cable, at the staging area until the cables are placed in the desired position, and does not merely assist a human worker in this task.
  • the laying machine/control unit is explicitly not designed to process the cable in any way other than gripping, guiding, and laying it down. In particular, it is not designed to cut the cable to length, strip it, or attach a component (e.g., a crimp contact), label it, etc.
  • a component e.g., a crimp contact
  • the placement machine is at least partially limited to purely translational degrees of freedom (especially portal solution) with regard to the guidance of the gripper and therefore differs fundamentally from a placement machine based on a robot arm / articulated robot that is "free" (axes) in space.
  • At least one, and in particular several or all, of the slide guides includes a crossbeam.
  • the crossbeam is mounted as a whole on the base frame so as to be linearly movable in a first spatial direction.
  • the slide guide The associated carriage is mounted on the crossbeam and is linearly movable in a second spatial direction.
  • the first and second spatial directions are different from each other and are therefore not parallel.
  • at least two or all of the first spatial directions are the same, meaning that all crossbeams are movable in the same spatial direction on the base frame.
  • the second spatial directions are the same, and therefore several or all carriages (truly parallel to each other, since they are mounted on different crossbeams) are movable in the same spatial direction.
  • at least two or all of the crossbeams run or extend parallel to each other.
  • the first spatial direction is perpendicular to the second spatial direction.
  • the first spatial direction is in particular the X-direction
  • the second spatial direction is in particular the Y-direction of the XY plane.
  • the gripper guide includes an arm or rod/beam/axis.
  • the arm is mounted to be linearly movable in a third spatial direction relative to the carriage outside the X-Y plane.
  • “Outside the X-Y plane” means that the linear path of movement, i.e., the third spatial direction, is not parallel to the X-Y plane.
  • the third spatial direction is perpendicular to the X-Y plane and thus in a Z-direction.
  • the gripper is attached to the arm, whereby the attachment can be fixed or movable.
  • “Fixed” means that the gripper, apart from performing its gripping movement (opening, closing), has no mobility/degrees of freedom relative to the arm.
  • “Movable” means that the gripper is also guided or mounted to be movable relative to the arm, i.e., it has degrees of freedom relative to it.
  • the gripper guide includes, for example, a so-called “linear axis.”
  • a motor is then, for example, fixed to the carriage, and a push rod (arm) is moved linearly in the Z-direction relative to the carriage by the motor. This creates a Z-axis, or an arm that can move in the Z-direction.
  • the grippers then appear, for example, as an "extension" (at the end) of this Z-axis.
  • the gripper has at least one translational degree of freedom on the carriage with respect to its position, transversely or obliquely, and especially perpendicularly, to the XY plane, and therefore a third dimension of spatial mobility.
  • the gripper can therefore be rigidly attached to the arm (only gripping movement remains) or movable again, i.e., with degrees of freedom.
  • the gripping movement itself (opening/releasing, closing/gripping the gripper) is not counted as a degree of freedom.
  • the gripper is guided relative to the slide – in addition to its translational degree of freedom – also in at least one rotational degree of freedom. This increases the flexibility and application possibilities of the gripper when laying down the cables.
  • the gripper is movably mounted on the arm via a rotary guide.
  • the rotary guide is, in particular, arranged at a free end of the arm. This free end is specifically the one that can be moved translationally in the X-Y-Z directions by means of a cascaded linear guide.
  • the rotary guide allows the gripper to rotate about at least one axis of rotation relative to the arm. In particular, it allows it to move about two or three axes of rotation, each pair of which are not parallel. Two axes of rotation can always be non-parallel, in particular perpendicular (even obliquely) to each other. With three axes of rotation, a pair of perpendicular axes to each other is generally only achieved in one basic position; for certain combinations of rotations, two axes can then also be oblique or parallel to each other.
  • the invention (or optionally: includes the laying arrangement, see below) is based on a mold board in which at least one section of one of the guide channels is designed as a series of discrete and mutually spaced support points in its extension direction.
  • the support points are designed, in particular, as U-shapes or forks (U-shape with extension), which then delimit the guide channel in a U-shaped or groove-like cross-section on three sides; the U- or fork opening forms the open guide side.
  • the guide channel is therefore not designed as a materially continuous channel, but merely as a conceptual non-material connection between individual material support points.
  • the support points have, in particular, a (when mounted on the mold board, if the latter is in a
  • transverse supports are provided for the cables. These supports are further supported by guide posts extending perpendicular to the transverse supports.
  • the guide posts serve to guide the cables laterally as they are pulled through the guide channel (along the cable's longitudinal direction) and to deflect/bend the cables around the guide post's axis to create curved/kinked cable runs.
  • At least one of the guide channels has at least one friction-reducing element.
  • the friction-reducing element is designed to reduce the friction of a cable against the material section of the guide channel equipped with the friction-reducing element when it is pulled along the guide channel, compared to another material section of the guide channel (without the friction-reducing element).
  • the friction-reducing element ensures that cables can be pulled through the guide channels with less friction and therefore less force than if the guide channel were not equipped with such a friction-reducing element, or than if the cable were pulled against another material structural part of the guide channel that does not have the friction-reducing element.
  • the friction-reducing devices are therefore arranged in or on the guide channel in such a way that, when the cables are pulled along the guide channels as intended or as planned, they are drawn over the friction-reducing devices as they are moved into their intended position.
  • the friction-reducing devices are therefore provided, in particular, on those guide posts that deflect the cables in their direction as they are pulled past.
  • Such friction-reducing devices are thus provided, in particular, on convex inner surfaces of the guide channels and therefore on "curves" around which the cables are deflected when pulled through the guide channels.
  • the friction-reducing agent is in particular a sliding material and/or a movable roller bearing, especially on or in the form of the above-mentioned guideposts / cross supports, in particular their design as ball-bearing transport rollers.
  • control device is configured to actuate at least one of the grippers to grasp the cable at an end section (cable end/head) as a gripping point.
  • end section cable end/head
  • the control device is configured to actuate at least one of the grippers to grasp the cable at an end section (cable end/head) as a gripping point.
  • the control device is configured to actuate at least one of the grippers as follows for pulling one of the cables into the guide channels and placing it in the desired position:
  • the at least one of the grippers grasps a cable provided at the staging area at the gripping point.
  • the gripper guides or pulls the gripping point, dragging along a cable section adjoining the gripping point, into one of the guide channels.
  • the gripper pulls the gripping point, dragging along the adjoining cable section, along the guide channel until the desired position is reached.
  • the gripper then places the cable in the desired position.
  • a second gripper grasps the second end of the same cable and assists the first gripper by guiding the gripping point it has grasped. In doing so, it can – not according to the invention – either guide the cable with a subsequent cable section behind the first gripper or, according to the invention, independently pull/position the cable differently from the first gripper and also lay it down in the desired position.
  • This solution is particularly suitable for laying down a cable with only two ends, i.e., an unbranched cable.
  • the gripper pulls the cable at the gripping point "using the open guide side of the guide channels":
  • the cable is pulled exclusively within the guide channel by the gripper's immersion into the guide side, which—especially in conjunction with the aforementioned optional friction-reducing agent—results in a particularly simple procedure.
  • the pulling action thus occurs along a linear path of the gripper, which follows the desired routing or laying distance of the cable within the guide channel.
  • the cable is then laid down in the guide channels along this path (which corresponds to the structural specifications of the cable set).
  • the invention assumes that the cable to be laid down is already the appropriate length, so that when one end of the cable reaches its desired position by pulling, the other end of the cable is automatically pulled into its desired position. Thus, when the entire cable reaches its desired position, the ends are also in their respective desired positions. Because the length of the cable is chosen to match the desired or specified structure of the cable set.
  • the cable can be pulled/inserted into the guide channel using the gripping point, either from the open end of the channel. Alternatively, it can be inserted into a central section of the guide channel through a lateral recess/opening or by utilizing the already open side of the guide channel. In particular, the insertion does not occur via the guide channel's open side, but rather through another open side of the channel.
  • the "cable section" being pulled along can be the entire remaining length of the cable up to the respective end, or a cable section extending to the next gripping point.
  • the intended position of the cable ends can be found, in particular, in a cable clamp. If necessary, after completing the cable laying process, the laid-down cable ends, which may be pre-assembled with crimp contacts, for example, must still be manually inserted into a connector housing.
  • control unit is configured to actuate the grippers as follows: Two grippers grasp each end section of the same cable as a gripping point.
  • the grippers guide the grasped end sections to a common starting section of one of the guide channels.
  • the starting section differs from the target positions of the cable ends; that is, it is not located at this point, but rather between the target positions for the cable ends.
  • the grippers insert the end sections into the guide channel at the starting section—as described above. From the starting section, the grippers then pull the end sections in different directions along the guide channel to the respective target positions of the cable ends and thus of the entire cable (assuming the correct cable length, see above).
  • the starting section is located, in particular, in the middle of the cable with respect to its target position.
  • both grippers pull cable halves of equal length into the guide channels as subsequent cable sections, moving away from each other, so to speak, from the center. This reduces friction and the force required when pulling the respective subsequent cable sections.
  • the starting section can also be chosen away from the aforementioned center point in order to ensure that, depending on the cable's path, the maximum required pulling force is the same for each of the two cable sections. The rationale is that pulling along a straight guide channel requires less force than pulling around several curves/bends. For example, this allows...
  • the starting section divides the cable length (relative to the target position) into a longer, relatively straight section and a shorter, more strongly curved section, which are then to be pulled by the grippers as the respective subsequent cable sections.
  • the invention includes (or optionally: the laying arrangement, see below) a forming board provided with at least one connector housing, or in which the at least one connector housing is held/supported/fixed on the forming board.
  • the intended position of at least one of the cables then consists of a plug-in section of the cable being inserted into the connector housing.
  • the control device is then configured to actuate the grippers so that the grippers insert the plug-in section into the connector housing in order to lay it down in the intended position.
  • cable harnesses can also be automatically manufactured with the laying machine, the cables of which, with corresponding plug-in sections, are immediately placed in connector housings.
  • the insertion of the plug sections into the connector housings can also occur at different times, for example, to ensure a favorable insertion sequence of cables at the connector housing when the cable insertion sequence on the form sheet differs.
  • the plug section on the form sheet can initially be placed in an intermediate storage/parking position – a kind of "interim target position.” Only later is the cable picked up again and the plug section moved into the connector housing as the cable's final target position.
  • the object of the invention is also achieved by a lay-up arrangement comprising one or more forming boards – which are then actually present and therefore known – and the lay-up machine.
  • a lay-up arrangement comprising one or more forming boards – which are then actually present and therefore known – and the lay-up machine.
  • the object of the invention is also achieved by a machine arrangement according to claim 9, which serves or is set up for the production of a cable set from cables using a forming board.
  • This includes a laying machine according to the invention and a cable machine. The intended use is analogous to that described above.
  • the machine arrangement is based on forming boards.
  • the machine arrangement also includes a discharge arrangement, i.e., one or more forming boards, as explained above.
  • the cable cutting machine in turn, contains a cutting module designed to cut a cable of a predetermined length from a supply of cables.
  • the cable cutting machine also contains an output module designed to deliver the cable cut by the cutting module—and, if necessary, further processed (assembly, see below)—as a finished cable to the staging station of the laying machine.
  • the supply of cables is, in particular, an assortment of different types of cables, from which a specific type of cable is selected for further processing.
  • the cable machine includes a termination module.
  • This module serves, or is configured, to terminate the cable cut to length by the cutting module as required (i.e., optionally simply passing it through without termination) before it reaches the output module as a terminated cable.
  • the termination module is connected between the cutting module and the output module with regard to the work steps to be performed. The output module thus places a potentially terminated cable at the staging area.
  • the assembly module is specifically designed for stripping electrical wires and/or twisting and/or tinning stranded wires and/or attaching crimp contacts and/or attaching markings and/or overmolding and/or wrapping wires and/or fitting wires with connectors.
  • the output module is configured to provide exactly one cable at a time at the staging station, ready for gripping and placement. This allows for a comparatively small and space-saving staging station at the placement machine. In particular, such a staging/placement station is sufficient for a single cable (or even just for its gripping points/end sections that are to be gripped by the grippers).
  • the cable machine is configured to produce only a single cable at a time in serial production and to supply it to the lay-up machine at the staging station. This allows for the design of a particularly simple and cost-effective cable machine.
  • a new cable is only provided once the grippers have picked up the previous one from the staging area.
  • an overlap of the respective steps is possible; for example, while the first cable is being dispensed/provided in the output module, one or more subsequent cables can already be manufactured in the cutting/assembly module.
  • the invention is based on the following findings, observations, and considerations and includes the following embodiments. These embodiments are sometimes referred to simply as "the invention.”
  • the embodiments may also contain parts or combinations of the embodiments mentioned above, correspond to them, and/or may include previously unmentioned embodiments.
  • the invention enables the automatic routing of cables during the production of cable sets or cable harnesses ("automatic wire routing").
  • the invention enables the use of simplified forming boards without markings, compared to the manual production methods known in practice.
  • cable ends are therefore inserted into the housing chamber immediately without a parking position.
  • Figure 1 shows a symbolic and highly simplified representation of a machine arrangement 2 for the production of a cable set 4.
  • This set consists of a multitude, here one hundred, of cables 6, but is only shown in a very simplified manner, which is why only three cables 6a-c are shown.
  • the cable set 4 is produced by placing the cables 6a-c on a forming board 8.
  • the cable set must conform to a predefined structure ST.
  • each cable 6a-c must be placed in its respective target position LS.
  • the target positions LS then also correspond to or reflect the structure ST.
  • the structure ST thus specifies how and where each cable 6a-c should run in the cable set 4 according to its respective target position LS.
  • the ST structure is specified, represented, or depicted on the formwork board 8 in the form of guide channels 10a-c. See a detailed explanation at [reference to be inserted here].
  • Figure 4 Each cable 6a-c in its designated position LS is assigned one of the guide channels 10a-c. Guide channel 10a is shown completely, while the remaining guide channels 10b-c are only partially shown with dashed lines for clarity.
  • the guide channels 10a-c correspond to the ST structure and serve to lay the cables 6a-c within them, so that they Finally, the cables are located in their respective target positions LS.
  • the guide channels 10a-c also serve to hold the cables 6a-c in their respective target positions LS after they have been laid down.
  • the guide channels 10a-c partially overlap. This holding in the target position LS is temporary in the sense that the cable set 4 is completed in an unspecified manner, e.g., by taping, to fix the structure ST. Only then is the cable set removed from the form sheet 8.
  • the guide channels 10a-c are open on a respective guide side 12, which in Figure 1 This is indicated by a hatched area.
  • the cables 6a-c can be pulled into the guide channels 10a-c and placed in their respective designated positions LS within them.
  • the machine arrangement 2 comprises a cable machine 14 for manufacturing the cables 6a-c from a supply of conductors 16 and for providing the manufactured cables 6a-c for installation. This is described below with reference to Figure 5 explained in more detail.
  • the cable machine 14 is of a particularly simple design. It is only configured to produce a single cable 6a-c in series and to provide it to the lay-up machine 20 at the staging station 26.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Installation Of Indoor Wiring (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)

Claims (12)

  1. Machine de dépose (20) pour la dépose de câbles (6a-c) sous la forme d'un faisceau de câbles (4) sur une planche à clous (8) conforme aux dispositions, qui présente des canaux de guidage (10a-c) correspondant à une structure (ST) du faisceau de câbles (4) et spécifiant sa configuration, qui sont ouverts sur au moins un côté de guidage (12) et dans lesquels chacun des câbles (6a-c) peut être introduits jusqu'à une position de consigne (LS) respective et peut y être déposé dans la position de consigne (LS), les canaux de guidage (10a-c) pouvant être réalisés sous la forme de canaux matériellement continus ou de liaisons immatérielles seulement virtuelles entre différents points de support matériels, ladite machine de dépose comportant :
    - au moins deux préhenseurs (22a,b) destinés à saisir respectivement un des câbles (6a-c) à déposer sur un point de préhension (24a,b) respectif des câbles (6a-c),
    - un emplacement de mise à disposition (26) atteignable par au moins deux des préhenseurs, auquel au moins un câble (6a-c) à déposer en tant que partie du faisceau de câbles (4) peut respectivement être mis à disposition de manière à pouvoir être saisi par au moins deux des préhenseurs (22a,b) sur le point de préhension (24a,b) respectif,
    - un cadre de base (28) fixe,
    - un chariot (30a,b) pour chaque préhenseur (22a,b), le préhenseur (22a,b) étant guidé de manière déplaçable, à l'aide d'un guidage de préhenseur (32a,b), sur le chariot (30a,b) par rapport à celui-ci dans au moins un degré de liberté (Z) en translation,
    - dans lequel chacun des chariots (30a,b) est guidé de manière déplaçable sur le cadre de base (28) par rapport à celui-ci par le biais d'un guidage de chariot (34a,b) respectif, exclusivement de manière plane dans un plan XY (36),
    - dans lequel au moins deux des chariots (30a,b) sont déplaçables chacun indépendamment l'un de l'autre dans le plan XY (36),
    - comprenant un dispositif de commande (38) qui est configuré pour commander un mouvement des préhenseurs (22a,b) au moyen d'une commande du guidage de chariot (34a,b) et du guidage de préhenseur (32a,b),
    - dans lequel le dispositif de commande (38) est configuré pour commander au moins un des préhenseurs (22a,b) de façon qu'il saisisse le câble (6a-c) sur une partie d'extrémité (40a,b) comme point de préhension (24a,b),
    - dans lequel le dispositif de commande (38) est configuré pour commander au moins un des préhenseurs (22a,b) comme suit pour introduire l'un des câbles (6a-c) dans les canaux de guidage (10a-c) et le déposer dans la position de consigne (LS) :
    - l'au moins un préhenseur (22a,b) saisit l'un des câbles (6a-c) mis à disposition à l'emplacement de mise à disposition (26) sur le point de préhension (24a,b),
    - le préhenseur (22a,b) insère ensuite le point de préhension (24a,b), en entraînant avec lui une partie de câble (42a,b) adjacente au point de préhension (24a,b), dans l'un des canaux de guidage (10a-c),
    - le préhenseur (22a,b) tire, au moyen du côté de guidage (12) ouvert, le point de préhension, en entraînant avec lui la partie de câble (42a,b) adjacente, le long du canal de guidage (10a-c) jusqu'à ce que la position de consigne (LS) soit atteinte,
    - le préhenseur (22a,b) dépose le câble (6a-c) dans la position de consigne (LS),
    - dans lequel le dispositif de commande (38) est configuré pour commander les préhenseurs (22a,b) comme suit :
    - deux des préhenseurs (22a,b) saisissent une partie d'extrémité (40a,b) respective du même câble (4a-c) comme point de préhension (24a,b),
    - les préhenseurs (22a,b) guident les parties d'extrémité (40a,b) saisies jusqu'à une partie de départ (44) de l'un des canaux de guidage (10a-c) et y insèrent les parties d'extrémité (40a,b) dans le canal de guidage (10a-c),
    - à partir de la partie de départ (44), les préhenseurs (22a,b) tirent les parties d'extrémité (40a,b) dans des directions différentes le long du canal de guidage (10a-c) jusqu'à la position de consigne (LS) respective du câble (6a-c).
  2. Machine de dépose (20) selon la revendication 1,
    caractérisée en ce que
    au moins un des guidages de chariot (34a,b) comporte une traverse (46a,b) qui est montée sur le cadre de base (28) de manière déplaçable linéairement dans une première direction dans l'espace (X), et le chariot (30a,b) est monté sur la traverse (46a,b) de manière déplaçable linéairement dans une deuxième direction dans l'espace (Y).
  3. Machine de dépose (20) selon l'une quelconque des revendications précédentes,
    caractérisée en ce que
    le guidage de préhenseur (32a,b) comporte un bras (48) qui est monté déplaçable linéairement, par rapport au chariot (30a,b), en dehors du plan XY (36), dans une troisième direction dans l'espace (Z) et le préhenseur (22a,b) est fixé sur le bras (48).
  4. Machine de dépose (20) selon l'une quelconque des revendications précédentes,
    caractérisée en ce que
    à l'aide du guidage de préhenseur (32a,b), le préhenseur (22a,b) est guidé mobile par rapport au chariot (30a,b) également dans au moins un degré de liberté (A-C) en rotation.
  5. Machine de dépose (20) selon les revendications 3 et 4,
    caractérisée en ce que
    le préhenseur (22a,b) est monté mobile sur le bras (48) par le biais d'un guidage en rotation (50) qui permet une rotation du préhenseur (22a,b) par rapport au bras sur au moins un axe de rotation (54a-c).
  6. Machine de dépose (20) selon l'une quelconque des revendications précédentes,
    caractérisée en ce que
    au moins une partie de l'un des canaux de guidage (10a-c) est réalisée sous la forme d'une succession dans leur direction d'extension (58) de points de support (56) distincts et espacés les uns des autres.
  7. Machine de dépose (20) selon l'une quelconque des revendications précédentes,
    caractérisée en ce que
    au moins un des canaux de guidage (10a-c) présente au moins un moyen de diminution du frottement (60) qui est conçu pour, lors du tirage d'un câble (6a-c) le long du canal de guidage (10a-c), diminuer son frottement sur la partie matérielle du canal de guidage (10a) équipée du moyen de diminution du frottement (60) par rapport à une autre partie matérielle (62) du canal de guidage (10a-c).
  8. Machine de dépose (20) selon l'une quelconque des revendications précédentes,
    caractérisée en ce que
    - la planche à clous (8) est pourvue d'au moins un boîtier de connecteur (70) et la position de consigne (LS) d'au moins un des câbles consiste également en ce qu'une partie d'enfichage du câble est enfichée dans le boîtier de connecteur (70),
    - et le dispositif de commande (38) est conçu pour commander les préhenseurs (22a,b) de manière qu'ils insèrent la partie d'enfichage (68) dans le boîtier de connecteur (70) pour le déposer dans la position de consigne (LS).
  9. Ensemble de machines (2) pour la fabrication d'un faisceau de câbles (4),
    - comprenant une machine de dépose (20) selon l'une quelconque des revendications précédentes,
    - et comprenant une machine de câblage (14), qui comporte :
    - un module de coupe à longueur (80) pour la coupe à longueur d'un fil (82) d'une longueur prédéfinissable d'une réserve de fil (16),
    - un module de distribution (86) pour la mise à disposition du fil (82) coupé à longueur sous la forme d'un câble (6a-c) à l'emplacement de mise à disposition (26) de la machine de dépose (20).
  10. Ensemble de machines (2) selon la revendication 9,
    caractérisé en ce que
    la machine de câblage (14) comporte un module d'équipement (84) pour l'équipement, selon les besoins, du fil (82) coupé à longueur par le module de coupe à longueur (80).
  11. Ensemble de machines (2) selon l'une quelconque des revendications 9 à 10,
    caractérisé en ce que
    le module de distribution (86) est conçu pour mettre à disposition à l'emplacement de mise à disposition (26) exactement un câble (6a-c) respectif à saisir et à déposer.
  12. Ensemble de machines (2) selon la revendication 11,
    caractérisé en ce que
    la machine de câblage (14) est conçue pour fabriquer seulement un câble (6a-c) individuel respectif successivement en série et le mettre à disposition de la machine de dépose (20) à l'emplacement de mise à disposition (26).
EP22192258.6A 2021-10-19 2022-08-26 Système de double préhension de translation pour déposer un faisceau de câbles Active EP4170683B1 (fr)

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RS20260243A RS67807B1 (sr) 2021-10-19 2022-08-26 Translatorni sistem sa dvostrukim hvataljkama za polaganje seta kablova

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DE102021127042.1A DE102021127042A1 (de) 2021-10-19 2021-10-19 Translatorisches Doppelgreifersystem zum Ablegen eines Kabelsatzes

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DE102023115809A1 (de) * 2023-06-16 2024-12-19 Kromberg & Schubert Automotive Gmbh & Co. Kg Vorrichtung und Verfahren zum Verlegen von Leitungen zur Ausbildung eines Leitungssatzes
DE102023118822A1 (de) 2023-07-17 2025-01-23 Kromberg & Schubert Automotive Gmbh & Co. Kg Bearbeitungssystem zur Verarbeitung von Leitungen und/oder Herstellung eines Leitungssatzes aus den Leitungen

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EP4170683A1 (fr) 2023-04-26
RS67807B1 (sr) 2026-03-31
DE102021127042A1 (de) 2023-04-20

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