WO1987004683A1 - Outil de ficelage de faisceaux de cables - Google Patents

Outil de ficelage de faisceaux de cables Download PDF

Info

Publication number
WO1987004683A1
WO1987004683A1 PCT/DE1987/000032 DE8700032W WO8704683A1 WO 1987004683 A1 WO1987004683 A1 WO 1987004683A1 DE 8700032 W DE8700032 W DE 8700032W WO 8704683 A1 WO8704683 A1 WO 8704683A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
cable
flange
serving
cylinder
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/DE1987/000032
Other languages
German (de)
English (en)
Inventor
Gerd Schlaich
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.)
Komax AG
Original Assignee
Komax AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komax AG filed Critical Komax AG
Publication of WO1987004683A1 publication Critical patent/WO1987004683A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • H01B13/01263—Tying, wrapping, binding, lacing, strapping or sheathing harnesses
    • H01B13/01272—Harness tying apparatus
    • 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
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers

Definitions

  • the invention relates to a tool for tying cable strands according to the preamble of claim 1, as they are used for processing cable ties.
  • the object of the invention is to provide a tool of the type mentioned above, which allows fully automatic tying of cable strands with the aid of programmable handling systems.
  • the tool for fully automatic tying of cable strands is equipped with a fastening flange, which enables the tool to be flanged onto a freely programmable handling device. So that will be fully automatic tying of cable strands enabled.
  • a pneumatic cylinder is provided for actuating the trigger (trigger cylinder).
  • the trigger cylinder can be controlled by the robot controller.
  • a pneumatic cylinder for actuating the pliers (pliers cylinder) is provided. If errors occur (the cable harness is not tied, the cable ties are interrupted) or after tying, the process is stopped by opening the pliers. This is done by actuating the gun cylinder via the robot controller.
  • the cylinder is mechanically connected to the pliers of the processing tool.
  • the pneumatic cylinders can be attached directly to the tool or to the connecting flange of the tool. It is particularly advantageous if an intermediate flange is additionally arranged on the fastening or connecting flange. By using this intermediate flange, the opening cross section between the claws of the pliers is increased. As a result, the maximum cable harness diameter that can be set with the respective tools and that is predetermined by the claw opening can also be used with a four-axis industrial robot.
  • the flanges are designed for flanging the processing tool onto tool changing devices, as a result of which the automatic handling of the binding gun and a change of the various tools is possible.
  • sensors for detecting malfunctions in the setting gun are arranged on the tool. These faults can then be processed in the robot controller so that suitable, automatic error remedial measures can be initiated.
  • the industrial robot positions the tool over the location of a cable harness that is to be tied off.
  • the pneumatic cylinder By actuating a pneumatic valve, the pneumatic cylinder is actuated, which opens the claw of the tool.
  • the industrial robot moves down so that the claw of the tool can enclose the cable harness.
  • the trigger of the tool is actuated and the setting process is initialized.
  • the pneumatic cylinder for triggering the setting process (trigger cylinder) is reset after a waiting time.
  • the industrial robot positions the tool, the claw of which is always open in the basic position, over the position of a cable harness that is to be tied off.
  • the industrial robot moves down so that the claw of the tool can enclose the cable harness.
  • the binding thread made of nylon is passed around the cable harness, knotted, pulled together and cut off.
  • the trigger cylinder is reset after a waiting period.
  • the control unit of the Panduit tying tool automatically recognizes errors that result from jamming of the cable ties in the supply hose or from missing or incorrectly tied cable ties. These signals only need to be connected to the inputs of the controls. Then the industrial robot can start a further setting process after an incorrect setting or, if the tool fails, change another tool.
  • an intermediate flange is attached to the fastening flange, between the latter and the industrial robot.
  • the setting tool is brought into such an angle to the horizontal axis that the opening of the claw is maximal with respect to the direction of advance of the vertical axis of the industrial robot (opening cross section).
  • the fifth axis can be saved by using the intermediate flange.
  • the tool change flange is also used for the optional exchange of tools on the industrial robot.
  • 1 shows a tool from Panduit with an intermediate flange
  • 2 a tool from Panduit without an intermediate flange
  • Fig. 3 is a tool from Artos with intermediate flange
  • the tools from Panuit (1) and Artos (2) shown in the drawing each have a fixed claw (3) and a movable claw (4). These claws each hold a cable harness (5) or release it again.
  • the respective opening cross-sections (8 or 9) in the arrangement with an intermediate flange or without an intermediate flange are also clearly different.
  • the opening cross section is larger, as a result of which an industrial robot with only four freely programmable axes can be used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Basic Packing Technique (AREA)
  • Automatic Assembly (AREA)

Abstract

Un outil de ficelage de faisceaux de câbles comprend un conduit d'alimentation du matériau de ficelage des câbles pendant le ficelage. Pour obtenir un ficelage entièrement automatique des faisceaux de câbles, il est essentiel que l'outil (pistolet) soit pourvu d'une bride de fixation, d'un cylindre pneumatique (cylindre du conduit) pour actionner le conduit et d'un cylindre pneumatique pour actionner les tenailles (3, 4), les cylindres pneumatiques pouvant être commandés par la commande du robot. Il est particulièrement avantageux de prévoir une bride intermédiaire attachée à la bride de fixation pour rendre possible la fixation de l'outil à un manipulateur automatique ou à un dispositif à outils interchangeables.
PCT/DE1987/000032 1986-01-30 1987-01-29 Outil de ficelage de faisceaux de cables Ceased WO1987004683A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEG8602386.1U 1986-01-30
DE19868602386 DE8602386U1 (de) 1986-01-30 1986-01-30 Werkzeug zum Abbinden von Kabelsträngen

Publications (1)

Publication Number Publication Date
WO1987004683A1 true WO1987004683A1 (fr) 1987-08-13

Family

ID=6791098

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1987/000032 Ceased WO1987004683A1 (fr) 1986-01-30 1987-01-29 Outil de ficelage de faisceaux de cables

Country Status (3)

Country Link
EP (1) EP0260274A1 (fr)
DE (1) DE8602386U1 (fr)
WO (1) WO1987004683A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9000409U1 (de) * 1990-01-16 1991-05-16 Leonische Drahtwerke AG, 90402 Nürnberg Bindegerät zum Bündeln langgestreckter Gegenstände

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3489076A (en) * 1968-05-20 1970-01-13 Ty Lok Assembly Systems Inc Automatic strapping apparatus
DE2211591B1 (de) * 1972-03-10 1973-05-17 Angenendt Verpackungssysteme Gmbh, 5800 Hagen Kardanbugel mit zwei Drehgelenken
US3976108A (en) * 1974-03-12 1976-08-24 Panduit Corporation Automatic cable tie installation tool
EP0142001A1 (fr) * 1983-10-18 1985-05-22 Paul Hellermann GmbH Dispositif assorti pour lier un faisceau de lignes électriques

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3489076A (en) * 1968-05-20 1970-01-13 Ty Lok Assembly Systems Inc Automatic strapping apparatus
DE2211591B1 (de) * 1972-03-10 1973-05-17 Angenendt Verpackungssysteme Gmbh, 5800 Hagen Kardanbugel mit zwei Drehgelenken
US3976108A (en) * 1974-03-12 1976-08-24 Panduit Corporation Automatic cable tie installation tool
EP0142001A1 (fr) * 1983-10-18 1985-05-22 Paul Hellermann GmbH Dispositif assorti pour lier un faisceau de lignes électriques

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Control and Instrumentation, Band 13, Nr. 3, Marz 1981 (London, GB) seite 19, siehe mittlere und rechte spalte unten *

Also Published As

Publication number Publication date
DE8602386U1 (de) 1986-11-06
EP0260274A1 (fr) 1988-03-23

Similar Documents

Publication Publication Date Title
DE69220409T2 (de) Werkzeugsteueranlage bestehend aus einer Schweisszange zur Durchführung von bestimmten Arbeiten an Werkstücken und aus einem automatischen Positionierungsystem zur Steuerung der relativen Bewegung der Schweisszange in Beziehung zu diesem Werkstück
DE102020124757B4 (de) Robotersystem mit rekonfigurierbarer endeffektor-baugruppe
DE69936073T2 (de) Robotersteuerung
DE3400111C1 (de) Vorrichtung zum automatischen Auswechseln von Schweissbrennern in einem Industrieroboterschweisssystem
DE19610818B4 (de) Vorrichtung zum pneumatischen Verbinden von Faden oder Garn für den Einbau in Textilmaschinen, insbesondere in automatische Spulmaschinen
DE3689038T2 (de) Roboterregelungssystem.
DE4207576A1 (de) Bidirektionale greif- und zufuehrvorrichtung
DE102008062622A1 (de) Verfahren und Vorrichtung zur Befehlseingabe in eine Steuerung eines Manipulators
DE102008063680A1 (de) Verfahren zum Einlernen (Teachen) eines Industrieroboters sowie ein entsprechend ausgestatteter Industrieroboter
DE10026263B4 (de) Steuerungsverfahren für eine industrielle technische Anlage, insbesondere eine Werkzeugmaschine oder einen Roboter
DE102020127488A1 (de) Vorrichtung zur automatisierten Herstellung von Schraubverbindungen
EP3288723B1 (fr) Outil de robot pour la pose de bouchons
DE102020126189A1 (de) Vorrichtung zur automatisierten Herstellung von Schraubverbindungen
EP0142001B1 (fr) Dispositif assorti pour lier un faisceau de lignes électriques
DE1920275A1 (de) Werkzeugmaschine mit mehreren Arbeitsspindeln zur Aufnahme auswechselbarer Werkzeuge,insbesondere Schneidwerkzeuge
DE69400472T2 (de) Vorrichtung und Maschine zum Einfügen von Verbindungselementen in Verbindern
EP1805094A1 (fr) Dispositif d'epissurage de fils
EP0260274A1 (fr) Outil de ficelage de faisceaux de cables
EP1412124B1 (fr) Systeme de soudage a l'arc de courte duree avec un circuit de securite et procede de controle d'un tel systeme
DE69107924T2 (de) Blindnietgerät.
DE112018000668T5 (de) Vorrichtung und Verfahren zur Fehlerdiagnose
DE202017107400U1 (de) Steuerungsvorrichtung
EP3061544B1 (fr) Dispositif de pose de fixation aveugle
EP3587025B1 (fr) Dispositif de séparation compact
DE102023103602B3 (de) Vorrichtung und verfahren zum aufweiten von einer tülle

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): DK FI JP NO US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE FR GB IT LU NL SE