EP1786072B1 - Cable processing apparatus and method to use such an apparatus - Google Patents

Description

The invention relates to a cable processing device having processing stations for assembling a cable and method for operating such a cable processing device, wherein at least one gripper feeds the cable to the processing stations for producing a cable end connection and is suitable for testing the cable end connection produced by the processing stations.

Known means for testing a crimped connection consist of a holding device for holding the crimp contact and of a pulling device for acting on the conductor crimp with a cable longitudinal axis acting force. The insulation crimp can be removed manually before the crimping process, so that the pull-out force for the conductor crimp is not falsified. With insulation crimp, the pull-out force for the conductor crimp is increased by two to five percent. The testing device can be operated manually or by motor, wherein the measured by means of force sensors traction is displayed. If the crimped connection does not or only partially withstands a predetermined pull-out force, the cable is manually removed.

From the EP 1 515 403 A2 a cable processing machine has become known in which a tape drive feeds a cable to a first pivoting arm with a first gripper. To the Supplying the leading cable end to processing stations, the first pivot arm is set in a pivoting movement and / or in a linear movement. For supplying the trailing cable end to processing stations, a second pivot arm is set in a pivoting movement and / or in a linear movement. A holding device serves to test the cable end connection or crimp connection produced in the automated cable processing process, the linear movement of the gripper also being used for the automated testing of the cable end connection.

A disadvantage of the known device is that the gripper closing force for cables with medium and large cross sections for the Auszugkraftmessung is not sufficient. When the pull-out movement is carried out by the gripper, the gripper can not hold or clamp the cable sufficiently. If the cable slips in the gripper, the desired pull-out force can not be achieved. A much more built gripper could meet these requirements, but at the expense of the gripper dimensions and at the expense of moving gripper mass and the associated larger drive.

The invention aims to remedy this situation. The invention, as characterized in the independent claims solves the problem of avoiding the disadvantages of the known device and to provide a cable processing device and a method for the operation of such a cable processing device, by means of the examination of a cable end connection within an automated cable processing process for medium and large cable is feasible.

In this cable processing device with processing stations for assembling a cable, at least one gripper is provided, which supplies the cable to the processing stations for producing a cable end connection and is suitable for testing the cable end connection produced by the processing stations, wherein an extension device is provided with at least one holding unit and a clamping unit and wherein the gripper supplies the cable end connection to the holding unit for holding and feeds the cable to the clamping unit for clamping and acts on the clamping unit with a pull-out force in the cable longitudinal axis.

In this method of operating a cable processing device having processing stations for assembling a cable, the cable is fed by at least one gripper to the processing stations, the gripper being used for testing the cable end connection made by the processing stations, the cable being received from the gripper of an extension device comprising at least one gripper Holding unit and a clamping unit is supplied and the gripper is applied to the clamping unit with the necessary for the test pull-out force, the detained by means of the holding unit Kabelendverbindung counteracts the pull-out force.

Advantageous developments of the invention are specified in the dependent claims.

The examination of the cable end connection by means of a pull-out force measurement is carried out especially when setting up the cable processing machine, if necessary also occasionally during production. Since the clamping forces that can be generated by means of the grippers or gripper jaws are sufficient for all other cable processing processes, it is advantageous to provide an additional clamping unit capable of holding small, medium and large cables in the case of the pull-out force measurement. The pull-out movement or the generation of the pull-out force continues to take place by means of the gripper arm drive. The pull-out force can be measured via the flow of the gripper arm drive.

The influence of the insulation crimp on the pull-out force of the conductor crimp can be kept negligibly small by cutting the insulation behind the crimp contact by means of the stripping knives.

It is also advantageous that existing modules of the cable processing device can be used for testing the cable end connection produced in the automated cable processing process. In an automated cable processing process, inter alia, grippers arranged on pivoting arms or grippers arranged on transfer devices are used to feed the cable to the processing stations. The gripper is moved not only in the circle or in the transfer direction but also linearly in the swivel arm longitudinal axis or transversely to the transfer direction. The linear movement or transverse movement of the gripper, which extends horizontally into the depth of the cable processing device, is necessary, for example, for feeding cables to different crimp contacts or for feeding cables with grommets or for supplying cables to recessed processing stations.

In the cable processing device according to the invention For example, the linear motion of the gripper is used not only to feed the cable to the processing stations, but also to automatically test the cable end connection. The cable end connection or the crimp contact is fed to a holding unit and held by this. Then the gripper places the cable in a clamping unit that clamps the cable. Thereafter, the gripper acts on the clamping unit with a pull-out force in the cable longitudinal axis by means of a linear movement away from the holding unit. With the multiple use or different purposes serving linear movement of the gripper, the cable processing device can be constructed simpler and operate more productive and better quality. Together, the gripper and clamping unit allow a pull-out force measurement even for medium and large cables, without having to build the gripper stronger or change its mass or gripper arm drive.

Reference to the accompanying figures, the present invention will be explained in more detail.

• Fig. 1
  eine Kabelbearbeitungsmaschine mit zwei Schwenkarmen,
• Fig. 2
  Einzelheiten einer Auszugeinrichtung,
• Fig. 3
  einen Greifer beim Andocken an eine Klemmeinheit,
• Fig. 4
  den Greifer beim Einlegen eines Kabelendes in die Auszugeinrichtung,
• Fig. 5
  das eingelegte Kabelende,
• Fig. 6
  den Auszugvorgang und
• Fig. 7
  eine Ausführungsvariante der Auszugeinrichtung.

Show it:

• Fig. 1
  a cable processing machine with two pivot arms,
• Fig. 2
  Details of a pullout facility,
• Fig. 3
  a gripper when docking to a clamping unit,
• Fig. 4
  the gripper when inserting a cable end into the extension device,
• Fig. 5
  the inserted cable end,
• Fig. 6
  the extraction process and
• Fig. 7
  a variant of the extension device.

Fig. 1 shows a cable processing machine 1 with a designed as a tape drive 2 cable feed device, wherein the tape drive 2, a cable 3 a first pivot arm 4 with a first gripper 5 supplies. By means of first drives 6, the first pivot arm 4 can be placed in a pivoting movement symbolized by an arrow P1 and / or in a linear movement symbolized by an arrow P2. With separation / stripping knives 7, the cable can be separated and / or stripped. During the stripping process, the cable sheath or the cable insulation is cut by means of the stripping blades and the insulation residue is removed by means of a pull-off movement. In a cable provided for the pull-out force measurement, an additional cut is made on the cable sheath by means of the stripping knives, the insulation crimp produced during the crimping process comprising the additional insulation residue. In the case of the pull-out force measurement, the additional insulation residue covered by the insulation crimp slides on the cable ladder.

Furthermore, the cable processing machine 1 has a second pivot arm 8 with a second gripper 9. By means of second drives 12, the second pivot arm 8 can be placed in a symbolized by an arrow P3 pivoting movement and / or in a symbolized by an arrow P4 linear motion. The first pivot arm 4 serves as a feeder by means of rotary motion P1 and linear movement P2 side of the cable longitudinal axis arranged processing stations 10 (for example, crimping presses and / or Tüllenbestücker) with leading cable ends 3.1. The second pivot arm 8, which is set in motion by means of second drives 12, serves processing stations 10 (for example crimping presses and / or grommets) arranged laterally with the cable ends 3.2 as feed devices by means of rotational movement P3 and linear movement P4 laterally of the cable longitudinal axis. After processing the leading cable end 3.1, the cable 3 is transported by means of a conveyor belt 11. The second gripper 9 summarizes the trailing cable end 3.2, then the cable 3 is separated and the trailing cable end 3.2 stripped and fed to the processing stations 10. After processing the trailing end of the cable 3.2, the cable 3 enters a tray thirteenth

Denoted at 20 is an extension device which serves to test the cable end connection 15 produced in the automated cable processing process, referred to below as the crimp contact 15. (For example crimp connection between crimp contact 15 and cable 3). In a crimp connection, a conductor crimp 15.1 comprises a cable conductor and an insulation crimp 15.2 comprises the cable insulation, wherein, as in Fig. 3 shown, even a grommet 15.3 be placed on the cable insulation can. The testing of other cable end connections such as solder joints are also possible. The extension device 20 is arranged in the pivoting range of the second gripper 9. If not both crimp contacts must be checked, the extension device 20 may also be arranged in the pivoting range of the first gripper 5. The cable end 3.1.3.2 with crimp contact 15 is fed by means of gripper 9 of the extension device 20, wherein the crimp contact 15 is held by means of a holding unit 21,22 and the cable end is clamped 3.1.3.2 by means of a clamping unit 23. The gripper 9 pushes in the direction of the cable longitudinal axis against the clamping unit 23 and acts on the cable 3 with an extracting force AK in the cable longitudinal axis by means of a linear movement P4 away from the crimp contact 15. The force exerted on the cable 3 pull-out force AK is for example by means of at least one of the holding unit 21st 22 arranged force sensor or by means of the motor current of the linear motion P4 generating motor measured. The control of the cable processing device specifies the pull-out force and detects the measured pull-out force AK, for example, for statistical or control purposes.

The cable 3 with crimp contact 15 zubringende gripper 9 performs with limited current from a linear motion P4. The current limit corresponds to the pull-out force AK. Failure to reach the pull-out force AK or the current limit means that the crimp connection has not withstood the required pull-out force AK, the wire crimp 15.1 is faulty. If the pull-out force is measured by means of force sensors, the motor current of the motor generating the linear movement P4 is increased until the required pull-out force is reached. Failure to reach the required and measured by the force sensors pull-out force AK means that the Crimp connection of the required pull-out force AK has not withstood, the wire crimp 15.1 is faulty.

If the pull test is not passed, an error message is triggered and the processing unit is stopped by the control.

Fig. 2 shows details of the extension means 20 with the first holding unit 21, the second holding unit 22 and the clamping unit 23. A housing 24 serves as a support for the holding units 21,22 and the clamping unit 23. The first holding unit 21 is for checking the crimp connection of the trailing end of the cable 3.2 provided and has a first cutting edge 25 and a second cutting edge 26, wherein the first cutting edge 25 is movable in the direction symbolized by an arrow P5. The second cutting edge 26 can also be designed deliverable. During the pull-out force measurement, the blades 25, 26 hold the crimp contact of the trailing cable end 3.2. The second holding unit 22 is provided for the pull-out force measurement of the crimped connection of the leading cable end 3.1 and has a first cutting edge 27 and a second cutting edge 28, wherein the first cutting edge 27 is movable in the direction symbolized by an arrow P6. During the pull-out force measurement, the cutting edges 27, 28 hold the crimp contact of the leading cable end 3.1.

The clamping unit 23 is freely movable relative to the housing 24 in the direction symbolized by an arrow P7 and has a first clamping element 29 and a second clamping element 30 by means of which the cable end 3.1.3.2 can be clamped. The clamping elements 29,30 may have different clamping surfaces. (Wavy surface, V-shaped surface, flat surface, fluted surface, ect.). The first clamping element 29 is movable by means of an actuator 31 (for example by means of a pneumatic cylinder) in the direction symbolized by an arrow P8. The second clamping element 30 can also be deliverable. During the test, the clamping elements 29,30 clamp the cable end 3.1.3.2 firmly.

In one or the other end position of the clamping unit 23 dip bolts 32 in holes 33 of the housing 24 a. In the holes 33 magnets are arranged, which hold the bolts 32 and the clamping unit 23 in the respective end position. The end positions are monitored by sensors. A docking finger 34 arranged on the clamping unit 23 serves to dock the gripper 9 to the clamping unit 23.

Fig. 3 shows the gripper 9 with a trailing end of the cable 3.2 when docking with the clamping unit 23. The gripper 9 knows the end position of the clamping unit 23 and docks on the docking finger 34 with a rotational movement P3. After docking, the gripper 9 moves the clamping unit 23 from the end position into an intermediate position, in which the gripper 9 can place the crimp contact 15 in the first holding unit 21 and the trailing cable end 3.2 between the clamping elements 29, 30 of the clamping unit 23. Thereafter, the gripper 9 docks with a rotational movement P3 from the dock finger 34 and moves with a linear movement P4 in the direction of cutting 25,26 of the first holding unit 21st

Fig. 4 shows the gripper 9 when inserting the crimp contact 15 in the first holding unit 21 and when inserting the trailing cable end 3.2 in the clamping unit 23. Nach the linear movement P4, the gripper 9 performs a rotational movement P3 until the crimp contact 15 between the cutting 25,26 and the trailing cable end is 3.2 between the clamping elements 29,30.

Fig. 5 shows the inserted, trailing cable end 3.2 and the inserted crimp contact 15. The first clamping element 29 of the clamping unit 23 has been delivered with the linear movement P8 and clamps together with the second clamping element 30, the trailing end of the cable 3.2. The first cutting edge 25 of the first holding unit 21 has been delivered with the linear movement P5 and holds together with the second cutting edge 26 the crimp contact 15. Then the gripper 9 or the gripper jaws 9.1 are opened. Between the gripper 9 and the clamping unit 23 is still a small distance AB.

Fig. 6 shows the extract process. The gripper 9 acts on the clamping unit 23 with a pull-out force AK in the cable longitudinal axis by means of a linear movement away from the first holding unit 21. The gripper 9 pushes in the direction of the cable longitudinal axis against the clamping unit 23 and acts on the cable 3 with the pull-out force AK in the cable longitudinal axis by means of a Linear movement P4 away from the crimp contact 15. The pull-out force AK exerted on the cable 3 is measured, for example, by means of at least one force sensor arranged on the holding unit 21, 22 or by means of the motor current of the motor producing the linear movement P4.

After the extraction process, the cable 3 which is no longer usable is picked up again by the gripper 9 and removed.

Fig. 7 shows a variant of the extension device 20. The housing 24 of the extension device 20 is disposed on a linear slide 20.1, which is acted upon by means of a force acting in the direction of the cable longitudinal axis force F (for example by means of a pneumatic actuator). After inserting the crimp contact 15 in the first holding unit 21 and after inserting the trailing end of the cable 3.2 in the clamping unit 23 and after opening the gripper jaws 9.1, the controller of the linear motion P4 generating drive remains switched on and controls standstill position in the position shown, the gripper 9 in the direction of the cable longitudinal axis abuts against the clamping unit 23. With the applied force F of the gripper 9 remains in the standstill position and it must take the reaction force of the force F, which can be determined by means of current measurement on the linear motion P4 generating drive.

Insertion and pullout test for the leading end of cable 3.1 is analogous to the insertion and analog to the pull-out of the trailing cable end 3.2 with the difference that the leading cable end 3.1 gripper arm side, the crimp 15 is inserted into the second holder 22 and the gripper 9 during the extraction process, the clamping unit 23 pushes.

In the case of cables which are provided with a crimp contact at the leading end and at the trailing end of the cable, the pull-out force measurement can be carried out successively on both crimp contacts in a time-saving manner. Thus, only one cable is rejected.

The clamping unit 23 can also be used for movement in the be symbolized by arrow P7 direction provided with its own drive. In this embodiment, the gripper 9 generates no extraction force.

The device according to the invention for pull-out force measurement can be used not only with the swivel arms set out above. The device according to the invention for pull-out force measurement can also be used, for example, in devices for the linear supply of cable ends, for example in the US Pat EP 1 073 163 B1 disclosed. In addition, other movement sequences for the delivery of the cable to be measured to Auszugeinrichrichtung 20 may be provided.

Claims (10)

1. Wire-processing device (1) with processing stations (7, 10) for processing a wire (3), at least one gripper (5, 9) feeding the wire (3) to the processing stations (7, 10) for the production of a wire-end connector (15) and being usable for inspection of the wire-end connector (15) produced by the processing stations (7, 10),
   characterized in that
   a pull-out device (20) with at least one holding unit (21) and one gripping unit (23) is provided, the gripper (5, 9) feeding the wire-end connector (15) to the holding unit (21) to be firmly held, and feeding the wire (3) to the gripping unit (23) to be firmly gripped, and exerting on the gripping unit (23) a pull-out force (AK) in the longitudinal axis of the wire.
2. Wire-processing device according to Claim 1,
   characterized in that
   the gripping unit (23) can be moved in the longitudinal axis of the wire.
3. Wire-processing device according to Claim 1,
   characterized in that
   the housing (24) of the pull-out device (20) is arranged on a linear slide (20.1) to which a force (F) acting in the direction of the longitudinal axis of the wire can be applied, the gripper (9) remaining in the stationary position and absorbing the reaction force of the force (F).
4. Wire-processing device according to Claim 2 or 3,
   characterized in that
   for the purpose of gripping the wire (3) firmly, the gripping unit (23) has gripping elements (29, 30), at least one gripping element (29) being feedable.
5. Wire-processing device according to one of claims 1 to 4, characterized in that for the purpose of holding the contact (15) firmly, the wire-end connector has blades (25, 26), at least one blade (25, 26) being feedable.
6. Method for the operation of a wire-processing device (1) with processing stations (7, 10) for processing a wire (3), the wire (3) being fed to the processing stations (7, 10) by at least one gripper (5, 9), and the gripper (5, 9) being used for an inspection of the wire-end connector (15) produced by the processing stations (7, 10), characterized in that
   the wire (3) is fed by the gripper (5, 9) to a pull-out device (20) with at least one holding unit (21) and one gripping unit (23) and in that the gripper (5, 9) exerts on the gripping unit (23) the pull-out force (AK) necessary for the inspection, the wire-end connector (15) that is held by the holding unit (21) acting against the pull-out force (AK).
7. Method according to Claim 6,
   characterized in that
   a contact of the wire-end connector (15) is fed by the gripper (5, 9) to the holding unit (21), and in that the contact of the holding unit (21) is held firmly, the wire (3) is fed by the gripper (5, 9) to the gripping unit (23), and the wire (3) is gripped firmly by the gripping unit (23) .
8. Method according to one of claims 6 or 7,
   characterized in that
   a pull-out force (AK) is measured by means of a force sensor.
9. Method according to one of claims 6 or 7,
   characterized in that
   a pull-out force (AK) is determined by means of a motor current of the motor that causes the linear movement of the gripper (5, 9).
10. Method according to one of claims 6 to 9,
    characterized in that
    in a wire (3) that is destined for pull-off force measurement, by means of insulation-stripping blades (7) an additional cut is made into the wire sheath, the insulation crimp (15.2) produced in the crimping operation embracing the additional remnant of insulation.

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