EP1912296B1 - Device and method for determining the position of a cable mounting on a cable - Google Patents

Description

The invention relates to a device and a method for equipping electrical cables with cable assemblies, wherein a component module has a from a starting position in an end position and movable back mounting head, which populates the fixed cable with the cable assemblies.

From the patent EP 0 626 738 B1 a device for Tüllenbestückung of electrical cables has become known. With such devices, grommets, which are required for example for moisture-tight feedthroughs of electrical cables through housing walls of electrical appliances, can be pushed onto the cables in a rational manner. The device consists of an open at one end face, fillable with nozzles drum which is drivable about an axis extending obliquely to the horizontal axis. In the interior of the drum arranged blades pass a protruding into the drum conveyor rail with rotating drum grommets for the purpose of storage storage and further transport. An ejector with a movable up and down centering mandrel leads each of the first spout in the feed rail of a rotating device which has a plurality of mandrels and is incrementally rotatable by a certain angle, wherein in a first position of the rotating device in each case a spout on the Tip of a thorn is pushed. In a second position of the rotating device, the spout is pushed by means of a Aufschiebeeinheit for the purpose of expanding on a part of the mandrel. In a further position of the rotating device, the spout is removed from the mandrel by means of a placement head with Tüllenaufnahmeteil and spreading the sleeve and pushed the spout in the expanded state on the cable.

The invention as defined in claim 1 solves the problem of providing a device and a method for automatically determining the position of a cable assembly on a cable.

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

The advantages achieved by the invention are essentially to be seen in the fact that a quality control can be carried out without reducing the productivity of the assembly module and the subsequent machining processes. During the assembly process, the cable assembly is brought to the cable with a forward movement of the mounting head and the shape and the position of the cable assembly measured on the cable during the backward movement of the mounting head. The measurement results can be used to determine whether the cable equipment is correctly installed on the cable in the correct position or whether the cable assembly is equipped with a tolerable deviation with regard to the cable sheath and with regard to the exposed cable conductor. Furthermore, it can be determined with the measurement results whether the axis position of the cable assembly deviates from the cable longitudinal axis, whether the correct spout or even a spout has been fitted, whether the spout is rotated by 180 °, whether the spout has been adapted to the bushing or damaged or have been fanned during the placement process strands of the cable ladder. It is also advantageous that the cable end remains at rest during the position measurement, which significantly improves the measurement accuracy. Furthermore, during the backward movement of the mounting head in terms of acceleration / deceleration, no consideration must be given to the mass of the free cable end with the cable assembly. Cables with different dimensions can be equipped with different types of cable assemblies without having an effect on the measuring accuracy. Likewise, the usual length of the free cable end of about 40 mm meaningless for the position measurement. Also, the end of the cable ladder is measured and thus released the continuation of the assembled cable for subsequent processing. With the continuation of the cable, it is not necessary to wait until the placement head is back in the starting position.

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

• Fig. 1
  ein erfindungsgemässes Bestückungsmodul,
• Fig. 2 und Fig. 3
  eine am Bestückungsmodul angeordnete Messeinrichtung und
• Fig. 4a bis 4g
  eine Darstellung des Vorganges zur Bestückung von Kabeln mit Kabelbestückungen.

Show it:

• Fig. 1
  an assembly module according to the invention,
• Fig. 2 and Fig. 3
  an arranged on the assembly module measuring device and
• Fig. 4a to 4g
  a representation of the process for the assembly of cables with cable assemblies.

Fig. 1 shows details of a placement module 1.2 a device for Tüllenbestückung as in the application EP 1 689 049 A1 shown. An ejector 10 is disposed above a conveyor rail 7 for cable assemblies, such as spouts 17. The ejection device 10 has a centering pin 30 that can be moved up and down, which can be driven pneumatically, for example. A rotating device 11, which is arranged below the conveyor rail 7, has four mandrels 31, which are offset by an angle of 90 ° from each other. The rotating device 11 can be further rotated stepwise by an angle of 90 ° by means of a stepping motor, not shown. The mandrels 31 have two different diameters, wherein the diameter in the region of the tip of the mandrel is the smaller. The rotary device 11 is arranged such that in each case a mandrel 31 in a first position I of the rotary device 11 with the vertical bore 24 (FIG. Fig. 4a-4g ) of the conveyor rail 7 is aligned. With 33 a Aufschiebeeinheit is referred to, which has two mold plates 34, in each of which a half of a bore 35 is arranged, which is aligned in a second position II of the rotating device 11 each with a mandrel 31. The mold plates 34 are attached to holders 36. The slide-on unit 33 can be moved in a straight line (for example pneumatically) in the direction of the mandrel 31.

A mounting head 40 has a sleeve receiving portion 41 and a spreading portion 42, wherein the mounting head 40 in Direction of the cable longitudinal axis forward / backward is displaced. The Tüllenaufnahmeteil 41 consists of two jaws 43, each having a half of a cylindrical recess 44, whose size is adapted to the shape of the spouts 17 to be processed. The jaws 43 are arranged radially in opposite directions (for example, pneumatically) displaceable on a non-visible guide carrier. The expanding part 42 consists of two further jaws 46, each having one half of a sleeve-shaped projection 47 and a bore 48 extending therethrough. The bore 48 has on the side facing away from the sleeve-shaped projection 47 of the other jaws 46 a funnel-shaped extension 49 and is dimensioned so that the cable 13 to be assembled can be accommodated. The further jaws 46 are arranged displaceably on a further guide carrier 50, wherein they are displaceable forward / backward simultaneously with the jaws 43. The Tüllenaufnahmeteil 41 and the Aufspreizteil 42 are arranged such that the cylindrical recess 44 and the bore 48 in a further position IV of the rotating device 11 are aligned with one of the mandrels 31, wherein the further position IV relative to the second position II by an angle of 180 ° is offset. The Tüllenaufnahmeteil 41 is disposed within a U-shaped recess of the other guide support 50 in the axial direction of the cylindrical recess 44 (for example, pneumatically) slidably. The further guide carrier 50 is connected to a housing which can be moved in the axial direction of the cylindrical recess 44 and bore 48 together with the Tüllenaufnahmeteil 41 and the expansion part 42 (also, for example, pneumatically) forward / backward.

Arranged on the placement head 40 are also a transmitter 101 with lens, for example an LED light emitter, and a receiver 102, for example a CCD line sensor. The transmitter 101 generates a between Tüllenaufnahmeteil 41 and spreading part 42 lying, curtain-like beam 103 which is measurable by the receiver 102. Transmitter 101 and receiver 102 are mounted on the two-part Tüllenaufnahmeteil 41 and displaceable forward / backward in the direction of the cable longitudinal axis, wherein in the forward movement, the cable assembly or the spout 17 is fitted to the cable 13 and form the cable assembly or the spout 17 in the backward movement - and measured by location.

Arranged on the placement module 1.2 is a measuring head 104 for measuring the path of the placement head 40, in particular for measuring the path of the placement head 40 during the backward movement. The measuring head 104 is arranged stationarily on the mounting module 1.2 in relation to the mounting head 40 and measures the relative movement in the direction of the cable longitudinal axis of the mounting head 40 relative to the mounting module 1.2 by means of a scale 105 arranged on the mounting head 40.

Fig. 2 and Fig. 3 show the measuring module 1.2 or on the mounting head 40 arranged measuring device consisting of transmitter 101 with beam 103, receiver 102 and measuring head 104 with scale 105. The position of the beam 103 as shown in FIG Fig. 2 approximately corresponds to the position of the beam as shown in FIG Fig. 4e , The cable 13 is held by a gripper 106, which is not moved during the loading process and during the measuring process. The placement head 40 has been moved forward during the loading process in the end position 109, wherein the beam 103, the plan view of the cable sheath at the position of the beam 103 at the receiver 102 images. In the section 107 of the mounting head 40 is a line sensor, for example, a CCD line sensor 102.1 visible, which detects the curtain-like beam 103, for example, an LED light emitter. The elements of the CCD line sensor 102.1 detect the beam 103 as well as the beam shadow 108 caused by the cable outline. The beam shadow 108 corresponds to the cable layout.

As in Fig. 3 shown, the placement head 40 has been moved or shifted in the direction of the starting position, which is symbolized by an arrow 110. The position of the beam 103 as shown in FIG Fig. 3 approximately corresponds to the position of the beam 103 as shown in FIG Fig. 4f , The displacement of the mounting head 40 can also be read off at the scale 105, which has shifted in the direction of the starting position in the same way as the mounting head 40 with respect to the stationary measuring head 104. The elements of the CCD line sensor 102.1 detect the beam 103 as well as the beam shadow 108 caused by the spout outline. The beam shadow 108 corresponds to the spout outline.

A cable 13 is equipped and measured as follows with a cable assembly or a spout 17 ( Fig. 4a to 4g ): After the grommets 17 are stored in the correct position on the conveyor rail 7, the foremost spout 17 in the buffer 20 is conveyed via the vertical bore 24 ( Fig. 4a ). The spout 17 is now pushed by means of the centering pin 30 of the ejection device 10 on the tip of the mandrel 31 located in the first position I ( Fig. 4a, 4b ). At the same time a seated on a position in the second position II mandrel 31 seated grommet 17 is pushed by the Aufschiebeeinheit 33 on the thicker part of the mandrel 31, whereby it is expanded and placed in the correct position. Since the bore 35 is smaller than the Mandrel 31 is, in this case the mold plates 34 are pressed apart against a spring force ( Fig. 4b ). During the same time, a mandrel 31, which is located in a further position IV, is seated by the jaws 43 of the grommet receiving part 41, whereby the further jaws 46 of the expander part 42 are also closed (FIG. Fig. 4a, 4b ). Then the centering pin 30 of the ejector 10 is withdrawn and pushed the Tüllenaufnahmeteil 41 with the spout 17 against the expansion part 42, wherein the sleeve-shaped projection 47 of the Aufspreizteiles 42 penetrates into the Tüllenbohrung and the spout 17 is slightly widened again ( Fig. 4c ). Thereafter, the Aufschiebeeinheit 33 is pushed back, as well as the spout 17 withdrawn by means of the Tüllenaufnahmeteiles 41 from the mandrel 31 and transported in the direction of cable 13. Here, the spout 17 is held by the expansion part 42 in the expanded state until the correct position on the cable 13 is reached. Then, the spreading member 42 is displaced relative to the Tüllenaufnahmeteil 41, wherein the spout 17 is stripped and clamped on the cable 13 ( Fig. 4d ). Thereafter, the jaws open 43 and 46, so that the assembled cable 13 can be removed and a new can be supplied. At the same time, the rotating device 11 rotates through an angle of 90 °, wherein the empty mandrel 31 are rotated in the first position I and the already equipped mandrels 31 in the second and the other position II or IV ( Fig. 4e ).

In the process steps of Fig. 4a to 4e has the mounting head 40 and have the Tüllenaufnahmeteil 41 and the expanding part 42 in the forward direction from the starting position according to Fig. 4a in the final position according to Fig. 4e moves and with them also the transmitter 101, the receiver 102 and the scale 105. During the assembly process and the Measuring process, the cable 13 remains stationary or is not moved. After completion of the assembly process, as in Fig. 4e For the first time, the transmitter 101 has been switched on and the beam 103 has been measured by the receiver 102. At the same time, the stationary measuring head 104 measures the position of the mounting head 40 or the position of the beam 103 by means of the scale 105 Fig. 4e For example, the outline of the cable sheath is imaged at the position of the beam 103 on the receiver 102. Thereafter, the mounting head 40 from the end position according Fig. 4e in the direction and to the starting position according to Fig. 4a moved backwards or moved. As in Fig. 4f the jet 103 is positioned approximately in the middle of the cable assembly or in the middle of the spout 17. Then, the receiver 102 measures the outline of the cable fitting or grommet 17 at the position of the beam 103. Thereafter, the mounting head 40 is again moved rearwardly until the beam 103 is positioned approximately on the cable conductor freed from the cable sheath, as in FIG Fig. 4g shown. Then the floor plan of the cable ladder is imaged at the position of the beam 103 at the receiver 102. Then, the spout receiving part 41 and the expanding part 42 are further moved in the reverse direction until the in Fig. 4a reached starting position is reached.

In reality, not three measurements are carried out but several hundred measurements, for example every 50 micrometers, whereby for each measurement the position of the beam 103 relative to the fixed cable 13 is detected by means of the measuring head 104 and the scale 105. The control of the measuring head 104 initializes the transmitter 101 and the receiver 102 at each position measurement. The transmitter 101 and the receiver 102 are synchronized with the measuring head 104. From the images in the receiver 102 together with the position measurements is then a Silhouette of the cable 13 with the assembled spout 17 and the cable assembly generated and compared with a pattern image or features of the spout 17. Sample image and the features of the spout are stored, for example as a table in the control of the assembly module 1.2. For example, punctured and therefore obliquely placed on the cable grommets, too far or too little far from the cable sheath remote grommets, false grommets, rotated by 180 ° spouts, damaged or incorrect mandrel or strung during assembly process strands of the cable ladder can be determined. The control of the assembly module also knows the characteristics of the spikes suitable for the grommets, wherein the spikes are measured by means of a separate measuring run. Also, the end of the cable ladder is measured and thus released the continuation of the assembled cable for subsequent processing. With the continuation of the cable, it is not necessary to wait until the placement head is in the starting position.

The mounting head 40 may also be configured for cable assemblies other than spouts 17. For example, the cable conductors freed from the cable sheath can be equipped with end sleeves. The end sleeves are pushed onto the cable conductor with a forward movement of the mounting head and pressed. During the backward movement from the end position to the initial position, the cable is measured together with the end sleeve in a manner comparable to the grommet, and during the evaluation of the measurement results, assembly errors are detected.

Measuring systems other than the above-mentioned optical measuring device are also conceivable, for example ultrasound or radar-based measuring devices.

Claims (9)

1. Device for fitting electric wires (13) with wire fittings (17), wherein a fitting module (1.2) has a fitting head (40) that can be moved from a starting position into an end position and back, that fits the stationary wires (13) with the wire fittings (17),
   characterized in that
   arranged on the fitting module (1.2) are a measuring head (104) and on the fitting head (40) a transmitter (101) and a receiver (102), such that during the movement of the measurement head (40) from the end position into the starting position the wire (13) together with the wire fitting (17) can be measured and during the evaluation of the measurement results fitting faults can be detected.
2. Device according to Claim 1,
   characterized in that
   arranged on the fitting head (40) is a scale (105), the displacement of the fitting head (40) relative to the fitting module (1.2) being measurable by means of scale (105) and measuring head (104).
3. Device according to one of claims 1 or 2,
   characterized in that
   during the measuring operation the wires (13) with the wire fittings (17) are at rest.
4. Method of measuring electric wires (13) with wire fittings (17) that by means of a fitting module (1.2) and a fitting head (40) that is movable from a starting position into an end position and back are fitted onto the stationary wires (13),
   characterized in that
   during the movement of the fitting head (40) from the starting position into the end position, the wires (13) are fitted with wire fittings (17) and in that during the movement of the fitting head (40) from the end position into the starting position the wires (13) with the wire fittings (17) are measured and during the evaluation of the measurement results fitting faults are detected.
5. Method according to Claim 4,
   characterized in that
   a transmitter (101) that is arranged on the fitting head (40) transmits a beam (103), the wires (13) that are to be measured and the wire fittings (17) lying in the beam (103) that is measured by means of a receiver (102) that is arranged on the fitting head (40).
6. Method according to Claim 4,
   characterized in that
   the displacement of the fitting head (40) relative to the fitting module (1.2) is measured by means of a scale (105) that is arranged on the fitting head (40) and by means of a measuring head (104) that is arranged on the fitting module (1.2)
7. Method according to one of the following claims,
   characterized in that
   from the measurement values of the receiver (102) and the measurement values of the measuring head (104) a silhouette of the wire (13) with the wire fitting (17) is generated and compared with a template or characteristics of the wire fitting (17) and from the comparison fitting faults are detected.
8. Method according to Claim 7,
   characterized in that
   the template or the characteristics of the wire fitting (17) are saved in the control of the fitting module (1.2).
9. Method according to one of claims 7 or 8,
   characterized in that
   the end of the wire conductor is measured and thereby the further travel of the fitted wire (13) for the subsequent processing processes is released.

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