Automated method and apparatus for mounting bushings on shielded power cables

Abstract

An automated apparatus for mounting a bushing on a cable, comprising: a separation funnel assembly; a cable supply mechanism; the robot comprises an end effector and a plurality of robot motors; a cannula gripper mounted to the end effector; a plurality of heaters; and a computer configured to output a command according to a predetermined computer program. A separation funnel assembly includes an actuator and a separation funnel including a pair of funnel halves that are openable and closable in response to activation of the actuator. Each funnel half includes a cable guide channel and a funnel extension. When the separating funnel is in the funnel closed state, the funnel extension forms a base for the bushing and the cable guide channel forms a repeatable path for the cable to pass through the funnel. The apparatus also includes a cable centering gripper, a cable gripping assembly, a fillet puller assembly, and a ground lead management system.

Description

Technical Field

[0001] The present disclosure generally relates to methods and apparatus for processing shielded electrical cables. In particular, the present disclosure relates to automated methods and apparatus for installing sleeves on electrical cables. Background Art

[0002] Shielded cables include a shield to prevent electromagnetic interference. For example, the conductor may be surrounded by a braided shield made of metal. Since the shield is made of metal, it can also serve as a ground path. Typically, shielded cables include a ground wire (hereinafter referred to as a "ground lead") that contacts the shield in the unsheathed portion of the shielded cable. Typically, the ground lead is attached to the unsheathed portion using a solder sleeve. Typically, the solder sleeve is placed around the portion of the shielded cable with the exposed shield and then melted in place.

[0003] In a known manual process for installing a solder sleeve on a portion of a shielded cable, the shield is trimmed to length before the sleeve is installed. Existing processes require making two score lines on the cable jacket to form two removable sections of the jacket. The first section is removed to expose the shield to be trimmed. After the shield is trimmed, the solder sleeve is then screwed onto the cable and over the second removable section. This second section (commonly referred to as a "jacket fillet") protects the shield from being hooked by the various edges present inside the solder sleeve. After the solder sleeve is screwed onto the cable, the jacket fillet is pulled off the cable and the solder sleeve is moved back to be centered over the newly exposed shield.

[0004] U.S. Patent No. 11,120,928 discloses an automated processing method for installing a solder sleeve or terminal sleeve on a portion of a shielded cable including a section of exposed shield. The automation of the sleeve installation operation makes the quality of the final product repeatable and consistent, which is not achievable with a completely manual processing method. The automated processing method proposed in U.S. Patent No. 11,120,928 is designed to pass the cable end whose shield has been trimmed through the solder sleeve with the help of a funnel. One implementation of the sleeve installation system equipped with a funnel results in inconsistent quality for certain types of cables and requires absolute precision in the positioning of the sleeve component relative to the funnel entrance. This becomes more difficult when trying to install the solder sleeve in an out-of-the-way manner because the inner diameter of the ground lead side is smaller than the inner diameter of the non-ground lead side. Therefore, when trying to feed a larger diameter cable through the solder sleeve, the shield sometimes gets hooked.

[0005] The inner diameter of the solder sleeve varies greatly over the length of the solder sleeve due to the internal components contained within the sleeve, including the solder ring, ground lead wire bundle, and insulation ring. In addition, the tolerance values ​​of the solder sleeve are large, which further increases the variability of the inner surface of the sleeve. This variability coupled with the variability of the internal components makes it difficult to feed the cable through the solder sleeve without snagging on the edges of the internal components, thereby causing the cable to bend when trying to feed the cable through the sleeve. Summary of the invention

[0006] The subject matter disclosed in detail below relates to an automated technique for solving the problems identified in the background section as well as other problems such as ground lead management after solder bushing installation. The computer controlled bushing installation machine disclosed herein includes various subsystems that pick up the bushing and place the bushing in contact with the funnel extension of a separation funnel when the funnel is closed, feed the cable end from a tray carrying the cable through the closed funnel, remove the jacket fillet from the cable end to expose a portion of the shield, retract the cable end to center the exposed shield inside the bushing, heat the bushing, cool the bushing, and then retract the cable end onto the tray carrying the cable with the aid of a ground lead management system.

[0007] More specifically, the computer controlled sleeve installation machine includes a specialized split funnel system designed to allow a cable whose shield has been trimmed to pass through a solder sleeve without hooking the unsheathed end of the wire on the sleeve. The proposed split funnel system is capable of fully opening and closing, and the funnel halves include a slot-like feature (hereinafter referred to as a "ground lead clearance slot") for resting the ground lead therein when the split funnel is closed, thereby allowing proper alignment of the sleeve during the cable feeding phase. After the sleeve is installed on the cable, the split funnel system can then be actuated to open, thereby allowing the cable to fully exit the funnel assembly.

[0008] According to another refinement, after the cable has passed through the closed funnel and the sleeve in place, the pneumatically actuated grippers of the integrated strip puller assembly close and actuate back on the jacket strip to pull the jacket strip off the cable and expose a portion of the shield before the sleeve is installed (i.e., heated and then cooled). At this point, the cable can be retracted so that the sleeve is centered over the newly exposed shield. This allows the sleeve installation machine to maintain the integrity of the shield until the sleeve is installed around the exposed shield.

[0009] The separating funnel system proposed herein is designed to allow the cable to pass through a closed funnel without installing a sleeve and then leave the sleeve installation machine with the installed sleeve after the separating funnel is opened. Each funnel half of the separating funnel has a corresponding extension feature, which is designed to form a base on which the open end of the sleeve can be placed before the cable is fed through the closed funnel. When the cable is first fed through the closed funnel, the corresponding guide channels formed in the funnel half form a repeatable path for passing the cable through the funnel. After the heating process is completed, a group of air nozzles are started to blow cold air onto the hot sleeve. This ensures that the insulating ring is completely cooled and hardened in place before the cable is retracted from the sleeve installation machine. After the sleeve is installed, the separating funnel is opened to allow the cable end with the sleeve to be installed to be retracted backwards towards the tray carrying the cable and leave the sleeve installation machine.

[0010] The sleeve installation machine also includes a ground lead management system that is configured so that after installing a solder sleeve with a ground lead extending rearward (i.e., the solder sleeve has an "outside-to-back" orientation), the ground lead will not be snagged when the cable is retracted from the sleeve installation machine. When the separation funnel is closed, the corresponding inclined surfaces of the funnel halves form a groove in the top of the funnel, and the corresponding extended features extending from the ends of the funnel halves form a base for an open end of the solder sleeve. In addition, the funnel halves include corresponding ground lead clearance slots for allowing the ground lead to rest therein when the separation funnel is closed. Therefore, when the solder sleeve is installed in the "outside-to-back" orientation, the ground lead can rest on the groove and between the slots. These features allow the sleeve to remain in an inline position with the base formed by the mutually contacting extended features of the closed funnel. Furthermore, after the cable processing is completed, the ground lead pusher is actuated to push the ground lead down into the open funnel, thereby ensuring that the ground lead can exit the device without being snagged.

[0011] As used herein, the term "end of a cable" refers to a portion of a cable that is exposed by cutting the cable in a cross-sectional plane. As used herein, the term "end of a cable" refers to a section of a cable having an end and a section of the cable extending from the end. For example, the removal of a section of the jacket of a cable extending to the end of the cable forms an unjacketed end of the cable in which the conductors are exposed. As used herein, the term "wrap cable" refers to arranging a portion of the cable on a tray in the form of a series of loops. For example, the loops of the wrapped cable can be gathered by an arcuate wall of a tray having a central angle of 270° or greater. As used herein, the term "belt" refers to an annular belt.

[0012] While various embodiments of systems, methods, and apparatus for installing a sleeve assembly on a cable will be described in greater detail below, one or more of the embodiments may be characterized by one or more of the following aspects.

[0013] One aspect of the subject matter disclosed in detail below is an apparatus for installing a sleeve on a cable, the apparatus comprising: a separator funnel assembly, the separator funnel assembly comprising a first actuator and a separator funnel, the first actuator comprising a first guide bracket and a second guide bracket, the guide brackets translating from a funnel open position to a funnel closed position in response to a close funnel command, the separator funnel comprising a first funnel half mounted to the first guide bracket and a second funnel half mounted to the second guide bracket, wherein the first funnel half comprises a first cable guide channel and a first funnel extension, and the second funnel half comprises a second cable guide channel and a second funnel extension, and wherein when the first guide bracket and the second guide bracket are in the funnel closed position, the separator funnel is in a funnel closed state; a cable feeding mechanism configured to feed the cable in response to a feed cable command, wherein when the separator funnel is closed, the cable is fed to the separator funnel. The invention relates to a method for producing a first hopper half and a second hopper half, wherein the first hopper half and the second hopper half are configured to supply a cable between the first hopper half and the second hopper half when the hopper half is closed; a robot including an end effector and a plurality of robot motors, wherein the robot is configured to move the end effector according to a robot motor control command; a cannula gripper mounted to the end effector, wherein the cannula gripper is configured to grasp the cannula in response to a grasp cannula command; and a computer configured to output a close funnel command, a grasp cannula command, a robot motor control command to place the cannula on the first and second hopper extensions when the hopper is in the hopper closed state, and a supply cable command according to a predetermined computer program, wherein the first and second hopper extensions form a seat for the cannula when the hopper is in the hopper closed state, and the first and second cable guide channels form a repeatable path for passing the cable through the hopper. In addition, the hopper halves include corresponding ground lead clearance slots for ground leads to rest therein when the hopper is closed.

[0014] Another aspect of the subject matter disclosed in detail below is an apparatus for installing a sleeve on a cable, the apparatus comprising: a separator funnel assembly, the separator funnel assembly comprising a first actuator and a separator funnel, the first actuator comprising a first guide bracket and a second guide bracket, the guide brackets translating from a funnel open position to a funnel closed position in response to a close funnel command and translating from the funnel closed position to a funnel open position in response to an open funnel command, the separator funnel comprising a first funnel half mounted to the first guide bracket and a second funnel half mounted to the second guide bracket, wherein the first funnel half comprises a first cable guide channel and a first funnel extension, and the second funnel half comprises a second cable guide channel and a second funnel extension, and wherein the separator funnel is in a funnel closed state when the first guide bracket and the second guide bracket are in the funnel closed position, and the separator funnel is in a funnel open state when the first guide bracket and the second guide bracket are in the funnel open position; a cable supply a mechanism configured to feed the cable in response to a feed cable command and to retract the cable and cannula in response to a retract cable and cannula command, wherein the cable feed mechanism is aligned to feed the cable between the first funnel half and the second funnel half when the separation funnel is closed; a robot comprising an end effector and a plurality of robot motors, wherein the robot is configured to move the end effector according to a robot motor control command; a cannula gripper mounted to the end effector, wherein the cannula gripper is configured to grip the cannula in response to a grip cannula command and to release the cannula in response to a release cannula command; a plurality of heaters configured to heat the cannula in response to a heat cannula command when the cannula is located in the heating zone; and a computer configured to output a close funnel command, a grip cannula command, a robot motor control command to arrange the cannula on the first funnel extension and the second funnel extension, a feed cable command, a release cannula command, a heat cannula command, an open funnel command, and a retract cable and cannula command according to a predetermined computer program. When the separator funnel is in the funnel closed state, the first funnel extension and the second funnel extension form a seat for the sleeve, and the first cable guide channel and the second cable guide channel form a repeatable path for passing the cable through the funnel. In addition, the funnel halves include corresponding ground lead clearance slots for allowing the ground lead to rest therein when the separator funnel is closed.

[0015] Another aspect of the subject matter disclosed in detail below is a computer-implemented method for placing a sleeve on a cable, the method comprising automated operations performed by an automated workstation, wherein the automated operations include: closing a separator funnel, the separator funnel comprising a first funnel half and a second funnel half; picking up the sleeve using a sleeve gripper carried by a robot; placing an open end of the sleeve onto a first funnel extension and a second funnel extension, the first funnel extension and the second funnel extension respectively extending forward from the first funnel half and the second funnel half of the closed separator funnel; feeding an end of the cable through the separator funnel and the sleeve; removing a jacket fillet from the end of the cable to expose a shield of the cable; retracting the cable until the exposed shield is centrally positioned within the sleeve located on the first funnel extension and the second funnel extension; retracting the separator funnel away from the cable centering gripper; releasing the sleeve from the sleeve gripper; moving the sleeve gripper away from the sleeve; and activating a heater to heat the sleeve. After heating, the following automated operations occur: cooling the thermowell with cold air; extending the ground lead pusher downward and into contact with the ground lead; opening the separation funnel; and retracting the sleeved cable onto the tray.

[0016]

[0013] Other aspects of systems, methods, and apparatus for installing a sleeve assembly on a cable are disclosed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The features, functions, and advantages discussed in the foregoing sections may be implemented independently in various embodiments, or may be combined in other embodiments. For the purpose of illustrating the above and other aspects, various embodiments will be described below with reference to the accompanying drawings. The illustrations briefly described in this section are not drawn to scale.

[0018] Figure 1 is a diagram representing and identifying components of an automation system for performing respective operations on an end portion of a cable at a plurality of cable processing modules.

[0019] Figure 2 is a diagram showing a top view of an end portion of a cable being pushed forward by a pair of belts circulating around a corresponding pair of pulleys of a double-belt cable feeding mechanism.

[0020] Figure 3 is a diagram showing a three-dimensional view of an apparatus including a tray configured to hold a wound portion of cable and a dual-belt cable feed mechanism located on the tray, the dual-belt cable feed mechanism receiving an end of the cable.

[0021] Figure 4Ais a diagram depicting an automated system including a nut driver device installed at a workstation and a cable feeding device that has arrived at a position adjacent to the workstation and is in a state in which the nut driver device is disengaged from the cable feeding device.

[0022] Figure 4B is depicted in a state in which the nut driver device is engaged with the cable feed device Figure 4A Schematic diagram of the automation system shown in .

[0023] Figure 5 Is the identification based on Figure 4A 00145] Block diagram of some components of a cable supply system of an embodiment depicted in FIG.

[0024] Figure 6 is a diagram showing a side view of a portion of a cable having an unjacketed end with an exposed shield and the exposed shield having been trimmed.

[0025] Fig. 7A is a diagram showing a side view of a solder sleeve with a ground lead pre-installed.

[0026] Figure 7B Yes means Fig. 7A is an illustration of a side view of the solder sleeve depicted in when covering a portion of a cable including an exposed shielding layer.

[0027] Figure 7C Yes means Fig. 7A is an illustration of a side view of the solder sleeve depicted in when being installed by melting onto a portion of a cable including an exposed shield.

[0028] Fig. 8A and Figure 8B is a sleeve that has an "outer front" solder sleeve - the part of the cable assembly that is soldered before melting ( Fig. 8A ) and after melting ( Figure 8B ) is an illustration of a side view of the .

[0029] Fig.9A and Fig. 9B is a sleeve that has an "outer rear" solder sleeve - the part of the cable assembly that is soldered before melting ( Fig.9A ) and after melting ( Fig. 9B ) is an illustration of a side view of the .

[0030] Fig.10 is a diagram showing a three-dimensional view of some components of a casing installation machine according to one embodiment.

[0031] Fig.11 It means in Fig.10An illustration of an enlarged three-dimensional view of some components of the casing installation machine depicted in FIG.

[0032] Fig.12 is a diagram showing a three-dimensional view of a robot that is operated by a computer ( Fig.12 The casing gripper is carried under the control of (not shown).

[0033] Fig.13 Yes means included in Fig.10 Illustration of a three-dimensional view of a funnel shuttle in a casing installation machine depicted in FIG.

[0034] Fig.14A is a diagram showing a three-dimensional view of a subsystem including a separation funnel assembly mounted to a pneumatic actuator configured to respond to commands from a computer ( Fig.14A The separation funnel assembly is extended or retracted using a control signal (not shown).

[0035] Fig. 14B is a diagram showing a top view of a closed separation funnel according to one embodiment.

[0036] Fig.15 Yes means Fig.14A An exploded view of the components of the subsystem depicted in FIG.

[0037] Fig.16 is a block diagram identifying some components of a pneumatic actuator for a gripper according to one embodiment.

[0038] Fig.17 is a block diagram identifying some components of a pneumatic actuator for a linear slide according to one embodiment.

[0039] Fig.18A and Fig.18B It means observing from different perspectives Fig.14A Schematic representation of a three-dimensional view of one funnel half of the separation funnel depicted in FIG.

[0040] FIG. 18C to FIG. 18F Yes means Fig.18A and Fig.18B Illustrations of side, end, top and bottom views of the funnel half depicted in FIG.

[0041] Figure 18G and Fig.18H Schematic diagrams showing a side view and a top view, respectively, of a funnel half configured with a ground lead clearance slot to provide clearance for a ground lead.

[0042] Fig.19 Yes means Fig.10is an illustration of a three-dimensional view of an automated device depicted in for centering and clamping a cable and then removing the jacket fillet.

[0043] Fig. 20A and Fig. 20B It means in Fig.19 Illustration of a corresponding front view of the cable centering gripper partially depicted in FIG. Fig. 20A The cable centering gripper is shown in an open position; Fig. 20B The cable centering gripper is shown in a partially closed state, with the cable centrally positioned.

[0044] Fig.21A and Fig. 21B It means observing from different perspectives, including Fig.19 An illustration of a three-dimensional view of the cable clamp assembly in the slug puller assembly depicted in FIG.

[0045] Fig. 22 Yes means Fig.21A and Fig. 21B An illustration of a three-dimensional view of some components of the cable clamp assembly depicted in FIG.

[0046] Fig.23 Yes means included in Fig. 22 Illustration of a side view of a rod in a cable clamp assembly partially depicted in FIG.

[0047] Fig.24A and Fig. 24B Yes means included in Fig.19 An illustration of a three-dimensional view of some components of the web gripper in the web puller assembly depicted in FIG. Fig.24A The welt gripper is shown in a closed position; Fig. 24B The web gripper is shown in an open position.

[0048] Fig.25 Yes means included in Fig.10 Illustration of a three-dimensional view of the heater shuttle and related components in the casing installation machine depicted in.

[0049] Fig.26 Yes means Fig.25 . An illustration of a side view of the emitter assembly depicted in . The wavy arrows represent the thermal radiation generated when the emitter is activated.

[0050] Fig. 27 Yes means included in Fig.10 Illustration of a side view of a ground lead management system and funnel shuttle in a bushing installation machine depicted in FIG.

[0051] Fig.28 Yes means Fig.10is an illustration of an end view of a portion of a ground lead management system according to one embodiment of a bushing installation machine depicted in , with the ground lead pusher retracted and the separator funnel closed.

[0052] Fig.29A and Fig.29B A flow chart is formed, which identifies the use of Fig.10 The steps of an automated method for processing the end of a cable by a sleeve installation machine are depicted.

[0053] Fig.30 is a marker for actuating Fig.10 A block diagram of some components of the computer controlled pneumatic system depicting the various components of the casing installation machine.

[0054] Fig.31 It is marked in Fig.10 Other computer controlled components of the casing installation machine depicted in ( Fig.30 A block diagram of the invention is not shown.

[0055] Reference will be made hereinafter to these drawings in which similar elements in different drawings have the same reference numerals. DETAILED DESCRIPTION

[0056] Illustrative embodiments of systems, methods, and devices for installing sleeves on shielded cables are described in detail below. However, all features of actual implementations are not described in this specification. Those skilled in the art will appreciate that in the development of any such actual implementation, many implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related constraints and business-related constraints, which will vary from implementation to implementation. In addition, it should be understood that such development efforts may be complex and time-consuming, but nevertheless, this remains a routine task for those of ordinary skill in the art who benefit from the present disclosure.

[0057] For purposes of illustration, various embodiments of automated equipment for installing sleeves on cables located at a workstation will now be described. According to one embodiment, the automated equipment is a sleeve installation machine mounted on a workbench positioned adjacent to an automated cable conveying system. The cable conveying system includes a tray carrying the cable, which travels along a track and is equipped with a motor-driven cable feeding mechanism that feeds the end of the cable into the sleeve installation machine. Specifically, the automated cable processing system disclosed in U.S. Patent No. 11,120,928 can be modified to include the sleeve installation machine proposed herein. To facilitate an understanding of such system modifications, reference will now be made to Figure 1 to describe the automated cable processing system without modification.

[0058] Figure 1 1 is a diagram showing and identifying components of a system 110 for performing corresponding operations on an end of a cable 10. The system 110 includes a cable transport system 60. For example, the cable transport system 60 may be a system having a positioning module ( Figure 1 The positioning module is a component for positioning the pallet in preparation for performing automated operations. Figure 1 In the embodiment depicted in , the cable conveying system 60 includes a conveyor track 62 in the form of an endless belt or chain. The entire conveyor track 62 is continuously moving. In an alternative embodiment, the cable conveying system 60 is not endless, wherein the tray 64 arriving at the end of the linear conveyor track can be transported to the starting point by other means. According to an alternative embodiment, the cable conveying system 60 can be a gantry robot or a robotic arm.

[0059] like Figure 1 As shown in FIG. 1 , the cable transport system 60 includes a plurality of trays 64 traveling on a conveyor track 62, each tray 64 carrying a respective roll of cable 10. Figure 1 The system 110 depicted in FIG. 1 also includes a plurality of automated workstations positioned adjacent to and spaced apart from the conveyor track 62. Each workstation is equipped with hardware that performs a corresponding specific operation in a series of operations designed for producing a shielded cable 10 with a solder sleeve 12 installed on one end of the cable 10. The positioning module ( Figure 1 64 is used to lift the trays 64 off the conveyor track 62 when an operation needs to be performed on a roll of cable carried by each tray 64 at a workstation, and then place the trays 64 back on the conveyor track 62 after the operation is completed so that the trays 64 can be moved to the next workstation.

[0060] Each tray 64 carries a corresponding roll of cable 10. The tray 64 is provided by Figure 1 The cable conveying system 60 intermittently moves along the conveyor track 62 in a forward direction indicated by the arrow in the figure, advancing from one automated workstation to the next automated workstation and then stopping (this aspect of the cable conveying system 60 will be referred to as "pulsating" hereinafter). A corresponding bar code reader (not shown in the drawings) is mounted on the side of the conveyor track 62 opposite each workstation. Each tray 64 has a bar code printed on a front portion thereof. When the bar code reader detects the arrival of the tray 64, the corresponding controller of each workstation (e.g., a computer programmed to execute computer numerical control (CNC) commands) activates the cable processing module of the workstation to begin the automated cable processing operation.

[0061] Each shielded cable 10 to be processed is carried on a corresponding tray 64 that is conveyed along a conveyor track 62. The tray 64 is pulsed along the conveyor track 62, and the end of each shielded cable is sequentially inserted into a series of cable processing modules, each cable processing module including a cable processing device for performing a continuous operation of the solder sleeve installation process. Figure 1 In the embodiment depicted in , the cable processing module includes: an unwinder module 32, a laser marker 34, a winder module 36, a cable end location module 38, a laser scribing module 40, a jacket fillet pull-out module 42, a shield trim module 44, a shield trim inspection module 46, two solder sleeve installation modules 52 and 54 (which perform automated solder sleeve pick-up, placement and melting functions) and a ground lead detection module 58. According to Figure 1 In the proposed implementation depicted in FIG. 1 , there are three open positions where no cable processing is performed. These open positions are referred to herein as buffers 48, 50, and 56. The purpose of these buffers will be described later.

[0062] As in Figure 1 Some of the workstations, as indicated by the triangle symbol in the figure, include a funnel 22 that centers the insertion end of the cable 10 in the cable processing equipment at the corresponding workstation. Other workstations, such as the workstation where the cable end location module 38 is located, do not have a funnel. The workstation where the two solder sleeve installation modules 52 and 54 are located has an open top or separation funnel 24, which also guides the end of the cable 10, but differs from the structure of the funnel 22 in that the cable can be vertically lifted off the open separation funnel 24 after the solder sleeve melting operation is completed.

[0063] The following briefly describes the order in which the various cable processing operations are performed on a cable. Figure 1 The various cable processing modules identified in . The starting material is a continuous length of multi-conductor shielded cable of a specific type wound on a reel. The unwinder module 32 unwinds the continuous length of cable and then cuts the cable into specified lengths, which lengths of cable will be referred to as "cable 10" hereinafter. For each section of cable 10, the laser marker 34 marks the jacket 2 of the cable 10 with relevant information (bundle number, wire number, specification) using a laser. The winder module 36 then winds the cable 10. This roll of cable 10 is then removed from the winder and placed on a tray 64. The tray 64 is then transferred from the winder module 36 to the cable end positioning module 38.

[0064] The cable end positioning module 38 is used to initially position the end of the cable 10 at a preset cable end position before the cable 10 continues to pass through the system 110. The preset cable end position is selected to prevent the cable end from being too long (thereby hitting other objects in the system, being squeezed or otherwise damaged, etc.) as the cable travels along the conveyor track. The tray 64 then moves to the laser scoring module 40. The laser scoring module 40 lightly scores the jacket 2 of the cable 10 along the score line 3, which extends circumferentially in a plane intersecting the annular area of ​​the jacket 2. The presence of the score line 3 makes the applicable section of the jacket 2 (hereinafter referred to as "jacket fillet 2a") ready for removal by the jacket fillet pull-out module 42. The jacket fillet pull-out module 42 removes the jacket fillet 2a to expose the shielding layer 4 in the jacket-free portion of the cable 10. Next, the tray 64 moves to the shield trimming module 44, which trims off a portion of the exposed portion of the shield 4 to expose the corresponding portions of the conductors 6 and 8 of the cable 10. Then, the shield trimming inspection module 46 uses a visual inspection system to perform a quality inspection on the trimmed shield. The tray 64 then moves to one of the two solder sleeve installation modules 52 and 54, which are configured to install the solder sleeve 12 with the ground lead 14 onto the cable 10 using automated pick, place and melt operations. Two cables 10 can be installed with solder sleeves simultaneously using the two solder sleeve installation modules 52 and 54. Next, the tray 64 moves to the ground lead detection module 58, which detects the ground lead 14 of the solder sleeve 12.

[0065] like Figure 1 As shown in FIG. 1 , the cable transport system 60 includes a plurality of trays 64 traveling on a conveyor track 62, each tray 64 carrying a corresponding roll of cable 10. The trays 64 are equipped with a cable feeding mechanism ( Figure 1 ), the cable feeding mechanism is designed to push and pull the cable through a cable guide funnel that centers the cable for insertion into the cable processing equipment. In addition, the system is able to limit the amount (length) of cable fed into the equipment based on the cable to be processed and its related requirements. A method and device for tracking the position of the moving end of the cable by detecting the time it takes for the moving end of the cable to reach the scanning plane of a photoelectric sensor located at a known position can be found in U.S. Patent No. 11,120,928. Once the photoelectric sensor is triggered, the rotary encoder will begin to output pulses to indicate the rotation increment of the motor shaft. This provides a method of tracking the insertion length of the cable in real time, and then stopping the motor once the correct length of cable is fed into the cable processing equipment.

[0066] The present disclosure proposes to modify the Figure 1Configuration of the sleeve pick, place and melt module in the system 110 depicted in: a retractable separation funnel assembly, a cable centering gripper, a cable clamp assembly, a fillet puller assembly and a ground lead management system. For purposes of illustration, one proposed implementation of a computer controlled sleeve installation machine will now be described. The sleeve installation machine disclosed herein includes various subsystems that: pick up sleeves and place the sleeves in contact with the funnel extension of the separation funnel when the separation funnel is closed, feed the end of the cable through the closed funnel with the aid of a cable feed mechanism mounted to a cable carrying tray, remove the jacket fillet at the end of the cable to expose a portion of the shield, retract the cable end using the cable feed mechanism to center the exposed shield within the solder sleeve, heat the solder sleeve located on the portion of the cable with the exposed shield, cool the hot solder sleeve, and then retract the cable and sleeve assembly onto the tray carrying the cable with the aid of the ground lead management system.

[0067] According to one embodiment, the cable delivery system 60 includes: a tray 64 for carrying a length of wound cable 10; a dual-belt cable feeding mechanism 140 located on the tray and configured to linearly feed the cable end into the casing installation machine; and a motor located outside the tray (located at the casing installation machine) operatively coupled to drive the belt circulation to achieve cable insertion / retraction. Figure 2 , Figure 3 , Figure 4A , Figure 4B and Figure 5 This cable delivery system is described in more detail in U.S. patent application Ser. No. 18 / 115,477 filed on Feb. 28, 2023. Once the operator presses the start button, the cable 10 must be manually placed on the tray 64 and the leading end of the cable 10 must be manually placed into the dual-belt drive mechanism 140 to allow the machine to position the end of the cable 10.

[0068] Figure 2 1 is a diagram showing a top view of a cable end 10a of a cable 10 being pushed forward by a pair of belts 86a, 86b (hereinafter referred to as "first belt 86a" and "second belt 86b") of a dual-belt cable feeding mechanism 140 (the cable end 10a includes a cable end 10b which is detected by a laser sensor to determine the cable position during the cable feeding process). The first belt 86a passes around a first pulley 84a and a second pulley 84b, and the second belt 86b passes around a third pulley 84c and a fourth pulley 84d. The first to fourth pulleys 84a-84d are fixedly mounted on corresponding pulley shafts 78a-78d. The pulley shafts 78a-78d are connected to the pulley shafts 78a-78d by bearing assemblies ( Figure 2 The blocks are in turn connected to the tray (not shown) in a known manner. Figure 2 The first tape and the second tape are arranged to contact opposite sides of the portion of the cable 10 arranged therebetween.

[0069] like Figure 2 As shown in FIG. 1 , when the first belt 86a circulates in the direction indicated by arrow B and the second belt 86b circulates in the direction indicated by arrow C, the cable end 10a of the cable 10 is pushed in the direction of arrow A. The first belt 86a is responsive to the drive gear ( Figure 2 The driving gear is circulated by the rotation of the first gear shaft 79a (not shown). The driving gear includes a plurality of teeth. The first gear shaft 79a is coaxial with the first pulley shaft 78a and connected to the first pulley shaft. The driving gear is connected to the first gear shaft 79a by an input shaft ( Figure 2 Therefore, when the input shaft rotates, the first gear shaft 79a and the first pulley shaft 78a can rotate relative to the tray in conjunction. The circulation of the first belt 86a causes the second pulley shaft 78b to rotate.

[0070] Similarly, the second belt 86b is responsive to the driven gear ( Figure 2 The driven gear 78d is circulated by the rotation of the second belt 86b (not shown). The driven gear includes a plurality of teeth. Some teeth of the driven gear mesh with some teeth of the driving gear, so that the driven gear is driven to rotate by the rotation of the driving gear. The second gear shaft 79b is coaxial with the third pulley shaft 78c and is connected to the third pulley shaft, so that when the driven gear is driven to rotate, the second gear shaft 79b and the third pulley shaft 78c rotate in linkage with respect to the tray. The circulation of the second belt 86b causes the fourth pulley shaft 78d to rotate.

[0071] In general, on the input shaft ( Figure 2 During the rotation of the first and second belts 86a, 86b (not shown in the figure), the first and second belts 86a, 86b circulate simultaneously and in opposite directions. When the cable end 10a is arranged between the first and second belts 86a, 86b (the first and second belts are arranged to apply sufficient friction to move the cable 10), the circulating belts can push or pull the cable end 10a toward or away from the funnel 22 arranged in front of the cable processing equipment. Optionally, sufficient friction can be ensured by including one or more pairs of pressure or contact rollers, which are arranged to press the mutually facing parts of the belts against the intermediate cable. The pressure or contact rollers can be fixedly mounted on shafts that can move laterally, and these shaft journals are mounted in spring-loaded blocks.

[0072] According to one proposed implementation, the first to fourth pulleys 84a-84d are toothed pulleys, and the first and second belts 86a, 86b are toothed belts. A corresponding portion of each toothed belt passes around (encircles) a portion of each toothed pulley. The toothed pulley has a plurality of teeth extending outwardly from its outer periphery. The toothed belt has a plurality of teeth that engage the teeth of the toothed pulley in a known manner. Therefore, each toothed belt circulates as the toothed pulley rotates.

[0073] Figure 3 is a diagram showing a three-dimensional view of a cable supply apparatus 130, the cable supply apparatus comprising: a tray 64 configured to carry a length of wound cable ( Figure 3 ); and a dual-belt cable feeding mechanism 140, carried by the tray 64. The tray 64 includes a fence 66 that defines a recess 98 configured to support and accommodate a length of wound cable. To facilitate the operator's manipulation of the tray 64, a pair of handles 65a, 65b are attached to the tray 64 on the outside and on opposite sides of the recess 98. The fence 66 includes a circular wall 96c with an interruption and first and second planar walls 96a, 96b extending from the interruption. The first and second belts 86a, 86b are arranged side by side in a portion of the recess 98 that is partially defined by the first and second planar walls 96a, 96b of the fence 66.

[0074] like Figure 3 As shown in FIG. 1 , the dual-belt cable feeding mechanism 140 includes first to fourth pulley shafts 78a-78d rotatably coupled to the tray 64. The rotation axes of the first to fourth pulley shafts 78a-78d are parallel to each other and perpendicular to the plane of the tray surface on which the wound cable is placed. The first to fourth pulleys 84a-84d are fixedly mounted to the first to fourth pulley shafts 78a-78d, respectively.

[0075] Figure 3 The dual-belt cable feeding mechanism 140 depicted in the figure also includes a first gear shaft 79a and an input shaft 77. The input shaft 77, the first gear shaft 79a and the first pulley shaft 78a are fixedly connected in series (wherein the first gear shaft 79a connects the first pulley shaft 78a to the input shaft 77) to form a first shaft assembly that rotates around a first common rotation axis. The drive gear 80 is fixedly mounted to the first gear shaft 79a. When the input shaft 77 rotates, the first gear shaft 79a, the drive gear 80, the first pulley shaft 78a and the first pulley 84a all rotate in unison. The rotation of the first pulley 84a in turn causes the first belt 86a to circulate, and the circulation of the first belt in turn causes the second pulley 84b and the second pulley shaft 78b to rotate simultaneously.

[0076] The dual-belt cable feeding mechanism 140 also includes a second gear shaft 79b, which is fixedly coupled to the third pulley shaft 78c to form a second shaft assembly that rotates around a second common rotation axis (parallel to the first common rotation axis). A driven gear 82 is fixedly mounted to the second gear shaft 79b. Some teeth of the driven gear 82 mesh with some teeth of the drive gear 80. Therefore, when the drive gear 80 rotates, the second gear shaft 79b, the driven gear 82, the third pulley shaft 78c, and the third pulley 84c all rotate in unison. The rotation of the third pulley 84c in turn causes the second belt 86b to circulate, and the circulation of the second belt in turn causes the fourth pulley 84d and the fourth pulley shaft 78d to rotate simultaneously.

[0077] The input shaft 77 is provided with a head 88 which is designed to engage a nut driver ( Figure 3 The head 88 extends from the upper end surface of the input shaft 77. The socket and the head 88 are configured to have an interlocking shape that ensures that the head 88 rotates when the socket rotates. In one exemplary configuration, the head 88 includes a solid body having at least one rectangular planar side surface. For example, a hexagonal nut or bolt head has six rectangular planar side surfaces. In another exemplary configuration, the head 88 includes a solid body having at least one trapezoidal planar side surface, such as a pyramidal body having four trapezoidal planar side surfaces and a square top surface. In yet another exemplary configuration, the head 88 includes a solid body having a plurality of splines (e.g., grooves having an arcuate or V-shaped cross-sectional profile).

[0078] As will be referenced below Figure 4A and Figure 4B As described, when the socket 108 is interlocked with the head 88, the nut driver is able to drive the rotation of the input shaft 77, thereby rotating the input shaft 77. When the input shaft 77 is driven to rotate, the first belt and the second belt 86a, 86b circulate simultaneously in opposite directions. The first belt 86a circulates around the first pulley and the second pulley 84a, 84b and contacts the first pulley and the second pulley. The second belt 86b circulates around the third pulley and the fourth pulley 84c, 84d and contacts the third pulley and the fourth pulley. The first belt and the second belt 86a, 86b are made of a compliant material. The first belt and the second belt 86a, 86b are arranged to contact opposite sides of the portion of the cable arranged therebetween with sufficient friction so as to linearly feed or retract the cable as the belt circulates. For example, in response to a signal from a control computer ( Figure 3 ) issues a cable supply command, the end of the cable to be processed can be pushed into the funnel 22 in front of the cable processing equipment (see Figure 1 )middle.

[0079] Figure 4A1 is a diagram depicting an automated system including a nut driver device 100 installed at a workstation and a cable supply device 130 that has been brought to a position adjacent to the workstation. The nut driver device 100 includes a drive shaft 106 driven by a motor that can be vertically displaced relative to a support 118 installed at the workstation. A socket 108 is fixedly coupled to the lower end of the drive shaft 106. Figure 4A In the situation depicted in FIG, the drive shaft 106 driven by the motor is arranged in an upper vertical position at a first height so that the socket 108 is separated (disengaged) from the head 88, which is fixedly connected to the input shaft 77 of the cable supply device 130 or is formed integrally with the input shaft of the cable supply device.

[0080] according to Figure 4A , the nut driver apparatus 100 further includes a bearing assembly 120 including a vertically oriented guide 116 and a bracket 114 that is translationally coupled to the guide 116 for vertical displacement. The lower end of the guide 116 is attached to the upper end of the support 118. The nut driver apparatus 100 further includes a linear actuator 122 that includes an elongated machine element 128 that is mechanically coupled to the bracket 114 to drive the bracket for vertical displacement. The vertically displaceable platform of the nut driver apparatus 100 further includes an arm 112, one end (proximal end) of which is fixed to the bracket 114. The motor 72 is mounted to the other end (distal end) of the arm 112. The motor 72 includes a motor output shaft 74. The drive shaft 106 is mechanically coupled to the motor output shaft 74 via the coupling 104.

[0081] Still reference Figure 4A The cable supply device 130 includes a tray 64 and a dual-belt cable supply mechanism 140 mounted to the tray 64. The dual-belt cable supply mechanism 140 includes the aforementioned reference Figure 3 All components are described, including the two belts 86a and 86b, pulleys 84a-84d and gears 80 and 82.

[0082] As previously disclosed, the input shaft 77, the first gear shaft 79a and the first pulley shaft 78a are connected in series to form a first shaft assembly. In an alternative embodiment, the drive gear 80 and the first pulley 84a (in Figure 4A Not visible in , but see Figure 3) can be mounted to a single shaft. The head 88 can be attached to the upper end of the input shaft 77 or formed integrally with the upper end of the input shaft. The head 88 is a solid body having a geometry configured to engage and interlock with the socket 108 of the nut driver device 100. For example, the head 88 can include a solid body having a plurality of rectangular planar side surfaces (e.g., a hexagonal head) or a solid body having a plurality of trapezoidal planar side surfaces (e.g., a truncated pyramidal head). Figure 3 The head 88 is shown with four trapezoidal planar side surfaces, only one of which is visible. In the alternative, the head 88 may have a splined surface with splines that mate with the projections inside the cavity of the socket 108. In general, the geometry of the head 88 should mate with the geometry of the cavity of the socket 108 to enable the socket 108 to rotate the head 88 about the axis of rotation of the input shaft 77.

[0083] Figure 4B The automated system is depicted in a state in which the socket 108 of the nut driver device 100 is engaged with the head 88 of the cable feed device 130. Figure 4B In the case depicted in FIG. 1 , after the bracket 114 is vertically displaced downward by a predetermined distance, the head 88 is interlocked with the socket 108. More specifically, the arm 112 is lowered until the socket 108 engages the head 88 of the input shaft 77. When the socket 108 engages with the head 88, the motor 72 is activated to drive the rotation of the socket 108. The driving gear 80, the driven gear 82, the first pulley 84a, and the third pulley 84c convert the rotation of the input shaft 77 into the simultaneous circulation of the first and second belts 86a, 86b in opposite directions.

[0084] Figure 5 1 is a block diagram identifying other components of the cable feeding system proposed herein. The state of the linear actuator 122 is controlled by a computer 162 which is programmed to coordinate operations at the workstation, including those performed by the casing installation machine ( Figure 5 According to one proposed implementation, the computer 162 is a programmable logic controller (PLC).

[0085] Specifically, the predetermined linear displacement of the bracket 114 and the arm 112 is generated by the activation of the linear actuator 122 in response to a first command from the computer 162. The motor 72 operates under the control of the motor controller 164a (as used herein, the term "motor controller" refers to a device that can coordinate the performance of the motor and includes power electronics and a microprocessor for controlling the state of the power electronics). The motor controller 164a activates the motor 72 in response to a second command issued by the computer 162 (after issuing the first command). The motor 72 then drives the rotation of the drive shaft 106 and the socket 108 until the computer 162 issues a third command to cause the motor controller 164a to deactivate the motor 72, thereby terminating the automated cable feeding or retracting operation.

[0086] Various types of linear actuators may be employed. For example, the cable feed system may include a pneumatic actuator to vertically displace the bracket 114 downward or upward. The cable feed system may also include a control valve (e.g., a solenoid valve) configured to control the flow of compressed gas from a compressed gas source to the pneumatic actuator in response to commands received from the computer 162. The pneumatic actuator includes a pneumatic cylinder, a piston within the pneumatic cylinder, and a piston rod (connected to the piston) that extends forward from the pneumatic cylinder. The piston rod is linearly displaceable from a retracted position to an extended position in response to a supply of compressed gas to the pneumatic cylinder, the compressed gas driving the piston forward. The pneumatic actuator may be configured such that extension of the piston rod causes the bracket 114 to shift downward until the socket 108 on the drive shaft 106 engages the head 88 on the input shaft 77, as shown. Figure 4B as shown in .

[0087] According to an alternative embodiment, the cable feeding system may include a linear electric actuator to vertically displace the bracket 114. According to one proposed implementation, the linear electric actuator includes a rotational to linear motion conversion mechanism (e.g., a rack and pinion mechanism or a lead screw and nut mechanism) that converts the rotational motion of a motor (not shown in the drawings) into a linear displacement of the bracket 114. The motor is controlled by a motor controller, which in turn receives commands from the computer 162. In the case of a rack and pinion mechanism, the pinion is coupled to the output shaft of the motor, and the rack is attached to the bracket 114. In the case of a lead screw and nut mechanism, the lead screw is coupled to the output shaft of the motor, and the nut is attached to the bracket 114.

[0088] The cable feeding system described above may be used in combination with a sleeve installation machine designed to install a solder sleeve or terminal sleeve on an end portion of a shielded cable including a section of exposed shielding. Figure 61 is a diagram showing a side view of a portion of a cable 10 having an unjacketed end with a trimmed bare shield 4. The trimming of the shield 4 in turn leaves the ends of the conductors 6 and 8 of the cable 10 bare. As described in more detail below, the sleeve installation machine is configured to install a solder sleeve 12 (in the case of a ground lead 14) with an automated pick, place, and melt operation. Figure 1 ) is installed on the cable 10.

[0089] Fig. 7A 1 is a diagram showing a side view of a typical solder sleeve 12 pre-installed with a ground lead 14. The solder sleeve 12 includes a sleeve body 7 made of a transparent and heat-shrinkable thermoplastic material. The inner diameter of the sleeve is larger than the outer diameter of the cable being processed. The solder sleeve 12 also includes a pair of thermoplastic insulating rings 13a and 13b and a central solder ring 9 adhered to the inside of the sleeve body 7 at a central position. Figure 7B Yes means Fig. 7A 1 is an illustration of a side view of a solder sleeve 12 depicted in FIG. 1 when placed in a position in which the solder sleeve covers the portion of the cable 10 having the jacket 2 and covers the exposed, unjacketed portion of the shield 4. The exposed shield 4 is surrounded by a central solder ring 9 which, when melted and then solidified, will form an electrical connection between the shield 4 and the ground lead conductor bundle 15. The sleeve body 7 has not yet melted. Figure 7C It means after the solder sleeve 12 has melted on the cable 10. Fig. 7A FIG. 2 is an illustration of a side view of the solder sleeve 12 depicted in FIG.

[0090] The sleeve installation machine disclosed herein is capable of installing a solder sleeve having a ground lead arranged in an "outside front" orientation or an "outside rear" orientation. In the "outside front" orientation, the ground lead extends away from the cable; in the "outside rear" configuration, the ground lead extends rearward toward the cable.

[0091] Fig. 8A and Figure 8B is a diagram showing a side view of a portion of a sleeve-cable assembly having an "outside front" solder sleeve 12. The sleeve-cable assembly includes a solder sleeve 12 having a ground lead 14 extending away from the jacket 2 of the cable 10. The solder sleeve 12 is screwed onto the conductors 6 and 8 until the solder sleeve 12 is in position around the exposed shield 4. Fig. 8A As shown in FIG. 8 , the “outer front” solder sleeve 12 also surrounds the end section of the sheath 2 and the unshielded portions of the conductors 6 and 8 . Fig. 8A The sleeve-cable assembly is shown in the “outer front” state before the “outer front” solder sleeve 12 is melted onto the cable 10 . Figure 8BThe sleeve-cable assembly is shown in the state after the “outer front” solder sleeve 12 has been melted onto the cable 10 .

[0092] Fig.9A and Fig. 9B is a diagram showing a side view of a portion of a sleeve-cable assembly having an "outside rear" solder sleeve 12. The sleeve-cable assembly includes a solder sleeve 12 having a ground lead 14 extending toward the jacket 2 of the cable 10. The solder sleeve 12 is screwed onto the conductors 6 and 8 until the solder sleeve 12 is in position around the exposed shield 4. Fig.9A The sleeve-cable assembly is shown in the “outer rear” state before the solder sleeve 12 is melted onto the cable 10 . Fig. 9B The sleeve-cable assembly is shown in the “outer rear” state after the solder sleeve 12 has been melted onto the cable 10 .

[0093] Fig.10 is a diagram showing a three-dimensional view of some components of the casing installation machine 16 according to one embodiment. The casing installation machine 16 includes Fig.10 The components depicted in Figure 4A and Figure 4B The nut driver device 100 depicted in Fig.12 The robot 17 with the end effector 23 as seen in FIG. Fig.30 and Fig.31 1 and 12. Computer 162 and associated computer-controlled components are shown in FIG. Fig.11 Yes means Fig.10 FIG. 1 is an illustration of an enlarged three-dimensional view of some of the components of the casing installation machine depicted in FIG. Fig.11 When the zoomed-in visible components are combined Fig.10 For reference Fig.11 .

[0094] like Fig.10 As shown in , some components of the sleeve installation machine 16 are mounted on the horizontal top surface of a workbench 31. Other components are mounted to a vertical mounting panel 35. The mounting panel 35 is supported by a pair of panel support plates 33a, 33b, which extend vertically upward from the workbench 31. Subsystems fastened to the workbench 31 include a sleeve retaining fixture 28 and a slug puller assembly 27. Subsystems traveling on rails (which are fixedly coupled to the workbench 31) include a funnel shuttle 26 and a heater shuttle 29. The sleeve installation machine 16 also includes a ground lead management system 30 mounted to the rear surface of the mounting panel 35. The nut driver device 100 (in Fig.10 35).

[0095] The funnel shuttle 26 is a movable platform on which a row of separation funnels 24 are mounted. The separation funnels 24 are opened or closed under computer control. In the closed funnel state, the separation funnels are configured to provide a seat for the casing and a guide channel for the cable to pass through the casing. The funnel shuttle 26 includes multiple separation funnels 24 to accommodate cables and casings of different sizes, so the correct separation funnel 24 must be placed in place before the casing installation sequence begins. The funnel shuttle 26 can be moved on a linear guide (in Fig.10 Not visible in , but see Fig.13 When the tray 64 is in the correct cable feeding position on the other side of the mounting panel 35, the selected separation funnel 24 must be in contact with the dual-belt cable feeding mechanism 140 (in Figure 3 Optionally, the sleeve installation machine 16 may include a stationary cable guide block having a recess for guiding the advancing end of the cable into the guide channel formed by the closed separation funnel 24.

[0096] Fig.11 A separation funnel 24a in an open state, a separation funnel 24b in a closed state, and a separation funnel 24c in a closed state are shown. The separation funnel 24a comprises a pair of funnel halves 25a and 25b which have been separated to achieve the open state. The separation funnels 24b and 24c have similar constructions.

[0097] like Fig.10 As shown in FIG. 1 , the casing installation machine 16 also includes a casing gripper 18 and a casing holding device 28. The casing gripper 18 is mounted by a casing gripper mounting block 73 (see FIG. Fig.10 ) is attached to the end effector 23 of the robot 17 (at Fig.10 Not shown, but see Fig.12 ). Fig.11 As best seen in FIG. 1 , the cannula gripper 18 includes a pneumatic actuator 76a and a pair of gripping jaws 19a and 19b that open or close depending on which side of the pneumatic actuator 76a receives the compressed gas.

[0098] The sleeve holding device 28 includes a fixing plate 109 having a slot 111 with a machined groove. Before the machine is started, the machine operator manually places the solder sleeve or terminal sleeve in the machined groove, where the ground lead is located between a pair of pins on the fixing plate 109. Under computer control, the robot 17 first moves the end effector 23 so that the attached sleeve gripper 18 is positioned on the selected sleeve that has been placed on the sleeve holding device 28. The slot 111 bridged by the sleeve provides clearance for the gripping claws of the sleeve gripper 18 to fall into it, so that the sleeve gripper 18 can pick up the sleeve using a set of appropriate semicircular cutouts formed in the gripping claws. This feature enables the sleeve gripper 18 to accommodate solder sleeves and terminal sleeves of different diameters. After the cannula gripper 18 grasps the cannula, the robot under computer control moves the cannula gripper from the cannula holding fixture to the closed separation funnel 24 and places the cannula on the cannula pedestal formed by the closed separation funnel 24 .

[0099] Fig.10 The sleeve installation machine 16 shown in FIG. 1 also includes a cable centering gripper 20, a cable clamping assembly 68, and a strip puller assembly 27, all of which are pneumatically actuated under computer control. According to alternative embodiments, other types of actuators, such as actuators driven by electric motors, may be utilized. The cable centering gripper 20 is disposed between the selected separation funnel 24 and the cable clamping assembly 68. The cable clamping assembly 68 is disposed between the cable centering gripper 20 and the strip puller assembly 27. After the sleeve is placed against the end of the closed separation funnel 24, the cable is fed to and through the closed separation funnel 24 by a double-belt cable feeding mechanism 140. When operating under computer control (with the aid of sensors that detect the position of the cable end), the dual-belt cable feed mechanism 140 feeds the cable end through the closed separation funnel 24, sleeve, cable centering gripper 20 and cable clamping assembly 68 until the jacket panel of the cable is properly positioned at a position where the panel gripper 70 of the panel puller assembly 27 can grip and pull off the jacket panel (hereinafter referred to as the "panel removal position").

[0100] The slug puller assembly 27 includes a pneumatic actuator 76d (e.g., a pneumatic cylinder) secured to a slug puller pneumatic cylinder mount 85. The slug puller pneumatic cylinder mount 85 is secured to the workbench 31. The slug puller assembly 27 also includes a slug gripper 70 attached to the distal end of the piston rod of the pneumatic actuator 76d. The cable clamp assembly 68 is mounted to a horizontal cable clamp mounting plate 83, one end of which is fixedly coupled to the slug puller pneumatic cylinder mount 85. The cable centering gripper 20 is mounted to a centering gripper mounting bracket 87. The centering gripper mounting bracket 87 in turn stands on a heater shuttle pneumatic cylinder mounting plate 59 secured to the workbench 31.

[0101] After the cable end is advanced to the fillet removal position, the cable centering gripper 20 is closed, which holds the cable centered during the fillet removal and sleeve heating process. The cable clamping assembly 68 then clamps the cable in place for the fillet removal. Fig.11 As best seen in FIG. 1 , the cable clamp assembly 68 includes a cable clamp block 198, a rod 192, and a cable clamp 194. In response to computer activation of the pneumatic actuator, the rod 192 rotates, thereby pushing the cable clamp 194 downward and pressing the cable 10 against the bottom of the slot inside the cable clamp block 198.

[0102] When the cable clamp 194 is engaged, the strip gripper 70 is extended forward by the pneumatic actuator 76d to the position of the jacket strip 2a covering the cable 10, and then the strip gripper 70 closes and firmly grips the jacket strip 2a. When the strip gripper 70 grips the jacket strip 2a, the pneumatic actuator 76d is actuated to retract the strip gripper 70, and this action pulls the jacket strip 2a off the cable 10.

[0103] After the jacket strips are removed, the cable 10 is fed under computer control through a dual-belt cable feed mechanism 140 (at Figure 3 14 (see Figure 15) to place the cable 10 in the correct position for the heating process. More specifically, the cable 10 is retracted until the bare shield is centrally positioned inside the sleeve 7, which is still located on the closed separation funnel 24. While the sleeve gripper 18 still holds the sleeve 7, the separation funnel 24 is retracted (i.e., moved toward the dual-belt cable feed mechanism 140). After retraction of the separation funnel 24, the sleeve gripper 18 opens to release the sleeve (which is then suspended on the cable), and the robot 17 then moves the sleeve gripper 18 away from the sleeve. The heater shuttle 29 is then moved by another pneumatic actuator ( Fig.10 Not shown, but see Fig.25 The pneumatic actuator 76f) in the embodiment moves from the initial position to the sleeve heating position.

[0104] The heater shuttle 29 includes an emitter assembly 51 that is configured to emit a plurality of emitters when the heater shuttle 29 is in the casing heating position (see Fig.26 ), the launcher assembly surrounds the sleeve 7. The heater shuttle 29 also includes a heater assembly support platform 57 that travels on a pair of mutually parallel linear guides 67a and 67b. Fig.10 As shown in , the heater assembly support platform 57 includes an emitter assembly mounting plate 97, an emitter assembly mounting column 99, an emitter assembly leveling plate 101, and an emitter shuttle base plate 103. The emitter assembly 51 is attached to the emitter assembly mounting plate 97.

[0105] As in Fig.11 As best seen in FIG. 1 , the emitter assembly 51 includes an emitter mounting bracket 53 and three infrared emitters 55a-55c attached to the emitter mounting bracket 53. The emitter mounting bracket 53 is in turn attached to the emitter assembly mounting plate 97. When the cannula is in the heating zone of the emitter assembly 51, the infrared emitters 55a-55c are activated under computer control (see FIG. Fig.26 After the heating cycle is completed (its temperature and duration are sufficient to cause the sleeve to conform and adhere to the cable), the heater shuttle 29 moves back to the initial position. The thermal sleeve is then removed from the cable by attaching it to the flexible tube 146 (see Fig.11 ) is cooled by a stream of cold air flowing out of the air nozzle at the end. Fig.11 In the proposed implementation depicted in FIG. , an air nozzle (not shown, but see Fig.31 ) is located below the thermowell and directs the cool air upward.

[0106] The casing installation machine 16 also includes a ground lead management system 30 mounted to the rear surface of the mounting plate 35 via a ground lead pusher mounting block 89. The ground lead management system 30 also includes a pneumatic actuator 76g (e.g., a pneumatic cylinder) fixed to the ground lead pusher mounting block 89. The ground lead management system 30 also includes: a ground lead pusher 91 mounted on the distal end of the piston rod of the pneumatic actuator 76g; and an adjustable depth stop 93 that limits the extension of the piston rod.

[0107] The casing is Fig.9A In the case of the solder sleeve 12 with the "outside rear" configuration shown in FIG, after the solder sleeve 12 is cooled, the ground lead pusher 91 (see Fig.10 ) extends downward and contacts the inclined surface of the closed separation funnel 24. The separation funnel 24 then opens to form a space for the dual-belt cable feed mechanism 140, thereby retracting the cable-sleeve assembly onto the tray 64. The separation of the funnel halves 25a and 25b allows the ground lead pusher 91 to continue to move downward to move the ground lead 14 (see Fig.9A ) is pushed downwardly into the space between the funnel halves 25a and 25b, thereby preventing the ground lead from becoming snagged during cable retraction.

[0108] Fig.12 is a diagram showing a three-dimensional view of a robot 17, which is operated by a computer (in Fig.12 Not shown, but see Fig.30 and Fig.31 The robot 17 carries the casing gripper 18 under the control of a computer 162 (identified in FIG. 1 ). The robot 17 has: a base 43; a connection 45 rotatably connected to the base 43; a connection 47 rotatably connected to the connection 45 via a first joint; a connection 49 rotatably connected to the connection 47 via a second joint; and an end effector 23 rotatably connected to the distal end of the connection 49. Each movable component of the robot 17 is mechanically connected (e.g., via a corresponding gear train) to a plurality of robot motors (in Fig.12 Not shown, but see Fig.30 and Fig.31 A corresponding one of the robot motors 102 identified in FIG.

[0109] The robot 17 is configured to move the end effector 23 according to the robot motor control commands. The robot 17 can be integrated with a vision system that identifies the solder sleeve so that the end effector 23 can be properly aligned when trying to pick up the sleeve with a predetermined ground lead orientation. Pick and place vision systems are readily available on the market and can be adapted to grip a specific solder sleeve.

[0110] The end effector 23 can be adapted to be coupled to a robotic arm or a gantry robot. A gantry robot consists of a manipulator mounted on an overhead system and capable of moving across a horizontal plane. A gantry robot is also referred to as a Cartesian robot or a linear robot. The robotic arm can be part of a robot with multi-axis movement capabilities. The robot includes one or more position sensors (not shown) located at or otherwise associated with each pivot, which provide position data (X, Y, and Z coordinates in three-dimensional space) to a data acquisition system for accurate positioning of the solder sleeve. Any robot or other manipulator capable of controlling the position of the end effector 23 in the manner disclosed herein can be used.

[0111] Fig.13 It means in Fig.10 1. The hopper shuttle 26 includes a hopper shuttle base plate 134 that travels on a pair of linear guides 166a and 166b. The linear guides 166a and 166b are fastened to a stand 31 (at Fig.13 Not shown, but see Fig.10 ) on the hopper shuttle guide support 131. The translation of the hopper shuttle 26 is achieved by a set of four guide brackets attached to the hopper shuttle base plate 134 and translatably coupled to the linear guides 166a and 166b. Fig.13 Only guide brackets 168b and 168c sliding on linear guide rail 166b can be seen.

[0112] The funnel shuttle 26 also includes: a row of three pneumatic actuators 76i, mounted (at equal intervals) on the funnel shuttle bottom plate 134; and three separation funnel assemblies 39, each mounted on the pneumatic actuator 76i. Each separation funnel assembly 39 includes a corresponding pneumatic actuator 76h, a corresponding funnel assembly mounting bracket 158, a lower funnel mounting block 150 and a corresponding separation funnel 24 (at Fig.13 24a-24c) (the other components of the funnel assembly 39 will be referred to below) Fig.14A 1 and 2. Each funnel assembly mounting bracket 158 ​​is mounted on a corresponding pneumatic actuator 76i. Each lower funnel mounting block 150 and each pneumatic actuator 76h are mounted on a corresponding funnel assembly mounting bracket 158. Each separation funnel 24 is mounted on a corresponding pneumatic actuator 76h. The pneumatic actuator 76h is configured to open or close the separation funnels 24a-24c, and the pneumatic actuator 76i is configured to extend or retract the separation funnel assembly 39.

[0113] exist Fig.13 In the situation depicted in FIG. 1 , the separation funnel 24a is in an open state, while the separation funnels 24b and 24c are in corresponding closed states. When all three separation funnels 24a-24c are closed, the distance between the center lines of the separation funnels 24a and 24b is equal to the distance between the center lines of the separation funnels 24b and 24c. In addition, the funnel shuttle rail mounting member 131 has three equally spaced bushings 132 (in Fig.13 Only one bushing is visible; the other bushings are hidden behind linear guide 166b). The spacing between the centers of bushings 132 is the same as the spacing between the center lines of separation funnels 24a-24c.

[0114] Multiple separation funnels 24a-24c accommodate cables and sleeves of different sizes, so the correct separation funnel must be put in place before the sleeve installation sequence begins. The funnel shuttle 26 can be manually moved left or right on linear guides 166a and 166b. The funnel shuttle 26 is equipped with a T-pin 138, which is designed to be assembled inside each bushing 132 to lock the funnel shuttle 26 in one of three positions. In the first position, the separation funnel 24a is aligned with the dual-belt cable feeding mechanism 140; in the second position, the separation funnel 24b is aligned with the dual-belt cable feeding mechanism 140; in the third position, the separation funnel 24c is aligned with the dual-belt cable feeding mechanism 140. The machine operator removes the T-pin before moving the funnel shuttle 26 to one of the three positions. Three proximity sensors 136a-136c are located directly below the corresponding bushings 132. After the machine operator moves the hopper shuttle 26 to the correct position and places the T-pin 138 in the appropriate bushing 132, a proximity sensor below the bushing detects the end of the T-pin 138. The proximity sensor data is transmitted to the computer, which then verifies that the sensor status matches the separation hopper selected on the human-machine interface.

[0115] Fig.14A is a diagram showing a three-dimensional view of a separation funnel assembly 39 mounted to a pneumatic actuator 76i configured to respond to commands from a computer (in Fig.14A The control signal of the separation funnel assembly 39 (not shown) causes the separation funnel assembly 39 to extend or retract. More specifically, the funnel assembly mounting bracket 158 ​​of the separation funnel assembly 39 can be Fig.14A The double-headed arrow A in the figure represents translation in opposite directions.

[0116] The separation funnel assembly 39 also includes the following components: a lower funnel mounting block 150 mounted on a funnel assembly mounting bracket 158; a lower funnel 148 mounted on the lower funnel mounting block 150; a pneumatic actuator 76h mounted on the funnel assembly mounting bracket 158; a pair of funnel half mounting brackets 152a and 152b (the funnel half mounting bracket 152b is mounted on the bottom of the funnel assembly); Fig.14A ), fastened to the pneumatic actuator 76h; and a pair of funnel halves 25a and 25b, fastened to the funnel half mounting brackets 152a and 152b, respectively. The pneumatic actuator 76h is configured to move the funnel halves 25a and 25b in opposite directions (such as Fig.14A The directions indicated by the double-headed arrows B and C are perpendicular to the direction indicated by the double-headed arrow A. In other words, during the opening or closing of the separation funnel 24, the funnel halves 25a and 25b move in a direction orthogonal to the direction in which the separation funnel assembly 38 is extended or retracted.

[0117] like Fig.14A As shown in FIG. 1 , the funnel half 25a has an inclined surface 5a and a funnel extension 1a, while the funnel half 25b has an inclined surface 5b and a funnel extension 1b. Fig. 14B is a diagram showing a top view of a closed separation funnel according to one embodiment. Fig. 14B As shown in FIG. 1 , when the separation funnel 24 is in a closed state, the funnel extensions 1a and 1b form a seat for the sleeve at the front end of the separation funnel 24. In addition, the inclined surfaces 5a and 5b form a groove, and when the solder sleeve 12 has a shape such as Fig.9A In the "outside rear" configuration shown in FIG. 1 , the ground lead 14 may rest on the groove.

[0118] Fig.15 Yes means Fig.14A The following components (some of which are in Fig.14A and Fig. 14B is hidden from view) in Fig.15 Shown individually and in three dimensions are: the separation funnel 24 (including funnel halves 25a and 25b), the lower funnel 148, the lower funnel mounting block 150, the funnel half mounting brackets 152a and 152b, the pneumatic actuator 76h, the funnel retraction stroke limit support 154, the funnel retraction stroke limit screw 156, the funnel assembly mounting bracket 158, the funnel stroke limit bracket 160, and the pneumatic actuator 76i.

[0119] Fig.16 is a block diagram identifying some components of a pneumatic actuator for a gripper according to one embodiment. Specifically, Fig.14A The pneumatic actuator 76h depicted in FIG. 7 may have Fig.16. In this configuration, the pneumatic actuator 76h includes a first pneumatic cylinder 170a and a second pneumatic cylinder 170b and a first piston 172a and a second piston 172b that can slide linearly inside the first pneumatic cylinder 170a and the second pneumatic cylinder 170b. The pneumatic actuator 76h also includes a first rack 174a and a second rack 174b that are fixedly connected to the pistons 172a and 172b and move in conjunction with these pistons. The first rack 174a and the second rack 174b have a corresponding row of teeth. The pneumatic actuator 76h also includes a pinion 176 having circumferential teeth. Some teeth of the pinion 176 engage the teeth of the first rack 174a, and other teeth of the pinion 176 engage the teeth of the second rack 174b. The pneumatic actuator 76h also includes a first linear guide 178a and a second linear guide 178b and a first guide bracket 180a and a second guide bracket 180b slidably coupled to the first linear guide 178a and the second linear guide 178b, respectively. The first guide bracket 180a is fastened to the first rack 174a and translates in conjunction with the first rack 174a; the second guide bracket 180b is fastened to the second rack 174b and translates in conjunction with the second rack 174b. The first funnel half 25a is fastened to the guide bracket 180a; the second funnel half 25b is fastened to the guide bracket 180b.

[0120] The funnel halves 25a and 25b can be controlled by control valve 75h according to the computer 162 ( Fig.16 Not shown, but see Figure 5 and Fig.30 ) is opened or closed in response to a command received from the control valve 75h, which is connected to the compressed gas source 182 through a pipeline. In response to the open funnel command, the control valve 75h directs the compressed gas injection into the pneumatic cylinder 170a, which causes the piston 172a and the rack 174a to translate in one direction, thereby moving the guide bracket 180a away from the guide bracket 180b. In addition, the translation of the rack 174a causes the pinion 176 to rotate, which in turn causes the rack 174b to translate in the opposite direction, thereby moving the guide bracket 180b away from the guide bracket 180a. The result is that the funnel halves 25a and 25b are separated to open the separation funnel 24.

[0121] Conversely, in response to the close hopper command, control valve 75h directs compressed gas injection into pneumatic cylinder 170b, which causes piston 172b and rack 174b to translate in opposite directions, thereby moving guide bracket 180b toward guide bracket 180a. In addition, the translation of rack 174b causes pinion 176 to rotate, which in turn causes rack 174a to translate in one direction, thereby moving guide bracket 180a toward guide bracket 180b. The result is that the hopper halves 25a and 25b are brought together to close the separation hopper 24.

[0122] Fig.17 is a block diagram identifying some components of a pneumatic actuator for a linear slide according to one embodiment. Specifically, Fig.14A The pneumatic actuator 76i depicted in FIG. 1 may have Fig.17 . In this configuration, the pneumatic actuator 76i includes a pneumatic cylinder 170c and a piston 172c that can slide linearly inside the pneumatic cylinder 170c. The pneumatic actuator 76i also includes a linear guide 178c and a guide bracket 180c that can be slidably connected to the linear guide 178c. The guide bracket 180c is mechanically connected to the piston 172c and translates on the linear guide 178c in response to the extension or retraction of the piston 172. The separation funnel assembly 39 is fixedly connected to the guide bracket 180c and moves in conjunction with the guide bracket.

[0123] The separation funnel assembly 39 can be extended or retracted by the control valve 75i, which is connected to the compressed gas source 182 through a pipeline, according to the command received from the computer 162. In response to the command to extend the funnel assembly, the control valve 75i guides the compressed gas 184c to be injected into one side of the pneumatic cylinder 170c, and the gas injection causes the piston 172c and the rack 174c to translate in one direction, thereby moving the guide bracket 180c in a direction that enables the separation funnel assembly 39 to be extended. On the contrary, in response to the command to retract the funnel assembly, the control valve 75i guides the compressed gas 184c to be injected into the other side of the pneumatic cylinder 170c, and the gas injection causes the piston 172c and the rack 174c to translate in the opposite direction, thereby moving the guide bracket 180c in a direction that enables the separation funnel assembly 39 to be retracted.

[0124] 18A to 18F Shows Fig.14A Different views of the funnel half 25b are depicted in FIG. Fig.18A As best seen in FIG. 1 , the funnel half 25b has an inclined surface 5b and a front face 41. The funnel extension 1b extends from the front face 41 in a forward direction. The funnel half 25b also has a cable guide channel 69b extending to the funnel extension 1b. The other funnel half 25a has a mirrored configuration. For example, Figure 18G As shown in FIG. 1 , the funnel half 25a has a funnel extension 1a and a cable guide channel 69a. When the funnel halves 25a and 25b are in contact (i.e., the separation funnel 24 is closed), the funnel extensions 1a and 1b form a seat for the sleeve; the cable guide channels 69a and 69b form a repeatable path for passing the cable through the funnel; and the inclined surfaces 5a and 5b form a groove in which the ground lead rests (when the sleeve is a solder sleeve with an "outside rear" configuration).

[0125] Each of the funnel extensions 1a and 1b comprises a relatively thin arcuate edge. These arcuate edges form a circular base which fits into one end of the sleeve when the separation funnel 24 is in the funnel closed state. The funnel halves are made of steel, mainly due to the relatively thin cross-section of the arcuate edges which engage the sleeve.

[0126] According to another implementation, each of the funnel halves 25a and 25b may be provided with a ground lead clearance slot 11 formed in an inclined surface adjacent to the funnel extension. Figure 18G and Fig.18H A side view and a top view of a funnel half 25a configured with a ground lead clearance slot 11 are shown, respectively. According to one proposed implementation, the ground lead clearance slot 11 extends rearwardly into the funnel at an angle of 10°. The other funnel half 25b has a mirrored configuration. In the case where the sleeve has an "outside-back" configuration and the separation funnel 24 is closed, the ground lead clearance slot 11 of the funnel halves 25a and 25b can provide clearance for the ground lead when the sleeve is located on the funnel extensions 1a and 1b.

[0127] Fig.19 Yes means Fig.10 1 is a diagram of a three-dimensional view of an automated device for centering and clamping a cable and then removing a jacket fillet as depicted in FIG. The automated device includes a cable centering gripper 20, a cable clamping assembly 68, and a fillet puller assembly 27, which are pneumatically actuated by pneumatic actuators 76b, 76c, and 76d, respectively, under computer control. In computer 162 (see Figure 5 ) when operated under the control of the dual-belt cable feed mechanism 140 (see Figure 3 ) Feed the end of the cable 10 through the closed separation funnel 24, the sleeve 7, the open cable centering gripper 20 and the cable clamping assembly 68 until the jacket strip 2a of the cable 10 is in the strip removal position (such as Fig.19 ).

[0128] The slat puller assembly 27 includes a pneumatic actuator 76d (e.g., a pneumatic cylinder) fixed to a slat puller pneumatic cylinder mount 85. The slat puller assembly 27 also includes a slat gripper 70 attached to the distal end of the piston rod of the pneumatic actuator 76d. The cable clamp assembly 68 is mounted to a horizontal cable clamp mounting plate 83, one end of which is fixedly coupled to the slat puller pneumatic cylinder mount 85.

[0129] When the cable centering gripper 20 is closed, the cable 10 is centered and aligned with the cable clamp assembly 68, which then clamps the cable in the strip removal position. To remove the jacket strip 2a, the pneumatic actuator 76d is extended, the strip gripper 70 grips the jacket strip 2a, and then the pneumatic actuator 76d is retracted. During retraction, the jacket strip 2a is moved out of the strip gripper 70 by the strip ejection plate 71, which is fastened to the cable clamp mounting plate 83 and extends vertically upward.

[0130] Fig. 20A and Fig. 20B is a diagram showing a corresponding front view of the cable centering gripper 20 . Fig. 20A The cable centering gripper 20 is shown in an open state; Fig. 20B The cable centering gripper 20 is shown in a partially closed state, wherein the cable 10 has been centered. The cable centering gripper 20 includes a pneumatic actuator 76b and a pair of gripping claws 21a and 21b that are opened or closed depending on which side of the pneumatic actuator 76b receives the compressed gas. The gripping claws 21a and 21b open and close at an angle, rotating toward or away from each other around pivot pins 126a and 126b, respectively, but they are driven by the piston rod 121 of the pneumatic actuator 76b.

[0131] The cable centering gripper 20 secures the conductors 6 and 8 at the ends of the cable 10 (see Fig.9A ) together and ensure that the conductors 6 and 8 are coaxial with the funnel extensions 1a and 1b of the closed funnel and the strip that strikes the cable clamp assembly 68 removes the tapered portion 197 (see Fig. 21B ). However, the cable centering gripper 20 does not actually grip the cable 10. Fig. 20B As shown in FIG. 1 , when the V-shaped gripping claws 21a and 21b overlap, the size of the opening in the middle is reduced, but the gripping claws 21a and 21b do not actually grip or clamp the cable 10 in place. To remove the jacket fillet 2a (see FIG. 1 ), the size of the opening in the middle is reduced. Fig.19 ), the cable clamp 194 must be engaged to ensure that the cable 10 does not move when the strip gripper 70 pulls the jacket strip 2a off the cable 10. Once the jacket strip 2a is removed, the cable clamp 194 is retracted, but the cable centering gripper 20 remains in the partially closed position until the cable 10 is retracted through the open separation funnel 24. The partial closure of the cable centering gripper 20 can be set to the cable end 10b (see Figure 2 ) occurs after the cable end 10b passes through the open clamp and before the cable end 10b enters the cable clamp assembly 68.

[0132] Fig.21A and Fig. 21Bis a diagram showing a three-dimensional view of the cable clamp assembly 68 from different viewing angles. Fig.19 As shown in FIG. , the cable clamping assembly 68 includes: a pneumatic actuator 76 c mounted to the workbench 31 (see Fig.10 ); and a cable clamp block 198 mounted to the cable clamp mounting plate 83 (see Fig.19 ). Fig.21A and Fig. 21B Only the piston 186 and the piston rod 188 of the pneumatic actuator 76c are shown. The pneumatic actuator 76c is configured to respond to the computer 162 ( Fig.21A and Fig. 21B The cable clamping state is changed to the cable clamping state (e.g., extended) by a clamping cable command (not shown).

[0133] like Fig.21A As shown in , the cable clamp block 198 has a cable clamp guide slot 187 configured to receive the cable clamp 194. The opposing surfaces of the cable clamp guide slot 187 restrain the cable clamp 194 so that the cable clamp moves between a cable clamping position and a cable unclamped position during cable clamp displacement. The cable clamp assembly 68 also includes: a piston rod extension 190 fixed to the piston rod 188; and a rod 192, one end of the rod is connected to the piston rod extension 190 and the other end is connected to the cable clamp 194. The middle portion of the rod 192 is rotatably connected to the cable clamp block 198 by a rod pivot shoulder screw 193. In response to the extension of the piston rod 188, the rod 192 rotates in a counterclockwise direction (from Fig.21A ) is rotated, thereby displacing the cable clamp 194 downward to the cable clamping position. When the cable is fed through the cable clamp assembly 68, the cable clamp 194 remains in the cable unclamped position.

[0134] like Fig. 21B As shown in FIG. 1 , the cable clamp block 198 is provided with a cable inlet 199 that connects the cable guide cone 197 to the cable clamp guide slot 187. When the cable end 10b hits the cable guide cone 197, the still advancing cable end 10b is guided toward the cable inlet and then enters the cable inlet. When the cable clamp 194 is in the cable unclamped position, the cable can pass through the cable clamp guide slot 187. Then, the pneumatic actuator 76c extends to move the cable clamp 194 to the cable clamping position, in which the cable clamp 194 is held in place by the bottom edge 119 (see FIG. 1 ). Fig. 22 ) and the bottom surface of the cable clamp guide slot 187 exerted on the cable 10, thereby preventing the cable 10 from moving further.

[0135] Fig. 22A three-dimensional view of the cable clamp assembly 68 is shown with the cable clamp block 198 removed. Fig.23 Only a side view of the rod 192 is shown. Fig.23 As shown in FIG. 1 , the rod 192 has a circular pivot hole 183 and two oval slots 185a and 185b. Fig. 22 The piston rod end shoulder screw 191 shown in FIG. Fig.23 The oval slot 185 a shown in FIG. 1 is formed in the piston rod 190 , thereby coupling one end of the rod 192 to a pair of mounting flanges of the piston rod extension 190 . Fig. 22 The cable clamp shoulder screw 195 shown in FIG. Fig.23 The oval slot 185b shown in FIG. 185B is used to connect the other end of the rod 192 to a pair of mounting flanges 196a and 196b of the cable clamp 194. Fig. 22 The rod shown in the figure pivots the shoulder screw 193 through Fig.23 183, thereby enabling the rod 192 to be rotatably coupled to the cable clamp block 198. As the rod 192 pivots, the piston rod end shoulder screw 191 moves in the oval slot 185a, and the cable clamp shoulder screw 195 moves in the oval slot 185b, thereby adjusting for the fact that the end of the rod 192 travels along an arc while the piston rod extension 190 and the cable clamp 194 translate.

[0136] Reference again Fig.19 When the cable clamp 194 is engaged, the strip gripper 70 is extended forward by the pneumatic actuator 76d to the position of the jacket strip 2a covering the cable 10, and then the strip gripper 70 closes and firmly grasps the jacket strip. When the strip gripper 70 grasps the jacket strip, the pneumatic actuator 76d is actuated to retract the strip gripper 70, which pulls the jacket strip off the cable.

[0137] Fig.24A and Fig. 24B is a diagram showing a three-dimensional view of some of the components of the slat gripper 70 . Fig.24A The welt gripper is shown in a closed position; Fig. 24B The strip gripper is shown in an open position. The strip gripper 70 includes a strip gripper mounting block 127 fixed to the distal end of the piston rod of the pneumatic actuator 76d. The strip gripper 70 also includes a pneumatic actuator 76e fastened to the strip gripper mounting block 127. The pneumatic actuator 76e may have a Fig.16. The strip gripper 70 also includes a pair of strip gripping jaws 123a and 123b that are secured to respective guide brackets of the pneumatic actuator 76e and translate in opposite directions between a strip gripper open position and a strip gripper closed position. The strip gripping jaws 123a and 123b have ridged or textured surfaces 129 that face each other and that prevent slippage when gripping the jacket strip 2a.

[0138] The pneumatic actuator 76d is configured to extend in response to an extend panel gripper command and to retract in response to a retract panel gripper command. The guide brackets 180a and 180b of the pneumatic actuator 76e translate from the panel gripper open position to the panel gripper closed position in response to the grip panel command. The computer 162 (see Fig.30 ) is configured to output an extend strip gripper command after outputting a clamp cable command, output a gripper strip command after outputting an extend strip gripper command, and output a retract strip gripper command after outputting a gripper strip command.

[0139] After the jacket fillet is removed, the cable 10 is retracted until the shield, exposed by the fillet removal, is centered within the sleeve 7. At the same time, the cable 10 (and the sleeve 7 suspended therefrom) remains centered by the partially closed cable centering gripper 20. The separation funnel assembly 39 is then retracted, after which the heater shuttle 29 is moved to the sleeve heating position.

[0140] Fig.25 A three-dimensional view of the heater shuttle 29 is shown. The heater shuttle 29 includes an emitter assembly 51 and a heater assembly support platform 57 that travels on a pair of mutually parallel linear guides 67a and 67b. The heater assembly support platform 57 includes an emitter assembly mounting plate 97, an emitter assembly mounting column 99, an emitter assembly horizontal adjustment plate 101, and a heater shuttle base plate 103. The emitter assembly 51 is attached to the emitter assembly mounting plate 97. Translation of the heater shuttle 29 is achieved by a set of four guide brackets that are attached to the heater shuttle base plate 103 and are translationally coupled to the linear guides 67a and 67b. In Fig.25 Only the guide brackets 117a and 117b sliding on the linear guide rail 67b can be seen. The linear guide rails 67a and 67b are fastened to a plate 137, which is fastened to the workbench 31 (see Fig.10 ).

[0141] The heater shuttle 29 also includes a heater shuttle piston rod coupling mounting block 113 mounted on the heater shuttle base plate 103 and a heater shuttle piston rod coupling 115 mounted to the heater shuttle piston rod coupling mounting block 113. During system operation, the heater shuttle piston rod coupling 115 is coupled to the piston rod 135 of the pneumatic actuator 76f. However, Fig.25 The piston rod 135 is shown in a retracted state and separated from the heater shuttle piston rod coupling 115. The pneumatic cylinder 133 of the pneumatic actuator 76f is mounted to the heater shuttle pneumatic cylinder mounting plate 59, which is in turn fastened to the plate 137. The gas damper 37a is also mounted to the heater shuttle pneumatic cylinder mounting plate 59. Another gas damper 37b is mounted at the other end of the plate 137. After the sleeve 7 and cable 10 are placed in the correct position, the pneumatic actuator 76f pulls the heater shuttle 29 into the sleeve heating position. When the heater shuttle 29 moves back and forth, the gas dampers 37a and 37b minimize the vibration transmitted to the infrared emitters 55a-55c.

[0142] Fig.26 1 shows a side view of the transmitter assembly 51. The transmitter assembly 51 includes a transmitter mounting bracket 53, three transmitter supports 105a-105c fastened to the transmitter mounting bracket 53, and three infrared transmitters 55a-55c mounted to the transmitter supports 105a-105c, respectively. The infrared transmitters 55a-55c are connected to an AC power source ( Fig.26 Not shown, but see Fig.31 ). Fig.26 The wavy arrows in 0 represent the infrared radiation generated when the infrared emitters 55a-55c are activated.

[0143] The infrared emitters 55a-55c are spaced around the sleeve 7, with a small gap between the infrared emitters 55a and 55b so that the stationary sleeve can enter the heating zone when the heater shuttle 29 moves to the sleeve heating position. When the sleeve 7 is in the heating zone, the infrared emitters 55a-55c are activated under computer control. When the heating cycle is completed (its temperature and duration are sufficient to shrink the sleeve 7), the infrared emitters 55a-55c are turned off and the heater shuttle 29 moves back to the initial position. The hot sleeve is then cooled by a blast of cold air. After cooling, the heat sleeve is detected by a pair of laser sensors 61 (at Fig.10 Only one laser sensor can be seen in the figure) to measure the outer diameter of the casing. The laser sensor 61 is mounted to the laser sensor holders 63a and 63b in a fixed position (see Fig.10), which allows the sleeve diameter to be measured from two directions after the heater shuttle 29 moves back to the initial position.

[0144] In the case where the sleeve is a solder sleeve 12 having an "outside back" configuration, the ground lead management system 30 is activated after measuring the outside diameter of the solder sleeve 12. In the "outside front" orientation, the ground lead is not located above the funnel, so it does not need to be pushed down into the V-shaped groove on the top of the funnel before the cable is retracted.

[0145] Fig. 27 2 is a side view of the ground lead management system 30 and the funnel shuttle 24. The funnel shuttle 24 has been described with reference to Fig.14A , Fig. 14B and Fig.15 The description has been made, and will not be repeated here. Fig. 27 As shown in FIG. 1 , the ground lead management system 30 is mounted to the mounting panel 35 via a ground lead pusher mounting block 89. The ground lead management system 30 also includes a pneumatic actuator 76g fixed to the ground lead pusher mounting block 89. The pneumatic actuator 76g includes a pneumatic cylinder (a piston is located inside the pneumatic cylinder and Fig. 27 The pneumatic actuator 76g is mounted to the ground lead pusher mounting block 89. The ground lead management system 30 also includes a first piston rod (at Fig. 27 An adjustable depth stop 93 is mounted to the end of the second piston rod 94, which limits the depth of the piston inside the pneumatic cylinder.

[0146] Fig.28 1 shows an end view of a portion of the ground lead management system 30, wherein a retracted ground lead pusher 91 is disposed above the closed separation funnel 24. The ground lead pusher 91 has a ground lead pusher channel 81 configured to receive the ground lead 14 ( Fig.28 Not shown, but see Fig.9A ) and then applies downward pressure to the ground lead, which rests on the groove formed by the inclined surfaces 5a and 5b of the closed funnel halves 25a and 25b. The ground lead pusher 91 extends downward and contacts the inclined surfaces 5a and 5b. The separation funnel 24 then opens to form a double-belt cable feeding mechanism 140 (see Figure 2) retracts the cable-sleeve assembly into the space on the tray 64. The separation of the funnel halves 25a and 25b allows the ground lead pusher 91 to continue to move downward to push the ground lead 14 downward into the space between the funnel halves 25a and 25b, thereby preventing the ground lead from being caught during cable retraction. Once the cable 10 is retracted, the ground lead pusher 91 is retracted to the initial position.

[0147] Fig.29A and Fig.29B A flow chart is formed, which identifies the use of Fig.10 The casing installation machine 16 depicted in Fig.12 The robot depicted in Figure 5 The computer 162 identified in the flowchart is used to process the ends of the cables in the various steps of the automated method 200. All steps listed in the flowchart are controlled by the computer 162, which also controls the robot 17.

[0148] refer to Fig.29A , the automated processing method 200 begins by closing the separation funnel 24 by moving the funnel halves 25a and 25b to their respective funnel closed positions (step 202). Then, the sleeve is picked up from the sleeve holding device 28 using the sleeve gripper 18 carried by the robot 17 (step 204). The open end of the sleeve is then placed onto the funnel extensions 1a and 1b of the closed separation funnel 24 (step 206). After the sleeve is located on the funnel extensions 1a and 1b, the double-belt cable feeding mechanism 140 feeds the end of the cable through the separation funnel 24 and the sleeve (step 208). After the cable advancement is completed, the cable is centered using the cable centering gripper 20 (step 210). Immediately thereafter, the cable is clamped using the cable clamp 194 (step 212). When the cable is clamped, the strip gripper 70 is extended (step 214); the jacket strip of the clamped cable is gripped by the strip gripper 70 (step 216); and then, the strip gripper is retracted to remove the jacket strip and expose the underlying cable shield (step 218). After the jacket strip is removed, the cable gripper 194 is retracted to release the cable (step 220). The cable is then retracted by the dual-belt cable feed mechanism 140 until the exposed shield is centrally positioned within the sleeve located on the funnel extensions 1a and 1b (step 222).

[0149] Reference now Fig.29B, after centering the exposed shield inside the sleeve, the separation funnel 24 is retracted away from the cable centering gripper 20 (step 224). The sleeve gripper 18 then releases the sleeve, which is then suspended from the cable assembly (step 226). The robot 17 then moves the sleeve gripper away from the sleeve (step 228). The emitter assembly 51 is then shuttled from the initial position to the sleeve heating position (step 230). In the sleeve heating position, the infrared emitters 55a-55c are activated to melt the sleeve (step 232). After the heating cycle is completed, the emitter assembly 51 is shuttled from the sleeve heating position back to the initial position (step 234). Thereafter, a blast of cold air is used to cool the hot sleeve (step 236). After cooling, the outer diameter of the sleeve is measured using a laser sensor (step 238). If the laser sensor system acquires sensor data indicating that the outer diameter of the cooling sleeve is too large, the machine operator is notified via a message displayed on the human-machine interface that the final diameter of the sleeve exceeds the allowable diameter range (and the operator then removes the unqualified cable). After measuring the outer diameter of the sleeve, the ground lead pusher 91 is extended downward and contacts the ground lead (step 240). The separation funnel 24 is then opened (step 242) (more specifically, first the ground lead pusher 91 contacts the inclined surfaces 5a and 5b of the closed separation funnel 24, and then after the separation funnel 24 is opened, the separation of the funnel halves 25a and 25b allows the ground lead pusher 91 to continue to move downward to push the ground lead downward into the space between the funnel halves 25a and 25b). Finally, the cable with the sleeve installed is retracted onto the tray 64 by the dual-belt cable feeding mechanism 140 (step 244). Specifically, the cable-sleeve assembly is connected to the drive belts 86a and 86b of the dual-belt cable feeding mechanism 140 (see Figure 3 ) between.

[0150] Fig.30 1 is a block diagram identifying some components of a computer-controlled pneumatic system for actuating various components of the casing installation machine 16 according to one proposed implementation. The computer-controlled pneumatic system includes a plurality of control valves 75a-75i and a plurality of pneumatic actuators 76a-76i. The states of the control valves 75a-75i are controlled by a computer 162. According to one proposed implementation, the computer 162 is a programmable logic controller (PLC), the control valves 75a-75i are solenoid valves, and the pneumatic actuators 76a-76i are double-acting pneumatic cylinders.

[0151] A PLC is an industrial computer control system that continuously monitors the state of input devices and makes decisions based on a computer program designed to control the state of output devices. Each control valve is configured to control the flow of compressed gas from a compressed gas supply source to an associated pneumatic actuator in response to an electrical signal representing a command received from the computer 162. Each pneumatic actuator includes a pneumatic cylinder, a piston located within the pneumatic cylinder, and a piston rod (connected to the piston) that extends forward of the pneumatic cylinder. The piston rod is linearly displaceable between a retracted position and an extended position in response to compressed gas supplied to the pneumatic cylinder via an associated control valve, which drives the piston to move.

[0152] according to Fig.30 In the proposed implementation depicted in FIG. 1 , the computer 162 outputs an electrical control signal representing a state transition command to change the state of the control valves 75a-75i, thereby causing the pneumatic actuators 76a-76i to operate according to the design for implementing Fig.29A and Fig.29B The computer 162 sends a release sleeve command or a grip sleeve command to the control valve 75a, respectively, to cause the pneumatic actuator 76a to open or close the sleeve gripper 18. The computer 162 sends a release cable command or a center cable command to the control valve 75b, respectively, to cause the pneumatic actuator 76b to open or close the cable centering gripper 20. The computer 162 sends a grip cable command or a loosen cable command to the control valve 75c, respectively, to cause the pneumatic actuator 76c to extend or retract the cable gripper 194. The computer 162 sends an extend strip gripper command or a retract strip gripper cable command to the control valve 75d, respectively, to cause the pneumatic actuator 76d to extend or retract the strip gripper 70. The computer 162 sends a release cable command or a grip cable command to the control valve 75e, respectively, to cause the pneumatic actuator 76e to open or close the strip gripper 70. The computer 162 sends a command to move the heating zone forward or a command to move the heating zone backward to the control valve 75f, respectively, so that the pneumatic actuator 76f moves the heater shuttle 29 from the initial position to the sleeve heating position or from the sleeve heating position to the initial position. The computer 162 sends a command to push the ground lead or a command to retract the ground lead pusher to the control valve 75g, respectively, so that the pneumatic actuator 76g extends or retracts the ground lead pusher 91. The computer 162 sends a command to open the funnel or a command to close the funnel to the control valve 75h, so that the pneumatic actuator 76h opens or closes the separation funnel 24. The computer 162 sends a command to extend the funnel assembly or a command to retract the funnel assembly to the control valve 75i, so that the pneumatic actuator 76i extends or retracts the separation funnel assembly 39.

[0153] To open and close the gripper, a linear pneumatic actuator or a rotary pneumatic actuator may be employed. According to an alternative embodiment, an electric actuator may be used instead of a pneumatic actuator. A suitable electric linear actuator includes a rotation to linear motion conversion mechanism (e.g., a rack and pinion mechanism or a lead screw and nut mechanism) that converts the rotary motion of the motor into a linear displacement of the bracket. The motor is controlled by a motor controller that receives commands from the computer 162.

[0154] Fig.31 It is a logo Fig.10 Other computer controlled components of the casing installation machine 16 depicted in FIG. Fig.30 As described above, the computer 162 sends a cable supply command or a cable and sleeve retraction command to the motor controller 164a, so that the motor 72 drives the dual-belt cable supply mechanism 140 to supply the cable before the sleeve is installed or to retract the cable and sleeve after the sleeve is installed.

[0155] In addition, the computer 162 sends a robot motor control command to the robot controller 165, which causes the robot 17 to place the cannula on the first funnel extension 1a and the second funnel extension 1b (see Fig. 14B ). More specifically, the robot controller 165 sends commands to a plurality of motor controllers 164 b that control the operation of the plurality of robot motors 102 .

[0156] according to Fig.31 , the computer 162 outputs an electrical control signal representing a heat sleeve command to the control valve 75j, which supplies compressed gas from the compressed gas source 182 to the micro-cooler 144 (e.g., an EXAIR 3708 micro-cooler commercially available from EXAIR LLC of Cincinnati, Ohio). The micro-cooler 144 produces a cold air flow and has no moving parts. For example, the micro-cooler may include a vortex tube that separates the compressed gas into a hot flow and a cold flow. The cold gas flow is directed through a flexible tube 146 to an air nozzle 145 attached to the end of the tube. The air nozzle 145 is positioned to direct the cold gas flow onto the solder sleeve or terminal sleeve after the heating cycle is completed.

[0157] In addition, the computer 162 outputs an electrical control signal representing a heating sleeve command to the coil side of a set of solid-state relays 124 to turn on the infrared emitter 55. The infrared emitter 55 is wired to the 115-V AC power source 125 through the contact side of the relays 124. In one proposed implementation, the infrared emitter 55 is a quartz double-tube infrared emitter with a gold reflector (e.g., the Golden 8 double-tube infrared emitter commercially available from the Heraeus Group headquartered in Hanau, Germany).

[0158] Although the systems, methods, and apparatus for feeding shielded cables into cable processing equipment have been described with reference to various embodiments, those skilled in the art will appreciate that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the teachings herein. In addition, various modifications may be made to adapt the teachings herein to particular circumstances without departing from the scope of the invention. Therefore, the claims are not intended to be limited to the specific embodiments disclosed herein.

[0159] The embodiments disclosed above utilize one or more computers. As used in the claims, the term "computer" includes a single processing or computing device or multiple processing or computing devices that communicate via a wired or wireless connection. Such processing or computing devices typically include one or more of the following: a processor, a controller, a central processing unit, a microcontroller, a reduced instruction set computer processor, an application specific integrated circuit, a programmable logic controller, a field programmable gate array, a digital signal processor, and / or any other circuit or processing device capable of performing the functions described herein.

[0160] The methods described herein may be encoded as executable instructions contained in a non-transitory tangible computer-readable storage medium (including but not limited to a storage device and / or a memory device). When these instructions are executed by a computer, the system device performs at least a portion of the methods described herein.

[0161] In the accompanying method claims, the alphabetical order of the steps is intended only to enable subsequent shorthand reference to previous steps and is not intended to limit the scope of the claims to requiring that the method steps be performed in alphabetical order.

[0162] As used in the claims, the term "actuator" should be interpreted broadly to include pneumatic actuators, electric actuators, and their structural equivalents. As used in the claims, the phrase "output command" should be interpreted to refer to the output of an electrical signal (e.g., a radio signal) representing a command and its communication equivalent.

Claims

1. A device (16) for installing a sleeve (12) on a cable (10), the device comprising: The separation funnel assembly (39) comprises: a first actuator (76h) comprising a first guide bracket and a second guide bracket (180a, 180b) that translate from a hopper open position to a hopper closed position in response to a close hopper command and translate from a hopper closed position to a hopper open position in response to an open hopper command; and A separation funnel (24) comprising a first funnel half (25a) mounted to the first guide bracket and a second funnel half (25b) mounted to the second guide bracket, wherein the first funnel half comprises a first cable guide channel (69a) and a first funnel extension (1a), and the second funnel half comprises a second cable guide channel (69b) and a second funnel extension (1b), and wherein when the first guide bracket and the second guide bracket are in the funnel closed position, the separation funnel is in a funnel closed state, and when the first guide bracket and the second guide bracket are in the funnel open position, the separation funnel is in a funnel open state; a cable feed mechanism (140) configured to feed the cable in response to a feed cable command and to retract the cable and the sleeve in response to a retract cable and sleeve command, wherein the cable feed mechanism is aligned to feed the cable between the first funnel half and the second funnel half when the separation funnel is closed; A robot (17) comprising an end effector (23) and a plurality of robot motors (102), wherein the robot is configured to move the end effector according to robot motor control commands; a cannula gripper (18) mounted to the end effector, wherein the cannula gripper is configured to grip the cannula in response to a grip cannula command and to release the cannula in response to a release cannula command; a plurality of heaters (55a-55c) configured to heat the sleeve in response to a heat sleeve command when the sleeve is in a heating zone; and a computer (162) configured to output the closing funnel command, the grasping cannula command, the robot motor control command for placing the cannula on the first funnel extension and the second funnel extension, the supply cable command, the cannula release command, the heating cannula command, the opening funnel command, and the cable and cannula retraction command according to a predetermined computer program, Wherein, when the separation funnel is in the funnel closed state, the first funnel extension and the second funnel extension form a seat for the sleeve, and the first cable guide channel and the second cable guide channel form a repeatable path for passing the cable through the separation funnel.

2. The apparatus according to claim 1, wherein: The plurality of heaters are movable from an initial position to a sleeve heating position in response to a command to move the heaters forward; When the sleeve is disposed on the first funnel extension and the second funnel extension and the plurality of heaters are in the sleeve heating position, the sleeve is located in the heating zone; and When the sleeve is located in the heating zone, the computer outputs the heating sleeve command.

3. The device according to claim 1, wherein: The first funnel extension includes a first arcuate edge and the second funnel extension includes a second arcuate edge, and wherein the first arcuate edge and the second arcuate edge form a circular base that fits within one end of the sleeve when the separation funnel is in the funnel closed state.

4. The apparatus according to claim 1, further comprising: a second actuator (76i) comprising a third guide bracket (180c) that translates from a funnel assembly forward position to a funnel assembly retracted position in response to a command to retract the funnel assembly, Wherein, the computer is further configured to output the retract funnel assembly command after outputting the supply cable command and before outputting the release sheath command.

5. The device according to claim 4, further comprising: a cable centering gripper (20) configured to align the cable with the base in response to a cable centering command, wherein the base is formed by the first funnel extension and the second funnel extension when the separation funnel is in the funnel closed state, Wherein, the computer is further configured to output the cable centering command after outputting the cable supply command.

6. The apparatus of claim 5, further comprising a cable clamping assembly (68), the cable clamping assembly comprising: a third actuator (76c) configured to change to a cable clamping state in response to a cable clamping command; Cable holder (194); as well as a rod (192) having one end coupled to the third actuator and another end coupled to the cable clamp, wherein the rod is configured such that the cable clamp extends when the third actuator changes to the cable clamping state, Wherein, the computer is further configured to output the cable clamping command after outputting the cable centering command.

7. The apparatus according to claim 6, further comprising a fillet puller assembly (27), the fillet puller assembly comprising: a fourth actuator (76d) configured to extend in response to an extend panel gripper command and to retract in response to a retract panel gripper command; a fifth actuator (76e) comprising a fourth guide bracket and a fifth guide bracket (180a, 180b), the fourth guide bracket and the fifth guide bracket translating from a panel gripper open position to a panel gripper closed position in response to a grip panel command; as well as A strip gripper (70) comprises a first strip gripper claw and a second strip gripper claw (123a, 123b) respectively mounted on the fourth guide bracket and the fifth guide bracket, The computer is further configured to output the extend strip gripper command after outputting the clamp cable command, output the gripper strip gripper command after outputting the extend strip gripper command, and output the retract strip gripper command after outputting the gripper strip command.

8. The device according to claim 1, wherein: The first funnel half also includes a first inclined surface (5a), the second funnel half also includes a second inclined surface (5b), and when the separation funnel is in the funnel closed state, the first inclined surface and the second inclined surface form a groove.

9. The apparatus according to claim 8, wherein: The first funnel half also includes a first ground lead gap slot, the first ground lead gap slot being located above and adjacent to the first funnel extension; The second funnel half also includes a second ground lead gap slot located above and adjacent to the second funnel extension; and When the sleeve includes a solder sleeve and a ground lead arranged in an "outside-back" configuration on the first funnel extension and the second funnel extension, the ground lead is located between the first ground lead gap slot and the second ground lead gap slot and rests in the groove formed by the first inclined surface and the second inclined surface.

10. The apparatus of claim 9, further comprising a ground lead management system (30), the ground lead management system comprising: a second actuator (76g) configured to extend in response to a push ground lead command; as well as a ground lead pusher (91) configured to push the ground lead of the solder sleeve downward when the second actuator is extended, Wherein, the computer is further configured to output the push ground lead command after outputting the heat sleeve command and before outputting the open funnel command.

11. A device (16) for placing a sleeve (12) on a cable (10), the device comprising: The separation funnel assembly (39) comprises: A first actuator (76h) comprising first and second guide brackets (180a, 180b) that translate from a hopper open position to a hopper closed position in response to a close hopper command; and A separation funnel (24), comprising a first funnel half (25a) mounted to the first guide bracket and a second funnel half (25b) mounted to the second guide bracket, wherein the first funnel half comprises a first cable guide channel (69a) and a first funnel extension (1a), and the second funnel half comprises a second cable guide channel (69b) and a second funnel extension (1b), and wherein when the first guide bracket and the second guide bracket are in the funnel closed position, the separation funnel is in a funnel closed state; a cable feeding mechanism (140) configured to feed the cable in response to a feed cable command, wherein when the separation funnel is closed, the cable feeding mechanism is aligned to feed the cable between the first funnel half and the second funnel half; A robot (17) comprising an end effector (23) and a plurality of robot motors (102), wherein the robot is configured to move the end effector according to robot motor control commands; a cannula gripper (18) mounted to the end effector, wherein the cannula gripper is configured to grip the cannula in response to a grip cannula command; and a computer (162) configured to output the closing funnel command, the grasping sleeve command, the robot motor control command for placing the sleeve on the first funnel extension and the second funnel extension when the separation funnel is in the funnel closing state, and the supply cable command according to a predetermined computer program, Wherein, when the separation funnel is in the funnel closed state, the first funnel extension and the second funnel extension form a seat for the sleeve, and the first cable guide channel and the second cable guide channel form a repeatable path for passing the cable through the separation funnel.

12. The device according to claim 11, wherein The first funnel extension includes a first arcuate edge and the second funnel extension includes a second arcuate edge, and wherein the first arcuate edge and the second arcuate edge form a circular base that fits within one end of the sleeve when the separation funnel is in the funnel closed state.

13. The device according to claim 11, wherein: The first funnel half also includes a first inclined surface (5a), the second funnel half also includes a second inclined surface (5b), and when the separation funnel is in the funnel closed state, the first inclined surface and the second inclined surface form a groove.

14. The apparatus of claim 13, wherein: The first funnel half also includes a first ground lead gap slot, the first ground lead gap slot being located above and adjacent to the first funnel extension; The second funnel half also includes a second ground lead gap slot located above and adjacent to the second funnel extension; and When the sleeve includes a solder sleeve and a ground lead arranged in an "outside-back" configuration on the first funnel extension and the second funnel extension, the ground lead is located between the first ground lead gap slot and the second ground lead gap slot and rests in the groove formed by the first inclined surface and the second inclined surface.

15. The apparatus according to claim 11, further comprising: a cable centering gripper (20) configured to align the cable with the base in response to a cable centering command, wherein the base is formed by the first funnel extension and the second funnel extension when the separation funnel is in the funnel closed state, Wherein, the computer is further configured to output the cable centering command after outputting the cable supply command.

16. The apparatus of claim 15, further comprising a cable clamping assembly (68), the cable clamping assembly comprising: a second actuator (76c) configured to change state in response to a clamp cable command; Cable holder (194); as well as a rod (192) having one end coupled to the second actuator and another end coupled to the cable clamp, wherein the rod is configured such that the cable clamp extends when the second actuator changes state, Wherein, the computer is further configured to output the cable clamping command after outputting the cable centering command.

17. The apparatus of claim 16, further comprising a fillet puller assembly (27), the fillet puller assembly comprising: a third actuator (76d) configured to extend in response to an extend panel gripper command and to retract in response to a retract panel gripper command; as well as a strip gripper (70) configured to grip the jacket strip in response to a strip gripping command when the third actuator is extended, The computer is further configured to output the extend strip gripper command after outputting the clamp cable command, output the gripper strip gripper command after outputting the extend strip gripper command, and output the retract strip gripper command after outputting the gripper strip command.

18. A computer-implemented method for placing a sleeve on a cable, the method comprising automated operations performed by an automated workstation, wherein: The automated operations include: closing a separation funnel, the separation funnel comprising a first funnel half and a second funnel half; picking up the casing using a casing gripper carried by the robot; placing the open end of the sleeve onto a first funnel extension and a second funnel extension, the first funnel extension and the second funnel extension respectively extending forward from the first funnel half and the second funnel half of the closed separation funnel; feeding the end of the cable through the separation funnel and the sleeve; removing the jacket fillet from the end of the cable to expose the shielding layer of the cable; retracting the cable until the exposed shield is centrally positioned within the sleeve over the first funnel extension and the second funnel extension; retracting the separation funnel away from the cable centering gripper; releasing the cannula from the cannula gripper; moving the cannula gripper away from the cannula; activating a heater to heat the sleeve; and Use cold air to cool the thermowell.

19. The computer-implemented method of claim 18, wherein: Removing the jacket fillet from the end of the cable includes: centering the cable using a cable centering gripper; Clamping the cable using a cable clamp; Extended welt gripper; using the strip gripper to grip the jacket strip of the clamped cable; and The slug gripper is retracted to remove the jacket slug and expose the shield.

20. The computer-implemented method of claim 19, wherein: The sleeve includes a solder sleeve and a ground lead extending forward of the solder sleeve, the method further comprising: Extending the ground lead pusher downward and contacting the ground lead; opening the separation funnel; and The cable with the solder sleeve is recovered onto the tray.

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