Method for automatically picking up and / or fixing and / or positioning a respective free end of an electrical conductor with a handling device with a gripping device

Abstract

The invention relates to a gripping device (1) for a handling device (2) for the automated picking up and / or fixing and / or positioning of an electrical conductor (3) with a support structure (10) for detachably attaching the gripping device (1) to the handling device (2), a first gripper (11) and a second gripper (12), wherein a first rotation device (13) and a second rotation device (14) are arranged on the support structure (10), wherein the first gripper (11) is rotatable, in particular about a first longitudinal axis (LA1) of the first gripper (11), on the first rotation device (13) and the second gripper (12) is rotatable, in particular about a second longitudinal axis (LA2) of the second gripper (12), on the second rotation device (14) and / or mounted. Furthermore, the invention relates to a handling device (2) with the gripping device (1) and a method for automatically picking up and / or fixing and / or positioning a cable (3) with the handling device (2).

Description

[0001] The invention relates to a gripping device for a handling device, for the automated picking up and / or fixing and / or positioning of an electrical cable, comprising a support structure for the detachable attachment of the gripping device to the handling device, a first gripper, and a second gripper. The invention further relates to a handling device with the gripping device and a method for the automated picking up and / or fixing and / or positioning of a cable with the handling device.

[0002] The weight of a cable itself, as well as upstream processes, can deform the cable and alter the position of the cable ends, resulting in a discrepancy between the expected and actual positions. An automated solution for processing the cable ends therefore requires correcting this undefined deviation. However, this creates a significant increase in processing effort. Furthermore, handling cables of varying lengths is usually problematic, as it necessitates reconfiguring the handling device. The associated setup effort, such as changing or adjusting a gripper, is a disadvantage. This setup process represents a considerable increase in workload, or it may even prevent all cables from being covered or handled.

[0003] The prior art in the present technical field is disclosed in documents DE 10 2019 204 289 A1, DE 10 2018 133 319 A1, DE 11 2018 001 032 T5, DE 10 2017 206 142 A1, DE 10 2013 203 242 A1 and US 11 141 865 B1.

[0004] The invention is therefore based on the objective of overcoming the aforementioned disadvantages and providing a method for the automated picking up and / or fixing and / or positioning of a cable with a gripping device and a handling device, in which precise handling of cables of different lengths is optimized.

[0005] This problem is solved by the combination of features according to claim 1.

[0006] According to the invention, a method for the automated picking up, fixing, and / or positioning of a free end of an electrical conductor is proposed using a handling device as described below. In this method, a first free end of the conductor is picked up and / or gripped by the first gripper, and a further portion of the conductor is picked up by the second gripper. Furthermore, the first gripper is aligned according to a predetermined orientation with respect to the longitudinal extent of the support structure, depending on the conductor length, by means of the first rotation device. In particular, the orientation of each gripper is determined by a central axis extending from the fixing element through the guide element.Furthermore, the second gripper is aligned according to a predetermined second orientation with respect to the longitudinal extent of the support structure, depending on the cable length, by means of the second rotating device. The handling device is then positioned towards a second free end of the cable until the second gripper is located in the area of ​​the second free end of the cable, with the second fixing element being open, and the second free end of the cable is gripped by the second gripper.

[0007] The advantage of this design is that the grippers of the gripping device can be moved into a different gripping arrangement by means of the driven rotary units without any setup process. This modified gripping arrangement allows the gripping device to be adapted to a different cable length. The position of the grippers changes depending on the position of the rotary units. In this way, different cable lengths can be gripped from both ends. Furthermore, the gripping device enables the handling of both ends of a cable. The device according to the invention ensures the orientation and position of the cable ends. Moreover, the effects of the cable's own weight and upstream processes on the cable end are reduced. No setup effort is required for changing or adjusting the grippers, and no additional handling processes involving workpiece carrier loading or intralogistics are necessary.Furthermore, the gripping device allows all cables to be guided on both sides of the cable end without any setup time.

[0008] According to the invention, a gripping device for a handling device, for the automated picking up and / or fixing and / or positioning of an electrical conductor, is further proposed. The device comprises a support structure for the detachable attachment of the gripping device to the handling device, a first gripper, and a second gripper. A first rotating device and a second rotating device are arranged on the support structure. Furthermore, the first gripper is rotatable, in particular about a first longitudinal axis of the first gripper, on the first rotating device, and the second gripper is rotatable, in particular about a second longitudinal axis of the second gripper, on the second rotating device and / or mounted there.

[0009] The advantage of this design is that the grippers of the gripping device can be moved into a different gripping arrangement by means of the driven rotary units without any setup process. This modified gripping arrangement allows the gripping device to be adapted to a different cable length. The position of the grippers changes depending on the position of the rotary units. In this way, different cable lengths can be gripped from both ends. Furthermore, the gripping device enables the handling of both ends of a cable. The device according to the invention ensures the orientation and position of the cable ends. Moreover, the effects of the cable's own weight and upstream processes on the cable end are reduced. No setup effort is required for changing or adjusting the grippers, and no additional handling processes involving workpiece carrier loading or intralogistics are necessary.Furthermore, the gripping device allows all cables to be guided on both sides of the cable end without any setup time.

[0010] In an advantageous embodiment, the first gripper and the second gripper each have a fixing element for force-fit and / or form-fit fixing of the cable and a guide element for guiding the cable. The guide element also partially absorbs forces and moments resulting from the weight of the cable, thus relieving the fixing element of this load.

[0011] Preferably, the gripping device is designed such that the fixing element and the guide element of the corresponding gripper are arranged at a predetermined distance from each other, preferably by means of a frame element, in particular such that the line between the corresponding fixing element and the corresponding guide element can be arranged linearly and / or straight.

[0012] In one embodiment of the invention, the respective fixing element is provided to have a compensating means for different pipe diameters and tolerances. In particular, the respective fixing element has two gripping arms and / or gripping fingers, and the compensating means is formed in one or both gripping arms and / or gripping fingers.

[0013] Furthermore, a design is advantageous in which the respective guide element has a receiving opening which is rounded, in particular at least in a direction pointing away from the corresponding fixing element.

[0014] In a further advantageous embodiment, the invention provides that the first gripper and the second gripper protrude perpendicularly from the support structure.

[0015] The gripping device according to the invention is designed in one embodiment such that the first rotating device and the second rotating device each have an electric motor for rotation and / or for driving the respective rotating device.

[0016] It is further advantageous if a control unit is provided for controlling and / or regulating at least the first and second rotating devices, in particular their electric motors. Preferably, the control unit is also designed and / or provided for controlling and / or regulating a corresponding handling device.

[0017] According to the invention, a handling device, in particular an industrial robot or a 6-axis robot, with a gripping device according to the preceding disclosure is also proposed.

[0018] In an advantageous embodiment, when picking up and / or gripping the first free end of the line and / or the second free end of the line, the corresponding free end of the line is picked up and / or gripped in such a way that a predetermined processing length of the corresponding free end of the line protrudes from the corresponding gripper.

[0019] In one embodiment of the method, after picking up and / or gripping the first free end of the cable and the second free end of the cable, the cable is guided and / or inserted by means of the handling device into one or more successive processing stations for processing at least one free end of the cable.

[0020] In a preferred embodiment of the method, a sensor, particularly an optical one, is provided for determining the length of the cable. Furthermore, the cable length is determined by means of the sensor before or during the picking up and / or gripping of the first free end of the cable.

[0021] In a further advantageous embodiment, the invention provides that, depending on the length of the cable, the following applies to the first orientation A1 of the first gripper and to the second orientation A2 of the second gripper: i. A1 = 0° and A2 = 180°; ii. 0° < A1 < 90° and 180° < A2 < 90° iii. A1 = 90° and A2 = 90°, where i) for a short line (3), in particular 120 mm ≤ line length < 260 mm, ii) for a medium line (3), in particular 260 mm ≤ line length < 520 mm, and iii) for a long line (3), in particular 520 mm ≤ line length.

[0022] The features disclosed above can be combined in any way, provided that this is technically possible and they do not contradict each other.

[0023] Other advantageous embodiments of the invention are characterized in the dependent claims or are described in more detail below together with the description of the preferred embodiment of the invention with reference to the figures. The figures show: Fig. 1 a schematic view of a handling device with a gripping device; Fig. 2 a sectional view of a fixing element of the gripping device; Fig. 3 a sectional view of a guide element of the gripping device; Fig. 4 a schematic view of the gripping device during the automated picking up and / or fixing and / or positioning of a respective free end of an electrical conductor; Fig. Figures 5a to c show a schematic view of the gripping device with grippers oriented differently.

[0024] The figures are schematic examples. Identical reference symbols in the figures indicate identical functional and / or structural features.

[0025] In Fig. Figure 1 shows a schematic view of a handling device 2 with a gripper 1. The handling device 2 is an industrial robot or 6-axis robot.

[0026] The gripping device 1 for the automated picking up and / or fixing and / or positioning of an electrical conductor 3 comprises a support structure 10 for the detachable attachment of the gripping device 1 to the handling device 2, a first gripper 11 and a second gripper 12. Furthermore, a first rotation device 13 and a second rotation device 14 are arranged on the support structure 10. The first gripper 11 is rotatable about a first longitudinal axis LA1 of the first gripper 11 on the first rotation device 13, and the second gripper 12 is rotatable about a second longitudinal axis LA2 of the second gripper 12 on the second rotation device 14.

[0027] The first gripper 11 and the second gripper 12 each have a fixing element 111, 121 for force-fit and / or form-fit fixing of the line 3 and a guide element 112, 122 for guiding the line 3. The fixing element 111, 121 and the guide element 112, 122 of the respective gripper 11, 12 are connected by means of a frame element 113, 123 ( Fig. 5) arranged at a predetermined distance from each other, such that the line between the corresponding fixing element 111, 121 and the corresponding guide element 112, 122 can be arranged linearly and / or in a straight line. Furthermore, the first gripper 11 and the second gripper 12 project perpendicularly from the support structure 10.

[0028] The first rotary device 13 and the second rotary device 14 each have an electric motor 15 for rotation and / or for driving the respective rotary device 13, 14. In addition, a control unit 16 is provided for controlling and / or regulating at least the handling device 2, the first rotary device 13 and the second rotary device 14, in particular the electric motors 15.

[0029] The conductor 3 is also arranged in a processing station 4 by means of the handling device 2 for processing at least one free end of the conductor 3. Furthermore, an optical sensor 5 is provided for determining the length of the conductor 3.

[0030] Fig. 2a and Fig. Figure 2b shows a sectional view of a fixing element 111 of a first gripper 11 of the gripping device 1. In this view, Fig. 2a. A line 3 was used, which has a larger diameter than the line 3 which is in Fig. 2b is gripped. The fixing element 111 has a compensating means 1111 for compensating for different conductor diameters and tolerances. Furthermore, the fixing element 111 comprises two gripping arms and / or gripping fingers 1112 and the compensating means 1111 is formed in both gripping arms and / or gripping fingers 1112 as a V-shaped recess.

[0031] In Fig. Figure 3 shows a sectional view of a guide element 112 of a first gripper 11 of the gripping device 1. The guide element 112 includes a receiving opening 1121, which, in an assembled state, is rounded in a direction pointing away from the corresponding fixing element 111.

[0032] Fig. Figure 4 shows a schematic view of the gripping device 1 during the automated picking up and / or fixing and / or positioning of a respective free end of an electrical line 3 with the handling device 2 according to the preceding figures.

[0033] The figure shows the gripping device 1 picking up and / or gripping a first free end of the line 3 using the first gripper 11 and picking up a further part of the line 3 using the second gripper 12.

[0034] Furthermore, the first gripper 11 is aligned according to a predetermined first orientation A1 with respect to the longitudinal extent of the support structure 10, depending on the length of the cable 3, by means of the first rotation device 13. The second gripper 12 is then aligned according to a predetermined second orientation A2 with respect to the longitudinal extent of the support structure 10, depending on the length of the cable 3, by means of the second rotation device 14. Finally, the handling device 2 is positioned towards a second free end of the cable 3 until the second gripper 12 is located in the area of ​​the second free end of the cable 3. The second fixing element 112 is open during this process.

[0035] Furthermore, the gripping device is shown during or after gripping the second free end of the line 3 by means of the second gripper 11. It also shows Fig. 4, that when picking up and / or gripping the first free end of the line 3 and / or the second free end of the line 3, the corresponding free end of the line 3 is picked up and / or gripped in such a way that a predetermined processing length of the corresponding free end of the line 3 protrudes from the corresponding gripper 11, 12.

[0036] After picking up and / or gripping the first free end of the line 3 and the second free end of the line 3, the line 3 can be guided and / or inserted by means of the handling device 2 into one or more successive processing stations 4 for processing at least one free end of the line 3 ( Fig. 1) Furthermore, before or during the picking up and / or gripping of the first free end of the line 3, the length of the line 3 is determined by means of the sensor 5.

[0037] The Fig. 5a, Fig. 5b and Fig.Figure 5c shows a schematic view of the gripping device 1 with grippers 11, 12 oriented differently. The following applies depending on the length of the cable 3: A1 for the first gripper 11 and A2 for the second gripper 12. i. A1 = 0° and A2 = 180°, ii. 0° < A1 < 90° and 180° < A2 < 90° iii. A1 = 90° and A2 = 90°.

[0038] Furthermore, i) for a short cable (3), in particular 120 mm ≤ cable length < 260 mm, ii) for a medium cable (3), in particular 260 mm ≤ cable length < 520 mm, and iii) for a long cable (3), in particular 520 mm ≤ cable length.

Claims

[1] Method for automatically picking up and / or fixing and / or positioning a respective free end of an electrical conductor (3) with a handling device (2) with a gripping device (1) for automatically picking up and / or fixing and / or positioning an electrical conductor (3) with a support structure (10) for detachably attaching the gripping device (1) to the handling device (2), a first gripper (11) and a second gripper (12), wherein a first rotation device (13) and a second rotation device (14) are arranged on the support structure (10), wherein the first gripper (11) is rotatably arranged and / or mounted on the first rotating device (13) and the second gripper (12) is rotatably arranged and / or mounted on the second rotating device (14), wherein the procedure comprises the steps: a. Picking up and / or gripping a first free end of the line (3) by means of the first gripper (11) and picking up a further part of the line (3) by means of the second gripper (12); b. Aligning the first gripper (11) according to a predetermined first alignment (A1) with respect to a longitudinal extent of the support structure (10) depending on a line length of the line (3) by means of the first rotation device (13); c. Aligning the second gripper (12) according to a predetermined second alignment (A2) with respect to a longitudinal extent of the support structure (10) depending on a line length of the line (3) by means of the second rotation device (14); d. Positioning the handling device (2) towards a second free end of the line (3) until the second gripper (12) is arranged in the area of ​​the second free end of the line (3); e. Gripping the second free end of the line (3) by means of the second gripper (11). [2] Method according to claim 1, wherein the first gripper (11) and the second gripper (12) each have a fixing element (111, 121) for force-locking and / or form-locking fixing of the line (3) and a guide element (112, 122) for guiding the line (3). [3] Method according to claim 2, wherein the fixing element (111, 121) and the guide element (112, 122) of the corresponding gripper (11, 12) are arranged spaced apart from each other at a predetermined distance. [4] Method according to claim 2 or 3, wherein the respective fixing element (111, 121) has a compensating means (1111, 1211) for compensating for different line diameters and tolerances. [5] Method according to any one of claims 2 to 4, wherein the respective guide element (112, 122) has a receiving opening (1121, 1221) which is rounded. [6] Method according to one of the preceding claims, wherein the first gripper (11) and the second gripper (12) protrude perpendicularly from the support structure (10). [7] Method according to one of the preceding claims, wherein the first rotating device (13) and the second rotating device (14) each have an electric motor (15) for rotation and / or for driving the respective rotating device (13, 14). [8] Method according to one of the preceding claims, wherein a control unit (16) is provided for controlling and / or regulating at least the first rotary device (13) and the second rotary device (14). [9] Method according to any of the preceding claims, wherein the handling device (2) is an industrial robot or a 6-axis robot. [10] Method according to one of the preceding claims, wherein when picking up and / or gripping the first free end of the line (3) and / or the second free end of the line (3), the corresponding free end of the line (3) is picked up and / or gripped in such a way that a predetermined processing length of the corresponding free end of the line (3) protrudes from the corresponding gripper (11, 12). [11] Method according to one of the preceding claims, wherein after picking up and / or gripping the first free end of the line (3) and the second free end of the line (3) the line (3) is guided and / or inserted by means of the handling device (2) into one or more successive processing stations (4) for processing at least one free end of the line (3). [12] Method according to one of the preceding claims, wherein a sensor (5) is provided for determining the length of the line (3), wherein the length of the line (3) is determined by means of the sensor (5) before or when picking up and / or gripping the first free end of the line (3). [13] Method according to one of the preceding claims, wherein, depending on the length of the line (3), the following applies for the first orientation (A1) of the first gripper (11) and for the second orientation (A2) of the second gripper (12): i. A1 = 0° and A2 = 180°; ii. 0° < A1 < 90° and 180° < A2 < 90° iii. A1 = 90° and A2 = 90° where i) applies to a short line (3), ii) to a medium line (3) and iii) to a long line (3).

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