GRIPPING DEVICE FOR THE INDEPENDENT GRIP OF TWO CONDUCTORS

Description

[0001] The invention relates to a gripping device for independently gripping two adjacent conductors, which are preferably at least partially connected and in particular twisted together, and to an associated method for carrying out a test of a plug connection.

[0002] Numerous gripping devices for handling electrically conductive wires are already known in the art. However, most of these known gripping devices only allow the gripping of a single wire or conductor. During assembly, subsequent testing, or the joint handling of two adjacent conductors, which are preferably twisted together, it is not possible to grip and move the conductors completely independently of each other, since the twisting of the conductors must be maintained and the conductors must be assembled, tested, or generally handled as a unit.

[0003] Furthermore, it is usually not possible to carry out testing procedures on the individual ladders using the previously known gripping devices, since both ladders have to be gripped together due to the twisting of the ladders.

[0004] In addition, most gripping devices are not suitable, due to their geometric design, for picking up small-diameter ladders that are positioned between other ladders.

[0005] Various gripping devices and corresponding methods are known, for example, from documents US 2008 / 256792 A1, DE 28 02 991 A1, EP 1 342 248 A1, US 5 850 694 A, US 2 876 452 A and JP 2017 185606 A. However, these mostly describe gripping devices with gripping jaws that are not independently movable. Furthermore, EP 3 012 841 A1 discloses a gripping device for independently gripping two adjacent conductors, which, however, requires four movable gripping jaws to grip the two conductors.

[0006] The invention is therefore based on the objective of overcoming the aforementioned disadvantages and providing a gripping device and an associated method with which two preferably twisted conductors can be gripped individually.

[0007] This problem is solved by the combination of features according to claim 1.

[0008] According to the invention, a gripping device for independently gripping two adjacent conductors is proposed. The gripping device comprises a first and a second gripping jaw, as well as a central jaw. The central jaw extends between the first and second gripping jaws in a web-like fashion along a longitudinal axis. The first and second gripping jaws are each displaceable along a transverse axis orthogonal to the longitudinal axis and along the transverse axis away from or towards the central jaw. Furthermore, the first gripping jaw forms a first gripping section pointing towards the central jaw, and the central jaw forms a first counter-holding section pointing towards the first gripping jaw. The first gripping section and the first counter-holding section are opposite each other and are configured to jointly grip a first conductor of the two conductors by means of the displaceability of the first gripping jaw.Similarly, the second gripping jaw has a second gripping section pointing towards the middle jaw, and the middle jaw has a second counter-holding section pointing towards the second gripping jaw. The second gripping section and the second counter-holding section are also opposite each other and are designed to jointly grip a second of the two conductors by means of the sliding mechanism of the second gripping jaw.

[0009] The two sliding gripping jaws with the intermediate center jaw allow the ladders to be gripped individually. The shared, ridge-shaped center jaw enables the picking up and gripping of both ladders in a very confined space. The ladders can thus be gripped and, for example, inserted or mounted into a respective contact element. In a subsequent testing procedure, a pair of gripping jaws consisting of the first or second jaw and the center jaw can release the grip on one ladder, and the other pair of gripping jaws can then be subjected to a force test, such as a "pull" test, on the gripped ladder.In this process, the gripping device applies a predetermined tensile force to each conductor, and the force curve along the conductor or the movement of the gripping device is measured to determine whether the conductor is held securely in its corresponding contact element and / or whether the contact element is held securely in its corresponding contact carrier with a predetermined force. After performing a test on the first of the two conductors, the test can be repeated for the second conductor by simply repositioning the gripping device, i.e., by gripping the second conductor and then releasing the grip from the first conductor.

[0010] In one variant, the two adjacent conductors are connected to each other, at least partially and in particular by a twist. The gripping device is therefore advantageously designed with the first and second gripping jaws and the intermediate middle jaw, enabling the connected conductors to be gripped and moved independently of each other.

[0011] Preferably, the middle jaw is designed with a T-shaped cross-section perpendicular to its longitudinal axis to stiffen and increase its load-bearing capacity. The section extending along a symmetry line of the T-shape is preferably located between the first and second gripping jaws, and the section running transversely to the symmetry line is offset from the first and second gripping jaws so that the movement or mobility of the first and second gripping jaws is not disturbed or hindered by the transverse section.

[0012] An advantageous embodiment further provides that the first gripping section and the first counter-holding section each have a recess with a semicircular or arcuate outer contour. The semicircular or arcuate recesses of the first gripping section and the first counter-holding section together form a first receiving recess corresponding to the first conductor. Similarly, the second gripping section and the second counter-holding section each have a recess with a semicircular or arcuate outer contour, and the semicircular or arcuate recesses of the second gripping section and the second counter-holding section together form a second receiving recess corresponding to the second conductor.The semicircular or arc-shaped outer contours that form the first and second receiving recesses correspond to a cross-sectional shape of the respective conductor, which is essentially round. This allows the conductors to rest with a large contact area against the gripping jaws and the central jaw within the receiving recesses, enabling the gripping device to grasp the conductors with a high holding force distributed across the contact area, without deforming or crushing the conductors due to point-like gripping forces.

[0013] In another advantageous embodiment of the gripping device, the first and second receiving recesses are each open on a side facing away from the first and second gripping jaws and the center jaw along the longitudinal axis. This opening eliminates the need to shift the gripping jaws by the entire width or diameter of the conductor being gripped, as the distance by which each gripping jaw must be shifted is reduced by the width of the opening along the transverse axis. The receiving recess still at least partially encompasses the conductor held within it, preventing the conductor from dislodging itself when the gripping jaws are in a position where the respective gripping jaw is shifted towards the center jaw.

[0014] To facilitate individual gripping of the two preferably connected or twisted conductors, a further advantageous embodiment provides that the first gripping jaw has a first conductor insertion aid on the first gripping section, the second gripping jaw has a second conductor insertion aid on the second gripping section, and the middle jaw has a middle conductor insertion aid on the first and second counter-holding sections. The first, second, and middle conductor insertion aids are each designed as wedge-shaped projections extending parallel to the longitudinal axis and tapering along the longitudinal axis. Due to the wedge shape of the middle conductor insertion aid, the middle jaw can slide between the two adjacent and preferably twisted conductors when the gripping device is positioned or when the two adjacent and preferably twisted conductors are picked up.If the two preferably twisted conductors are also arranged adjacent to other conductors, the gripping device can slide between the other conductors and the preferably twisted conductors using the first and second conductor insertion aids, and pick up the two preferably twisted conductors more easily.

[0015] An advantageous design of the gripping device further provides that the first ladder insertion aid and the middle ladder insertion aid each have a guide surface leading to the first receiving recess and inclined relative to the longitudinal axis. In addition, the second ladder insertion aid and the middle ladder insertion aid each have a guide surface leading to the second receiving recess and inclined relative to the longitudinal axis. Once the ladders have been separated by their respective insertion aids, each ladder is centered by its guide surface and guided into its respective receiving recess.

[0016] To adapt the gripping device to different ladders, for example, an advantageous variant provides that the first and second gripping jaws are each multi-part, consisting of a gripping insert with the respective gripping section and an insert holder. The gripping inserts are attached to the insert holder, for example, by screws or other fixing devices, and can be quickly and easily replaced with other gripping inserts. Similarly, the middle jaw can be replaced with another to replace a damaged one or to adapt the gripping device to different ladders.

[0017] According to the invention, a first actuator and a second actuator, such as electric or linear motors, are provided for moving the gripping jaws. The first actuator is connected to the first gripping jaw and is configured to move the first gripping jaw along its transverse axis. Similarly, the second actuator is connected to the second gripping jaw and is configured to move the second gripping jaw along its transverse axis. The two actuators allow the two gripping jaws, i.e., the first and the second gripping jaw, to be moved independently of each other, and the respective conductor can be gripped by the respective pair of gripping jaws consisting of one of the gripping jaws and the middle jaw.

[0018] Preferably, the gripping device is fixed to a handling device, such as a robot, from which the gripping device can be moved. An advantageous embodiment provides that the gripping device further comprises a mounting plate for attaching the gripping device to the handling device. The gripping device also includes a receiving device fixed to the mounting plate, to which the first and second actuators as well as the middle jaw are attached.

[0019] In a further advantageous embodiment, the gripping device also includes a force-torque sensor for determining the forces and moments acting on the first and second gripping jaws as well as on the middle jaw, which are transmitted to the gripping device via a gripped conductor or both gripped conductors through movement of the gripping device. The force-torque sensor is also fixed to the gripping device and preferably between the handling device and the mounting plate.

[0020] To grip two adjacent and preferably twisted conductors, the gripping device is guided between the two conductors with its central jaw. A section of the conductor is particularly suitable for this purpose, where the central axes of the conductors, each passing through the center of the cross-section, lie in a plane parallel to the transverse axis. The gripping device is moved a predetermined distance along its longitudinal axis with the central jaw positioned between the conductors, so that the conductors, preferably guided by the guide surfaces, slide into the receiving recesses. A first conductor is positioned in the first receiving recess and a second conductor in the second receiving recess. To grip the conductor, the first gripping jaw is moved towards the central jaw, and the first of the two conductors is gripped by the first gripping jaw and the central jaw.Similarly, the second conductor is gripped by moving the second gripping jaw towards the center jaw, and the second conductor of the two conductors is then gripped by the second gripping jaw and the center jaw. If a test force or a force is to be applied to only one of the two conductors by the gripping device, the grip on the other conductor is released by moving the respective gripping jaw away from the center jaw along the transverse axis.

[0021] An advantageous embodiment also provides an image capture device with which the two conductors can be detected in order to determine a suitable gripping position for the gripping device, in which the two conductors or the gripping conductor sections of the conductors lie parallel next to each other and with their respective longitudinal axes in a plane orthogonal to the longitudinal axis.

[0022] A further aspect of the invention relates to a method for testing a plug connection between two adjacent and preferably twisted conductors and a respective contact element mounted in a contact carrier, using a gripping device according to the invention, which also includes a force-torque sensor as described. The two conductors have three sections along a common longitudinal direction.These are a first section in which the two conductors are arranged parallel to and spaced apart from each other across their longitudinal extent, and each is inserted into a contact chamber assigned to a contact element; a third section in which the two conductors are arranged adjacent to each other; and a second section located between the first and third sections, wherein the conductors transition from their arrangement in the first section to their arrangement in the third section in the second section. The second section is also preferably located directly adjacent to the contact chambers or to the contact carrier in which the contacts are mounted. To carry out the method, the gripping device with its central jaw is guided between the two conductors.Subsequently, one of the two conductors is gripped by the first or second jaw and the middle jaw of the gripping device in the second or third section of the respective conductor. The gripping device, with the gripped conductor, is then moved away from the first section of the conductor in a straight line with a predetermined force along a predetermined distance or in a predetermined direction. The force curve acting along the gripped conductor during the extension movement is measured by the force-torque sensor on the gripping device. Based on the measured force curve at the gripping device, it is then determined whether the conductor is connected to the respective contact element with a predetermined holding force and / or whether the corresponding contact element is mounted in the contact carrier with a predetermined assembly force.

[0023] The features disclosed above can be combined in any way, provided that this is technically possible and they do not contradict each other.

[0024] 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 gripping device with gripping jaws open on both sides; Fig. 2 gripping jaws of a gripping device closed on both sides; Fig. 3 gripping jaws of a gripping device, wherein the first pair of gripping jaws is open; Fig. 4 gripping jaws of a gripping device, wherein the second pair of gripping jaws is open.

[0025] The figures are schematic examples. Identical reference symbols in the figures indicate identical functional and / or structural features.

[0026] Figure 1Figure 1 shows a gripping device 1 with a mounting plate 31, a receiving device consisting of a longitudinal element 32 and a transverse element 33, a central jaw 13 attached to the longitudinal or transverse element 32, 33, two actuators 115, 125 attached to the transverse element 33, and a gripping jaw 11, 12 for each actuator 115, 125. The gripping device 1 can be arranged or mounted on a handling device, such as a robot (not shown), via the mounting plate 31, wherein a force-torque sensor can be arranged on the mounting plate 31 and between the mounting plate 31 and the handling device in order to measure or detect forces and moments acting on the gripping device 1 from the outside.In the illustrated embodiment, the first and second actuators 115, 125 are fixed to the transverse element 33 by screws. The transverse element 33 itself is fixed to the longitudinal element 32, 33 either directly or via a connecting element arranged between the transverse and longitudinal elements 32, 33. The longitudinal element 32 of the receiving device extends along the longitudinal axis L and the transverse element 33 along the transverse axis Q, with the connecting element extending substantially orthogonally to the longitudinal axis L and the transverse axis Q. Figure 1The view shown is obscured by the transverse element 33. The center jaw 13 can be fixed to the longitudinal or transverse element 32, 33, or alternatively be integrally formed with the connecting element. The first gripping jaw 11 is fixed to the first actuator 115 and is displaceable along the transverse axis Q by the first actuator 115. The second gripping jaw 12 is fixed to the second actuator 125 and is displaceable along the transverse axis Q by the second actuator 125. The actuators 115, 125 are configured to displace or move the gripping jaws 11, 12 independently of each other.

[0027] The middle jaw 13 is preferably fixed in position and essentially rigid.

[0028] The first actuator 115 is specifically designed to move the first gripping jaw 11 from a first gripping jaw position to a second gripping jaw position, wherein the first gripping jaw 11 in the second gripping jaw position has a distance along the transverse axis Q to the middle jaw 13 which is greater than a distance along the transverse axis Q of the first gripping jaw 11 to the middle jaw 13 in the first gripping jaw position.

[0029] Similarly, the second actuator 125 is configured in particular to move the second gripping jaw 12 from a first gripping jaw position to a second gripping jaw position, wherein the second gripping jaw 12 in the second gripping jaw position has a distance along the transverse axis Q to the middle jaw 13 which is greater than a distance along the transverse axis Q of the second gripping jaw 12 to the middle jaw 13 in the first gripping jaw position.

[0030] In Figure 1The first gripping jaw 11 is shown in its second gripping jaw position and the second gripping jaw 12 in its second gripping jaw position; the resulting distance between the first and second gripping jaws 11, 12 and the middle jaw 13 enables the arrangement or reception of a conductor between the first gripping jaw 11 and the middle jaw 13 and between the second gripping jaw 12 and the middle jaw 13.

[0031] In the illustrated design variant, the first and second gripping jaws 11, 12 are each formed in two parts: a respective insert receptacle 114, 124, which is connected to the respective actuator 115, 125, and a respective gripping insert 113, 123, which is fixed to the respective insert receptacle 114, 124 by at least one screw. Since the ladder rests against the gripping inserts 113, 123 and the center jaw 13 during gripping, the gripping inserts 113, 123 and the center jaw 13 can be easily, quickly, and effectively replaced in the event of wear or a change in the geometry of the gripping ladder.

[0032] The geometry of the gripping jaws 11, 12, the geometry of the gripping inserts 113, 123, and the geometry of the center jaw 13 make gripping or picking up the ladders L1, L2 by the gripping device 1 particularly easy and advantageous. For this purpose, the gripping jaws 11, 12, and the center jaw 13 each have a ladder insertion aid at their end sections, which point away from the actuators 115, 125 along the longitudinal axis L. This ladder insertion aid is characterized by its wedge shape, which tapers away from the actuators 115, 125 along the longitudinal axis L. A projection is formed at the end section of the first gripping jaw 11, or at the gripping insert 113 of the first gripping jaw 11, which forms the first ladder insertion aid. Similarly, on the second gripping jaw 12 or on the gripping insert 123 of the second gripping jaw 12, a projection is formed at the end section, which forms the second ladder insertion aid.The central jaw 13 also has a tapered projection at its end section facing away from the actuators 115, 125, which forms the central ladder insertion aid. The gripping device can be inserted between the ladders to be gripped via the central ladder insertion aid. If these are arranged side by side, the wedge shape of the central ladder insertion aid allows it to slide between the ladders and separate them when the gripping device 1 is moved, for example, by means of the handling device. If the two ladders to be gripped, L1, L2, are also adjacent to other ladders, the gripping device 1, with its first and second ladder insertion aids, can slide between each of the ladders to be gripped, L1, L2, and the adjacent ladders, thus separating the ladders to be gripped, L1, L2, from the other ladders.

[0033] The first conductor L1 of the two conductors L1 and L2 to be gripped is grasped by the gripping device 1 by a first gripping section 111 on the first gripping jaw 11 or on the first gripping insert 113 and a first counter-holding section 131 on the middle jaw 13. To grip the first conductor L1, the first gripping jaw 11 is moved by the first actuator 115 from its second gripping jaw position to its first gripping jaw position, in which the first gripping jaw 11 with the first gripping section 111 and the middle jaw 13 with its first counter-holding section 131 are in contact with the first conductor L1.

[0034] Similarly, for the second conductor L2, the second conductor L2 of the two conductors L1 and L2 to be gripped is gripped by the gripping device 1 by a second gripping section 122 on the second gripping jaw 12 or on the second gripping insert 123 and a second counter-holding section 132 on the middle jaw 13. To grip the second conductor L2, the second gripping jaw 12 is moved by the second actuator 125 from its second gripping jaw position to its first gripping jaw position, in which the second gripping jaw 12 with the second gripping section 122 and the middle jaw 13 with its second counter-holding section 132 are in contact with the second conductor L2.

[0035] In order to distribute the gripping forces applied by the actuators 115, 125 via the two gripping jaws 11, 12 onto the two conductors L1, L2 over as large an area as possible, so that the gripping forces do not act at a single point or over a small area and the conductors L1, L2 are deformed as little as possible or only minimally, the embodiment shown provides that the first and second gripping sections 111, 122 and the first and second counter-holding sections 131, 132 each have a recess with a semicircular outer contour.

[0036] This creates a first receiving recess for the first conductor L1 by the first gripping section 111 and the first counter-holding section 131, which has a shape essentially corresponding to the first conductor L1, so that the first gripping jaw 11 and the middle jaw 13 each bear against the first conductor L1 over a circumferential section and the gripping forces applied by the first actuator 115 are distributed evenly over the circumferential section on the first conductor L1 when the first gripping jaw 11 is moved or has been moved into its first gripping jaw position.

[0037] The same applies analogously to the second receiving recess formed by the second gripping section 122 and the second counter-holding section 132 for the second conductor L2.

[0038] To ensure that, after the middle jaw 13 is positioned with the middle ladder insertion aid between the two ladders L1, L2 and the first and second insertion aids are positioned adjacent to each of the two ladders L1, L2, in a predetermined position within the respective receiving recess, each ladder insertion aid is provided with a guide surface leading to the corresponding gripping section 111, 122 or the corresponding counter-holding section 131, 132. The guide surface is inclined relative to the longitudinal axis L, allowing the respective ladder L1, L2 to slide or be guided from the respective ladder insertion aid along the guide surfaces into the receiving recess.

[0039] As in the illustrated embodiment, the receiving recesses, even with the gripping jaws 11, 12 in their respective first gripping jaw positions, do not form a completely closed circle, but rather have an opening extending away from the actuators 115, 125 along the longitudinal axis L. This opening forms a receiving corridor through which the respective conductor L1, L2 can be inserted into the receiving recess. To accommodate a conductor with the gripping jaws 11, 12 in their respective second gripping jaw positions, the receiving corridor must have a width along the transverse axis that is at least equal to the diameter of the conductor to be received.Because the receiving corridor is not completely closed even with the gripping jaws 11 and 12 in their respective first gripping jaw positions, the gripping jaws 11 and 12 must be moved by their respective actuators 115 and 125 over a reduced distance along the transverse axis Q to achieve the width of the receiving corridor sufficient to grip the respective conductor. However, to ensure a secure grip on the conductor with each gripping jaw, the receiving corridor, with the respective gripping jaw in its first gripping jaw position, is designed to have a width smaller than the diameter of the respective conductor.

[0040] Figure 2 shows a section of the gripping device 1 from Figure 1 , wherein the gripping jaws 11, 12 are both moved by their respective actuators 115, 125 into their respective first gripping jaw position, i.e., moved towards the middle jaw 13.

[0041] For the sake of clarity, in Figure 1 The first and second gripping sections 111, 122 are marked with reference numerals, but not the first and second counter-holding sections 131, 132. Figure 2 In contrast, the first and second counter-holding sections 131, 132 are provided with reference numerals, but not the first and second gripping sections 111, 122. Both the gripping sections 111, 122 and the counter-holding sections 131, 132 are in the Figures 1 to 4 present, but not labelled or not fully labelled for the sake of readability.

[0042] The Figures 3 and 4 Each shows a section of the gripping device 1 from Figure 1 , whereby in Figure 3 a second conductor L2 and in Figure 4 A first conductor L1 has been grasped.

[0043] It's like in Figure 3If the second conductor L2 is gripped by the gripping device 1 and the first conductor L1 is not gripped due to the movement of the first gripping jaw 11 into its second gripping jaw position, a test procedure to check a plug connection can be performed on the second conductor L2. In this procedure, the gripping device 1 is moved away from the plug connection with a predetermined test force in a stretching or pulling motion, and the resulting tensile force profile on the second conductor L2 is determined by a force-torque sensor on the gripping device 1. The distance traveled during the stretching motion is very small or can be zero depending on the test force, so that no distance is actually traveled. The recorded tensile force profile is determined solely by the second conductor L2 and is independent of the first conductor L1, so that only the plug connection of the second conductor L2 is actually tested.

[0044] To test the plug connection of the first conductor L1, the first conductor L1 is then gripped by moving the first gripping jaw 11 to its first gripping jaw position and the grip is removed from the second conductor L2.

[0045] This is solved by moving the second gripping jaw 12 into its second gripping jaw position. This is as shown in Figure 4 If, as shown, only the first conductor L1 is gripped by the gripping device 1, the test procedure for the first conductor L1 can be repeated.

Claims

1. A gripping device (1) for gripping two adjacent conductors (L1, L2) independently of each other, wherein the gripping device (1) has a first and a second gripping jaw (11, 12) as well as a central jaw (13) which extends between the first and second gripping jaws (11, 12) in a web-shaped manner along a longitudinal axis (L), the first gripping jaw (11) configures a first gripping portion (111) facing the central jaw (13) and the central jaw (13) configures a first counter-holding portion (131) facing the first gripping jaw (11), which are opposite each other and which are configured to grip jointly, by a displaceability of the first gripping jaw (11), a first conductor (L1) of the two conductors (L1, L2), and the second gripping jaw (12) configures a second gripping portion (122) facing the central jaw (13) and the central jaw (13) configures a second counter-holding portion (132) facing the second gripping jaw (12), which are opposite each other and which are configured to grip jointly, by a displaceability of the second gripping jaw (12), a second conductor (L2) of the two conductors (L1, L2), wherein the first and second gripping jaws (11, 12) are each displaceable independently of the respective other gripping jaw (11, 12) along a transverse axis (Q) orthogonal to the longitudinal axis (L) and along the transverse axis (Q) away from the central jaw (13) or towards the central jaw (13), and wherein the gripping device comprises a first actuator (115) and a second actuator (125), wherein the first actuator (115) is connected to the first gripping jaw (11) and configured to displace the first gripping jaw (11) along the transverse axis (Q), and the second actuator (125) is connected to the second gripping jaw (12) and configured to displace the second gripping jaw (12) along the transverse axis (Q).

2. The gripping device (1) according to the preceding claim, wherein the two conductors (L1, L2) are connected to each other at least in portions, in particular by twisting, and the gripping device (1) is configured by the first and second gripping jaws (11, 12) as well as the central jaw (13) arranged therebetween to grip the conductors (L1, L2) connected to each other independently of each other and to move them independently of each other with the gripping device (1).

3. The gripping device according to any one of the preceding claims, wherein the first gripping portion (111) and the first counter-holding portion (131) each have a recess with a partly-circular or arc-shaped outer contour and the partly-circular or arc-shaped recesses of the first gripping portion (111) and of the first counter-holding portion (131) jointly form a first receptacle recess corresponding to the first conductor (L1), and the second gripping portion (122) and the second counter-holding portion (132) each have a recess with a partly-circular or arc-shaped outer contour and the partly-circular or arc-shaped recesses of the second gripping portion (122) and of the second counter-holding portion (132) jointly form a second receptacle recess corresponding to the second conductor (L2).

4. The gripping device according to the preceding claim, wherein the first receptacle recess and the second receptacle recess are each open on a side facing away from the first and second gripping jaws (11, 12) as well as from the central jaw (13) along the longitudinal axis (L).

5. The gripping device according to any one of the preceding claims, wherein the first gripping jaw (11) has a first conductor insertion aid on the first gripping portion (111), the second gripping jaw (12) has a second conductor insertion aid on the second gripping portion (122) and the central jaw (13) has a central conductor insertion aid on the first and second counter-holding portions (131, 132), wherein the first, second and central conductor insertion aids are each configured as a wedge-shaped projection extending parallel to the longitudinal axis (L) and tapering along the longitudinal axis (L).

6. The gripping device according to the preceding claim and any one of claims 3 or 4, wherein the first conductor insertion aid and the central conductor insertion aid each have a guide surface leading to the first receptacle recess and inclined with respect to the longitudinal axis (L), and the second conductor insertion aid and the central conductor insertion aid each have a guide surface leading to the second receptacle recess and inclined with respect to the longitudinal axis (L).

7. The gripping device according to any one of the preceding claims, wherein the first gripping jaw (11) and the second gripping jaw (12) are each configured in multiple parts from a gripping insert (113, 123) with the respective gripping portion and an insert receptacle (114, 124).

8. The gripping device according to claim 1, further comprising a linking plate (31) for attaching the gripping device (1) to a handling apparatus and a receptacle device fixed to the linking plate (31), to which the first and second actuators (115, 125) as well as the central jaw (13) are fixed.

9. The gripping device according to any one of the preceding claims, further comprising a force moment sensor for determining forces and moments affecting the first and second gripping jaws (11, 12) as well as the central jaw (13), which act upon the gripping device (1) via a gripped conductor (L1, L2) or both gripped conductors (L1, L2) by a movement of the gripping device (1), wherein the force moment sensor is fixed to the gripping device (1).

10. A method for testing a plug connection between two conductors (L1, L2) and a respective contact element mounted in a contact carrier with a gripping device (1) according to claim 9, wherein the two conductors (L1, L2) have three portions along a common longitudinal direction, a first portion in which the two conductors (L1, L2) are arranged in parallel and spaced apart from each other transversely to their longitudinal extent and are each plugged into a contact chamber associated with a contact element, a third section in which the two conductors (L1, L2) are arranged with each other and adjacent to each other and a second portion lying between the first and third portions, the gripping device (1) with the central jaw (13) is guided between the two conductors (L1, L2), one of the two conductors (L1, L2) is gripped by the first or second gripping jaw (11, 12) and the central jaw (13) of the gripping device (1) in the second or third portion, the gripping device (1) with the gripped conductor (L1, L2) is moved in a linear stretching movement with a predetermined force along a predetermined stretch or in a predetermined direction away from the first portion of the conductors (L1, L2), a tensile force profile of a tensile force acting along the gripped conductor (L1, L2) is measured with the force moment sensor at the gripping device (1) during the stretching movement and from a measurement value of the tensile force curve measured at the gripping device (1), it is determined whether the conductor (L1, L2) is connected to the respective contact element with a predetermined holding force and / or whether the associated contact element is mounted in the contact carrier with a predetermined mounting force.

11. The method according to the preceding claim, wherein the two conductors (L1, L2) are connected to each other at least in portions and in particular by twisting, and the two conductors are connected to each other in the third portion and detached from each other in the first and second sections.