Installation configuration and method for mounting a connector housing

Abstract

To enable calibrated gripping by detecting a position and a rotational position when an end of a cable with equipment is inserted into a connector housing.SOLUTION: An equipping arrangement (1) includes an equipping gripping unit having a cable gripper (5) for grasping and gripping a cable (2) and an actuator for operating the cable gripper (5). The equipping arrangement (1) includes an optical detection device (11) for determining the rotational position of an end (3) of a cable with equipment and has an alignment module (10) for the rotationally alignment of the end (3) of a cable with equipment. The detection device (11) is configured to monitor the opening motion of gripper jaws (6, 7) using the detection device (11), to form an intermediate position. The equipping arrangement (1) further includes a control unit (9) for controlling the actuator, and the control unit is connected to the alignment module so that the actuator of the cable gripper (5) can be calibrated with regard to a subsequent gripping process.SELECTED DRAWING: Figure 2

Description

Technical Field

[0002] ,

[0001] The present invention relates to an equipment configuration for equipping a connector housing with a cable end with fittings. Further, the present invention also relates to a method for equipping a cable end with fittings to a connector housing. The equipment is carried out using an equipment gripping unit, the cable gripper of which guides the cable to the connector housing and inserts the cable end into the cell of the connector housing to be fitted. Such an equipment configuration is often downstream of a preparation system. The preparation system may include a stripping station for cutting and stripping the cable, one or more crimping stations for applying crimp contacts to the stripped cable end, and a grommet station if necessary. However, the equipment configuration can also be a component of the preparation system.

Background Art

[0002] The fitting machine is known in cable handling and is used to fit connector housings to desired cables in order to manufacture partial cable harnesses. Contact components (e.g., crimp contacts) are usually already attached to the cable ends, and the contact components fit into the connector housing, enabling electrical connection. When fitting the fitted cable end into the connector housing, i.e., when inserting it, a cable gripper guides the end of the cable into the correct insertion position. Often, after the initial partial insertion of the cable end, it is necessary to re-grip the cable in a rearward position to fully insert the cable end. Thinner cables, in particular, are much more flexible than thicker cables, so thinner cables need to be inserted in an intermediate step of subsequent gripping. As the weight of cable harnesses continues to decrease, the number of thinner cables compared to thicker cables is increasing significantly. Fitting configurations adapted to subsequent gripping are known, for example, from European Patent Application Publication No. 2317613. This fitting configuration includes a cable gripper, the gripper jaws of which can be moved pneumatically on the one hand and motor-driven on the other. The pneumatic cylinder of the pneumatic actuator is used to close the gripper jaws in order to apply the force required for the closing operation. This force must be large enough to allow a pull-out test to be performed after insertion. With the help of the pull-out test, it is possible to determine whether the cable end has been properly inserted into the connector housing, or more precisely, into the corresponding cell of the connector housing. The cable gripper also has an electromechanical drive so that the gripper jaws open only to the extent necessary to form the intermediate position required during subsequent gripping. To some extent, this hybrid gripper uses aerodynamic force and the precision of electromechanical technology. This configuration is complex and expensive due to the dual system of actuators. Furthermore, this configuration requires a relatively large space. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] European Patent Application Publication No. 2317613 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] Therefore, an object of the present invention is to avoid known drawbacks, in particular to create an improved mounting configuration for equipping a cable end with a cable fitting to a connector housing, thereby enabling subsequent gripping of the cable when the cable end is inserted into the connector housing. [Means for solving the problem]

[0005] According to the present invention, this objective is achieved by an equipment configuration having the features of claim 1. An equipment configuration for equipping a cable end with a cable fitting to a connector housing comprises a cable gripper having two gripper jaws for grasping and gripping the cable and an actuator that can be operated by a pressure means for operating the cable gripper.

[0006] The configuration also includes a gripper positioning system, which preferably operates non-contact and is preferably located outside the cable gripper in the configuration. The gripper positioning system is configured, in particular, to determine the position of the gripper jaws during an opening operation to an intermediate position, which is performed as a test. The gripper positioning system is operably connected to the cable gripper so that the cable gripper can be calibrated to the intermediate position by the gripper positioning system. The cable gripper thus calibrated ensures safe and accurate handling of the cable by the cable gripper during the manufacturing stage, and the fitting of the connector housing is performed using the fitted cable end during subsequent gripping. This configuration is characterized by its simple structure and does not require high costs with respect to control technology.

[0007] According to a preferred embodiment, the equipment configuration may include an optical detection device for determining the rotational position of the cable end with the orthotic device and an alignment module for precise rotational alignment of the cable end with the orthotic device.

[0008] A cable gripper and actuator, which can be operated using pressure means, is designed so that, in the closed position of the gripper jaws, the cable can be clamped by the gripper jaws for insertion of the fitted cable end into the connector housing. To enable subsequent gripping, the gripper jaws can be moved from the closed position to an intermediate position using an opening motion. Once the gripper jaws reach the intermediate position, the thus opened cable gripper can be moved back along the cable for subsequent gripping. An optical detection device is preferably designed so that the opening motion of the gripper jaws can also be monitored using this device, thereby ensuring that subsequent cable gripping is performed in a simple and efficient manner when the cable end is inserted into the connector housing. The configuration may include a control unit for controlling the actuator, which is connected to an alignment module so that the cable gripper actuator, which can be operated using a pressure medium, can be calibrated to the intermediate position using data of the gripper jaw opening motion determined by the optical detection device. The configuration features a less complex structure and fewer components overall. Therefore, a compact design is also possible. In particular, the equipment gripping unit, which includes the cable gripper, can be constructed to be relatively slim. The gripper positioning system described at the beginning does not necessarily have to be formed by the detection device of the alignment module described herein. A gripper positioning system having an optical detection device for determining the position of the gripper jaws of the cable gripper can be used for specific applications, for example, to handle contact elements having a circular outer contour in cross-section, which do not need to be aligned for equipment. This detection device can be the same type as, or at least similar to, the detection device of the alignment module described in detail below, except that the rotational position of the equipped cable end is not, or no longer is determined using, this detection device.

[0009] A cable gripper preferably has two gripper jaws that can be moved in opposite directions to grasp and grip a cable. In the closed position of the gripper jaws, the cable can be held in a clamped manner. In this case, the holding takes place within the area of ​​the cable end, which, in principle, is directly or in close proximity to the area of ​​the cable associated with the contact element. A cable gripper that can be operated by a pressure means may preferably have a pneumatic actuator to actuate or start the cable gripper for the movement of the gripper jaws. By actinguating the pressure means, the gripper jaws can be moved toward each other or toward each other to open the cable gripper. The movement toward each other is hereafter referred to as the closing operation, and the closed position corresponds to the end position in which the gripper jaws hold the cable in a clamped manner. When the gripper jaws are moved toward each other, an opening operation takes place, and the open position corresponds to a position in which the gripper jaws are sufficiently far from the cable so that the cable gripper can be removed from the cable and a new cable can be grasped. A pressurizing means is a means of applying pressure to an actuator's operating element (e.g., a piston in a pneumatic cylinder) that can be operated using a pressurizing means, utilizing a fluid (e.g., a gas or liquid). Pneumatic means, particularly compressed air, are preferably used as the pressurizing means. Hydraulic means are also conceivable.

[0010] When mounted in a connector housing, some contact components can only be inserted into the connector housing at specific positions. The purpose of the alignment module is to align the cable end with such contact components. For example, such special contact components may have an outer contour with a rectangular cross-section. For this purpose, an alignment module for rotatable precision alignment of a cable end with a fitting may include a rotating device for rotating the cable around its longitudinal axis. In the case of the optical detection device already described, the rotational position of the cable end with a fitting can be checked after the alignment of the cable end has been performed by the rotating device. The detection device may include, for example, optical means such as a camera or other optical projection sensor, as well as an image evaluation device and optionally an illumination device. An alignment module for rotatable precision alignment of a cable end with a fitting, including a rotating device for rotating the cable around its longitudinal axis and an optical detection device, is shown, for example, in European Patent Application Publication No. 1304773 or European Patent Application Publication No. 3301768. However, the alignment module can be used for cable ends with fittings having contact elements with more or less rotationally symmetrical outer contours, or even for cable ends that have been simply stripped for calibration as described herein with respect to the subsequent gripping process. In the case of this type of cable end, it is not necessary to use the rotating device of the alignment module. In such cases, the rotating device of the alignment module can also be removed from the alignment module.

[0011] The detection device is designed so that, when the gripper jaws are fitted to the connector housing, the opening operation to form an intermediate position for subsequent gripping can be monitored using the detection device. In this monitoring, the operation and / or position data of the opened gripper jaws can be determined at a position corresponding to the intermediate position in the production stage. In this case, the intermediate position is understood to mean the position of the gripper jaws where the gripper jaws no longer clamp the cable but rather hold it loosely. At the intermediate position, the cable is at least partially surrounded radially by the gripper jaws, and as a result, the guiding function can be maintained. For subsequent gripping, the gripper jaws thus opened, or in the intermediate position, can be moved back along the longitudinal axis of the cable (i.e., in the opposite direction to the introduction or insertion direction for inserting the cable end into the cell of the connector housing). The corresponding subsequent gripping is a prerequisite for gradually advancing the cable to fully insert the cable end into the connector housing, which may be particularly essential for thin cables.

[0012] To control the operation of the gripper jaws, the equipment configuration includes a control unit for controlling the actuators that move the gripper jaws, as described above. The control unit is designed so that the actuators can be calibrated with respect to the subsequent gripping process from the closed position to the intermediate position when inserting the fitted cable end into the connector housing, based on data of the gripper jaws' previously performed release operation, determined by a sensing device, and is thus electronically connected to the alignment module. Thanks to the calibration, the accuracy and repeatability required for the subsequent gripping when fitting the fitted cable end into the connector housing can be achieved by the actuators of the cable gripper, which are operated by a pressure medium. Relatively simple actuators can be used. A large number of additional sensors are not required.

[0013] The equipment configuration may further include a transfer device that can transport cables with cable ends between processing stations. Naturally, the cable may be a cable piece equipped with crimp contacts at both ends. The alignment module already mentioned may be such a processing station. Another processing station may be an equipment module in which the insertion of the cable ends into the connector housing is ultimately performed. If necessary, the cable ends may be transported to further processing stations, such as a grommet station, with the help of the transfer device. The transport of the cable can be carried out, for example, by shifting, pivoting, and / or moving the cable along its longitudinal direction.

[0014] The equipment configuration may include a movable carrier for the cable gripper, which can be used to move the cable gripper, for example, from a positioning module to a housing housing of the equipment module that holds the connector housing. The pneumatic cylinder of the actuator may preferably be mounted on the carrier. The actuator may include a pneumatic cylinder preferably configured as a double-acting type, and the actuator may be mounted on the carrier together with the pneumatic cylinder. This configuration has the advantage of allowing for a particularly compact design for the equipment gripping unit.

[0015] For example, to supply compressed air, a pressure medium source such as a compressed air source or a compressed air supply line can be provided. Furthermore, the equipment configuration may have a valve configuration for generating compressed air pulses from compressed air. A control unit can be used to control the valve configuration for generating compressed air pulses of a predetermined duration, for example.

[0016] In a preferred embodiment, the actuator has a valve configuration having at least one control valve designed as a rapid-acting valve (e.g., a magnetically actuated valve), which can apply at least one, and optionally several, compressed air pulses to the actuator, more precisely, to the actuator's actuating element (e.g., the piston of a pneumatic cylinder) for an opening operation to form an intermediate position, as specified by the control unit. The rapid-acting valve can be a magnetically actuated valve. Such a rapid-acting valve can be actuated by an electromagnet and can be switched very quickly. Multiple compressed air pulses can form a series of compressed air pulses, and the number and / or length (or duration) of the series of compressed air pulses can be varied so as to ensure efficient calibration of the cable gripper with respect to subsequent gripping. To determine the length and / or number of compressed air pulses for the desired opening of the cable gripper to the optimal intermediate position, the compressed air pulses are calibrated using an optical detection device of the alignment module.

[0017] In a further embodiment, the actuator may comprise a pneumatic cylinder, preferably configured as a double-acting pneumatic cylinder, and the actuator, or more precisely the valve configuration of the actuator, has at least one control valve designed as a fast-acting valve (e.g., a magnetically actuated valve) for each pressure chamber of the pneumatic cylinder. An orifice valve may be connected to at least one of the control valves, preferably upstream or downstream of the control valve associated with the pressure chamber to be depressurized during opening operation. The orifice valve slows down the pressure drop in the pressure chamber, which dulls the response of the pneumatic cylinder and simplifies control. In addition, the pneumatic system is less sensitive to external forces due to the high pressure in the pressure chamber. The orifice valve is substantially characterized by a short narrowing of the compressed air line. In the case of an orifice valve, the flow rate and pressure drop are largely independent of the viscosity of the pressure medium.

[0018] The control unit can be designed so that both rapid-acting valves of the pneumatic cylinder switch together for a short period of time for a compressed air pulse. Compressed air or another pressure medium flows into the first pressure chamber of the pneumatic cylinder. The compressed air escapes through the orifice valve from the second pressure chamber (the pressure chamber already mentioned above, which depressurizes during the opening operation). As soon as the rapid-acting valve is closed, the gripper jaw is in a stable position because all pressure chambers are pressurized.

[0019] Instead of an orifice valve, a throttle check valve or orifice check valve may be used. These valves allow the cable gripper to close more quickly. However, such a design results in a slightly reduced repeatability of partial opening. Closing the check valve requires a certain amount of air, which is difficult to determine.

[0020] The actuator, or more precisely the valve configuration of the actuator, may have two control valves configured as rapid-acting valves for each pressure chamber, and the orifice valve may preferably be connected upstream or downstream of at least one of the control valves, preferably one of the control valves assigned to the pressure chamber to be depressurized during the opening operation.

[0021] The equipment configuration can be set up so that both gripper jaws are gear-connected to each other and to the piston of the pneumatic cylinder for the joint operation of the gripper jaws by a single pneumatic cylinder, and as a result, the two gripper jaws can be moved simultaneously. However, it is also conceivable to assign a pneumatic cylinder to each gripper jaw. Simultaneous operation of the two gripper jaws can be ensured by appropriate control.

[0022] The detection device for the alignment module may have a camera, preferably a digital camera, or an image acquisition module having at least two line sensors arranged in different directions to determine the rotational position of the cable end with the fitting and to determine the movement and / or position data of the open gripper jaw in an intermediate position. The line sensors may be, for example, CCD or CMOS line sensors. In addition to the camera or image acquisition module, the detection device may include an image evaluation device for evaluating the image data generated by the camera or image acquisition module, and preferably an illumination device. The two different directions in which the line sensors are positioned, or in which the line sensors extend, may preferably extend perpendicular to each other. For example, one line sensor may be a horizontal line sensor and the other a vertical line sensor. The gripper positioning system described at the beginning may also have a digital camera or image acquisition module having at least two line sensors arranged in different directions.

[0023] When the camera is positioned within the effective range of the alignment module, the camera can be positioned in a front position with respect to a longitudinally axis predetermined by the equipment gripping unit. Accordingly, the longitudinally axis designated by the cable gripper is also referred to hereinafter as the "longitudinal axis of the gripper". This longitudinal axis preferably extends coaxially with the longitudinal axis of the cable when the cable is picked up by the cable gripper. Further, the optical axis of the camera preferably substantially lies on the longitudinal axis of the gripper or on the longitudinal axis of the cabled end with fittings held by the cable gripper when the cable gripper is within the effective range of the alignment module. For the setting process for setting the cable gripper with respect to subsequent gripping, the camera can see axially to a certain extent at the front end of the cable gripper. During the alignment process, the camera can see axially to a certain extent at the front end of the cable. In the case of the image acquisition module, it is advantageous if at least two line sensors of the image acquisition module are preferably on a plane extending perpendicular to the longitudinal axis.

[0024] When the above-described camera is used as a detection device, it can be advantageous if markings are attached to the end face of the gripper jaw, whereby the image evaluation can be simplified.

[0025] The detection results for checking the corresponding intermediate position can be optimized when each gripper jaw has a jaw knob. The jaw knob is understood to be a protruding extension molded onto the jaw base body. In this case, the cable gripper has two opposing, preferably semi-shelled, jaw knobs. The jaw knobs form extensions that project axially away from the corresponding associated jaw base body, and between these extensions, the cable can be held clamped, as in the case of the jaw base body. To determine the operation and / or position data of the gripper jaws that are open to an intermediate position, the cable gripper can be introduced into an image acquisition module via the jaw knobs. When the jaw knobs are introduced into an image acquisition module, i.e., when the extensions are inserted into the image acquisition module or penetrate its recording area, the jaw knobs, or at least the front end or tip of the jaw knobs, are adjacent to or between line sensors, so that the corresponding line sensors can record the front end of the jaw knobs and, thereby, image data of the gripper jaws.

[0026] A further aspect of the present invention relates to a method for mounting a cable end fitted with a cable to a connector housing, the mounting configuration described above is used in particular to this method. The method for mounting a cable end fitted with a cable to a connector housing may include the following steps for or during the manufacturing stage: the cable end of the cable is fixed to a alignment module using a cable gripper such that the cable gripper holds the cable in a closed position clamped between the two gripper jaws of the cable gripper. Rotary precision alignment of the cable end is checked in or using the alignment module and, if necessary, aligned using a rotating device for rotating the cable around its longitudinal axis. Compressed air can be applied to the actuator of the cable gripper so that the cable is held clamped between the two gripper jaws of the cable gripper in the closed position to form the closed position. Subsequently, the checked and, if necessary, aligned cable ends are inserted into the connector housing by the cable gripper. After the cable is initially advanced, if the cable ends are not yet fully inserted into the connector housing during or after the advancement, one or more subsequent gripping actions are performed to gradually advance the cable further, and the gripper jaws are opened to an intermediate position for further gripping.

[0027] The method according to the invention comprises, at least before the manufacturing stage, the following steps for setting a pneumatically drivable cable gripper with respect to subsequent gripping in the manufacturing stage, namely, sending the cable gripper (preferably without a cable) to an alignment module having an optical detection device or to a gripper positioning system, wherein the accurate rotational alignment of the cable end can be checked using the optical detection device, and calibrating the cable gripper by moving the gripper jaws of the cable gripper from the closed position in the opening direction to form an intermediate position using at least one compressed air pulse as a test, wherein the movement and / or position data of the open gripper jaws are determined using the optical detection device of the alignment module or the gripper positioning system. The purpose of the calibration with respect to subsequent gripping is to determine the optimal parameters for applying compressed air to the actuator when inserting the cable end with a fitting into the connector housing. By means of at least one compressed air pulse, the gripper jaws are moved from the closed position to the open position, which open position corresponds to the intermediate position of the subsequent production stage. The movement and / or position data of the gripper jaws thus opened are determined by the optical detection device of the alignment module and used for calibrating the cable gripper. Alternatively, the movement and / or position data of the gripper jaws thus opened can also be determined by the above-mentioned gripper positioning system and used for calibrating the cable gripper. The data thus determined can be compared with the desired state regarding the intermediate position, and if the desired state is not reached, the parameters of at least one compressed air pulse are adjusted and the process is repeated. By using the alignment module for calibrating a pneumatically drivable cable gripper with respect to subsequent gripping in the manufacturing stage, the configuration for equipping the cable end with a fitting into the connector housing can be easily and efficiently set and operated.

[0028] During the manufacturing stage, the insertion of the cable end into the connector housing can therefore be performed by the cable gripper in the following manner: after the cable has been initially advanced, if the cable end is not yet fully inserted into the connector housing during or after the advancement, one or more subsequent gripping operations are performed to further gradually advance the cable, and an intermediate position of the gripper jaws is set using at least one compressed air pulse obtained from calibration for the subsequent gripping, the intermediate position being based on an operating amount determined during calibration with respect to at least one compressed air pulse.

[0029] During calibration, each gripper jaw can be moved to an intermediate position by a compressed air pulse, and the length of the corresponding compressed air pulse is changed to form the individual intermediate position.

[0030] During calibration, a series of compressed air pulses can also be used to move the gripper jaws to an intermediate position. Therefore, the manipulated variable can also specify a series of compressed air blowouts.

[0031] During calibration, the gripper jaw can be moved to intermediate positions (one intermediate position per sequence), particularly preferably using several sequences of compressed air pulses, the length (or duration) and / or number of compressed air pulses being changed within the sequence.

[0032] If the optical detection device is a camera, or includes a camera, it can be advantageous for calibrating the cable gripper if the gripper jaws are within the camera's focal range. Alternatively, it can be advantageous if the camera or the camera's lens settings are adjusted so that the camera focuses on the gripper jaws for calibration. When aligning, the focus can be on the crimp contact or other contact element of the fitted cable end.

[0033] If the optical detection device is an image acquisition module having at least two line sensors arranged in different directions, or comprises such an image acquisition module, it is advantageous that the cable gripper is introduced at least partially into the image acquisition module during the calibration process, for example, via its jaw grips, so that at least a portion of the cable gripper (e.g., at least the front end or tip of the jaw grips) is accepted into the observation area of ​​the line sensors.

[0034] Calibration is advantageous when performed at the start of manufacturing. To ensure reliable equipment over the long term, it may be advantageous to repeat calibration at predetermined intervals after the initial calibration at the start of manufacturing.

[0035] Further individual features and advantages of the present invention can be found in the following description and drawings of embodiments. [Brief explanation of the drawing]

[0036] [Figure 1] This is a perspective view of a system for manufacturing cables, comprising a cable gripper and an alignment module for rotatable, precise alignment of the cable end with an orthotic device, and an equipment configuration for mounting the orthotic device to a connector housing. [Figure 2] This figure shows an equipment configuration for securing a cable end with an orthotic device to a connector housing using a pneumatically driven cable gripper of an equipment gripping unit during the alignment process of an alignment module with a camera using an optical detection device. [Figure 3] This figure shows the equipment configuration from Figure 2 during the calibration process for calibrating the cable gripper relative to the intermediate position. [Figure 4a] This is a side view of the configuration shown in Figure 3. [Figure 4b] This is a plan view of the configuration shown in Figure 3. [Figure 5] This is a rear view of the configuration from Figure 3 (line of sight along the longitudinal axis of the cable or gripper). [Figure 6] This diagram shows a modified cable gripper for equipment configuration, in a front view. [Figure 7] This diagram shows a cable gripper configured as a double gripper for equipment configuration. [Figure 8a] This is a perspective view of an equipment configuration for mounting a cable end with an attachment to a connector housing, comprising a cable gripper of an equipment gripping unit and an alignment module having an optical detection device with a CCD module, wherein the cable gripper is positioned outside the effective range of the CCD module. [Figure 8b] This figure shows the equipment configuration from Figure 6b, which includes a cable gripper advanced within the effective range of the CCD module for calibration. [Figure 9a] This is a side view of the configuration shown in Figure 8a. [Figure 9b] Figure 8b is a side view of the configuration shown. [Figure 10] This figure shows the pneumatic scheme for the actuator used to move the cable gripper in the equipment configuration. [Figure 11] This figure shows a pneumatic scheme for an alternative actuator to move the cable gripper in the equipment configuration. [Figure 12] This figure shows a pneumatic scheme for a further embodiment of an actuator for moving a cable gripper in an equipment configuration. [Modes for carrying out the invention]

[0037] Figure 1 shows a system for manufacturing cable 2. The system comprises a mounting configuration 1 having a cable gripper 5 of a mounting gripping unit and an alignment module 10 for rotary, precise alignment of the fitted cable end. The preparation system shown as an example also comprises a looper 46 for forming a cable loop. The preparation system then comprises a stripping station 47, a grommet station 48, and a crimping station 49. Except for the special mounting configuration 1, the preparation system substantially corresponds to the system shown in European Patent Application Publication No. 1304773. The cable gripper 5 is mounted on a carrier 45 that can be moved in the y direction. The cable gripper 5 comprises an alignment module 10 and a connector housing 41 that can be moved (in directions x, y, z) between it and the mounting module indicated by 40. The introduction or insertion direction for inserting the fitted cable end into the cell of the connector housing is in the x direction. For the subsequent gripping, which will be described in detail below, the cable gripper 5 is moved back a short distance along the cable, i.e., in the opposite direction to the insertion direction (direction x of movement).

[0038] Equipment Configuration 1, described in detail below, may also be used in other preparation systems. Equipment Configuration 1 can also be provided as a standalone system. Integration of Equipment Configuration 1 is not required in the type of preparation system shown in Figure 1. Naturally, instead of cable loops, Equipment Configuration 1 can also handle other cable shapes, such as cables coming in from a cable store or individual straight sections of cable.

[0039] Figure 2 shows an overall configuration, indicated by 1, for mounting a fitted cable end 3 of a cable 2 to a connector housing 31. In Figure 2, the cable 2 has a cable end 3, for example, which is equipped with a crimp contact. L is defined by the cable gripper 5 and represents the longitudinal axis corresponding to the longitudinal axis of the cable 2 when the cable 2 is acted upon by the cable gripper 5. In the case of such a crimp contact, it is important that the alignment of the fitted cable end 3 is checked and the cable is aligned as necessary, i.e., positioned in the correct rotational position. As shown in this case, the crimp contact may have, for example, a rectangular outer contour in cross-section. The cell of the connector housing corresponding to this crimp contact is indicated by 44. Of course, the cable end 3 may also be provided with crimp contacts of other shapes or other contact elements. For any required alignment, the equipment configuration 1 has an alignment module 10 for rotatable, precise alignment of the orthotic cable end 3, which comprises a rotating device 32 for rotating the cable 2 around its longitudinal axis L (the direction of rotation is indicated by a double arrow w) in at least the area of ​​the cable end, and an optical detection device 11 for determining the rotational position of the orthotic cable end 3. The cable or its cable end can optionally be transported between processing stations using a transport device.

[0040] Details regarding the structural design of such a rotating device 32 of the alignment module can be found in the European Patent Application Publication No. 1304773, which has already been mentioned.

[0041] Equipment configuration 1 further comprises an equipment gripping unit having a cable gripper 5 with two oppositely movable gripper jaws 6, 7 for grasping and gripping a cable 2. A pneumatic actuator (not shown here) is provided to move the gripper jaws 6, 7, which can be controlled by a control device shown in 9.

[0042] The optical detection device 11 includes a camera 14, preferably a digital camera, which is positioned at the front of the equipment configuration and oriented axially at the front end of the cable end 3.

[0043] During actual installation, i.e., during the manufacturing phase, while introducing or inserting the fitted cable end 3 into the corresponding cell of the connector housing, the cable gripper 5 guides the cable end 3 to the correct insertion position (e.g., within cell 44). For example, in the case of a thin cable 2, after initially partially inserting the cable end 3, it may be necessary to re-gripping the cable 2 in a rearward position to fully insert the cable end 3. This intermediate step required is known as subsequent gripping and is common. The installation configuration 1 shown here and described in detail below is adapted for such subsequent gripping.

[0044] For subsequent gripping, the gripper jaws 6 and 7 need to be in an intermediate position, in which case they no longer hold the cable 2 in the crimping manner as in the closed position, but firmly grip it so that the gripper jaws 6 and 7 can move along the cable 2 during the retraction movement. The gripper jaws open to the intermediate position and then move back to their original position. The cable 2 remains guided by the gripper jaws 6 and 7.

[0045] Figure 3 shows the same equipment configuration 1, but in this case, during the setup process of the cable gripper 5 before the manufacturing stage, during which the cable gripper is calibrated to an intermediate position. The cable gripper 5 or its actuator is calibrated to set the optimal intermediate position for subsequent gripping. During calibration, the actuator first receives a predetermined first compressed air pulse, and then the gripper jaws are partially opened. The corresponding opening directions of the gripper jaws 6 and 7 are indicated by arrow e. The intermediate position reached is then checked using a camera 14 with an image evaluation means indicated by 17. If the detection device 11 confirms that the desired intermediate position has not been reached, the cable gripper 5 is closed again, and the process is repeated, where two or more blows of compressed air are applied with the same duration of the corresponding compressed air blows. Alternatively, when the process is repeated, the duration of the compressed air blows may be changed, and only one blow of compressed air may be applied again. In this case, the length of the compressed air pulse is changed.

[0046] The optical detection device 11 for determining the rotational position of the equipped cable end 3 is designed so that a camera 14 can also be used to monitor the opening operation of the gripper jaws 6, 7 in order to form an intermediate position for subsequent gripping for later mounting of the connector housing. Thus, the operation and / or position data of the open gripper jaws 6, 7 in the intermediate position can be detected using the optical detection device 11. The control unit 9 is designed to be able to calibrate the actuator 8 with respect to the subsequent gripping process based on the data of the previously performed opening operation of the gripper jaws 6, 7 determined by the detection device 11, and is connected to the alignment module 10 having the detection device 11.

[0047] The cable gripper 5 is positioned on a carrier 45 (not shown in this case). After the calibration process is complete, the cable gripper 5 is fully set up, at least for subsequent gripping. During the manufacturing phase, the cable 2 can be guided into a housing housing device 33 that houses one or more connector housings, and the cable end can be inserted into the connector housing. When the cable gripper 5 inserts the cable end 3 into the connector housing, if the cable end 3 is not yet fully inserted into the connector housing after the cable 2 has initially advanced, during or after advancement, one or more subsequent gripping operations are performed to further gradually advance the cable 2, and intermediate positions of the gripper jaws 6, 7 are set for subsequent gripping, and these intermediate positions are based on the amount of operation of at least one compressed air pulse determined during calibration. Calibration is performed at the start of manufacturing. For example, in the case of longer manufacturing runs, it may be necessary to repeat the calibration at predetermined intervals.

[0048] Figures 4a and 4b relate to further diagrams of the configuration shown in Figure 3.

[0049] As can be seen from Figures 2, 3, 4a, and 4b, the cable gripper 5 is composed of two parts, each of which consists of a jaw base body 18 having a jaw knob 19 formed thereon. In particular, as can be seen from Figure 5, the two gripper jaws 6 and 7 have groove-like recesses for receiving cables. Other shapes are possible instead of the groove-like recesses shown here, which define a rhomboid inner contour in cross-section. For example, the groove-like recesses may form a semicircle in cross-section.

[0050] Figure 6 shows a modified cable gripper 5, in which markings 31 are attached to the end faces of the gripper jaws 6 and 7, allowing for simplified image evaluation with the help of the markings. From this figure, it can also be seen that at the intermediate position, there is a small gap between the cable 2, indicated by the dashed line, and the gripper jaws 6 and 7.

[0051] Equipment configuration 1 may also have a cable gripper 5 configured as a double gripper. An example of such a cable gripper 5 is shown in Figure 7. The cable gripper 5 shown here is further characterized by having gripper jaws 6, 7, 6', and 7' that are designed to be different. A virtual caliper for measuring the gripper jaws in the image evaluation program is shown by a dashed line. The virtual caliper is attached to the outer contours of the gripper jaws 6, 7, 6', and 7', from which positional data of the gripper jaws can be obtained. Once the outer contours are identified, the achieved position of at least one compressed air pulse can be measured. Naturally, data on the release operation of the gripper jaws 6 and 7 can be determined using other known image measurement methods.

[0052] The equipment configuration 1 shown in Figures 8a, 8b and 9a, 9b includes an optical detection device 11 for determining the rotational position of the orthotic cable end 3, which comprises an image acquisition module 30 designated as a CCD module. The CCD module 30 includes two CCD line sensors 15, 16 positioned in different directions and placed together at the same height, an image evaluation device (not shown here) for evaluating image data generated by the CCD module, and preferably an illumination device. Line sensor 15 is a horizontally extending line sensor, while the other or second line sensor 16 extends vertically. For calibration, the cable gripper 5 is introduced into the CCD module 30 via a jaw knob 19 (see Figures 8b and 9b). Instead of the CCD module 30 shown here, another image acquisition module having at least two line sensors positioned in different directions may be used. In particular, CMOS line sensors can be used as line sensors 15, 16.

[0053] The pneumatic actuator 8 for operating or starting the cable gripper 5 of the equipment configuration 1 has a valve configuration having at least one control valve that can be actuated by a control unit 9, and by at least one control valve, the actuator 8 can be actuated for at least an opening operation to form an intermediate position using at least one compressed air pulse. A first modification of this actuator relates to Figure 10. Figure 10 shows a pneumatic scheme relating to the actuator. The actuator 8 comprises a pneumatic cylinder 20 configured to be double-acting. The pneumatic cylinder 20 has a piston 23 as an actuating element. The movement of the piston for opening the cable gripper is indicated by arrow e. A compressed air source is represented by 22. Compressed air can be supplied, for example, by a dedicated compressed air source or a compressed air supply line. The valve configuration of the actuator has two control valves 26, 27 configured as fast-acting valves, with each control valve assigned to a pressure chamber 24, 25. An orifice valve 28 is connected upstream of the control valve 26 associated with the pressure chamber 24 which decreases during the opening operation. The orifice valve 28 slows down the pressure drop in the pressure chamber 24, which slows down the response of the pneumatic cylinder 20 and simplifies control via the control unit 9. In addition, the pneumatic system is less sensitive to or less affected by external forces due to the high pressure in the pressure chamber. The valve configuration 29 also has a 5 / 2 directional valve following the compressed air source 22.

[0054] Figure 11 shows the pneumatic scheme of actuator 8, which has two pneumatic cylinders 20 and 21 and a valve configuration for the simultaneous operation of the gripper jaws. The valve configurations for each of the pneumatic cylinders 20 and 21 correspond approximately to those in Figure 10.

[0055] Figure 12 relates to a modification of actuator 8 having two pneumatic cylinders 20 and 21. The valve configuration has a total of eight rapid-acting valves, i.e., four rapid-acting valves per pneumatic cylinder. In contrast to the embodiment shown in Figure 11, a 5 / 2 directional valve is not required. For the pneumatic cylinder represented by 20, the four rapid-acting valves are the associated valves 26, 34, 27, and 35. This modification has the advantage of being able to quickly close the cable gripper. The valve configuration results in the end pressure in the closed pneumatic cylinder being reached quickly, which is particularly advantageous for opening the gripper jaws with repeatability. The pneumatic circuit shown in Figure 12 functions quickly with repeatability and also works with longer pneumatic hoses (at least up to about 1 m in length). This makes it possible to install the rapid-acting valves without moving them, and thus the mass of the fitted gripper can be kept small. In addition, this modification is characterized by relatively low compressed air consumption. [Explanation of symbols]

[0056] 1. Equipment Configuration 2 Cables 3. Cable end with orthotic device 5 Cable Gripper 6, 7, 6', 7' Grippa Joe 8 Actuators 9 Control device 10 Alignment Module 11 Optical detection device 14 Cameras 15, 16 Two CCD line sensors 17 Image evaluation means 18. Jaw Base Main Unit 19 Joe's snacks 20 Pneumatic cylinders 22 Compressed air source 23 pistons 24, 25 Pressure chamber 26, 27, 34, 35 Control valves 28 Orifice valve 29 Valve configuration 30 Image acquisition module 31 Marking 32 Rotating device 33 Housing housing device 40 Equipment Modules 41 Connector Housing 44 cells 45 Carriers 46 Loops 47. Peeling Station 48 Grommet Stations 49 Crimping Station e Opening direction L-shaped cable longitudinal axis x, y, z directions of movement

Claims

1. An equipment configuration (1) for mounting the cable end (3) with an attachment of the cable (2) to the connector housing (41), - A cable gripper (5) having two gripper jaws (6, 7) for grasping and holding a cable (2), and an actuator (8) that can be operated by a pressure means for operating the cable gripper (5) so that the cable (2) can be held in a clamped closed position by the gripper jaws (6, 7) for inserting the fitted cable end (3) into the connector housing, and so that the gripper jaws (6, 7) can be moved from the closed position to an intermediate position by an opening operation for subsequent gripping, - A gripper positioning system configured to determine the position of gripper jaws (6, 7), wherein the gripper positioning system is operably connected to the cable gripper (5) so that the cable gripper (5) can be calibrated to an intermediate position by the gripper positioning system, Equipped with, The equipment configuration (1) includes an optical detection device (11) for determining the rotational position of the orthotic cable end (3) and an alignment module (10) for precise rotational alignment of the orthotic cable end (3). An optical detection device (11) for forming a gripper positioning system is designed so that the opening operation of the gripper jaws (6, 7) can be monitored using the optical detection device (11), and the equipment configuration (1) is characterized in that it comprises a control unit (9) for controlling an actuator (8), and this control unit is connected to an alignment module (10) so that the actuator (8) of the cable gripper (5) can be calibrated to an intermediate position based on data of the opening operation of the gripper jaws (6, 7) determined by the optical detection device (11).

2. The equipment configuration (1) according to claim 1, characterized in that the actuator (8) comprises a pneumatic cylinder (20), and the actuator (8) has a pneumatic cylinder (20) attached to a carrier (45).

3. The equipment configuration (1) according to claim 1 or 2, characterized in that the actuator (8) has at least one control valve (26, 27) so that the actuator (8) can be acted upon for at least an opening operation using at least one compressed air pulse.

4. The equipment configuration (1) according to any one of claims 1 to 3, characterized in that the actuator (8) comprises a pneumatic cylinder (20), and the actuator (8) has control valves (26, 27) configured as rapid-acting valves for each pressure chamber (24, 25), and the orifice valve (28) can be connected upstream or downstream of at least one of the control valves (26, 27) and the control valve (26) associated with the pressure chamber (24) that depressurizes during opening operation.

5. The equipment configuration (1) according to any one of claims 1 to 4, characterized in that the actuator has two control valves (26, 34, 27, 35) configured as rapid-acting valves for each pressure chamber (24, 25).

6. The equipment configuration (1) according to any one of claims 1 to 5, characterized in that the gripper positioning system, in particular the optical detection device (11), has a camera (14) or an image acquisition module (30) having at least two line sensors (15, 16) arranged in different directions.

7. The equipment configuration (1) according to claim 6, characterized in that the camera (14) is positioned in a front position with respect to a predetermined longitudinal axis (L) by a cable gripper, or at least two line sensors (15, 16) of the image acquisition module (30) are on a plane perpendicular to the longitudinal axis (L).

8. The equipment configuration (1) according to claim 7, characterized in that each gripper jaw (6, 7) has a jaw knob (19), and the cable gripper (5) can be introduced into the image acquisition module (30) via the jaw knob (19).

9. A method for mounting a fitted cable end (3) of a cable (2) to a connector housing (41) using the equipment configuration (1) described in any one of claims 1 to 8, wherein during the manufacturing stage, the cable end (3) is inserted into the connector housing (41) by a cable gripper (5), and after the cable (2) has been initially advanced, if the cable end (3) is not yet fully inserted into the connector housing during or after the advancement, one or more subsequent gripping operations are performed to gradually advance the cable, the gripper jaws (6, 7) are opened to an intermediate position for subsequent gripping, and the following steps are performed prior to the manufacturing stage to set the cable gripper (5) for subsequent gripping in the manufacturing stage, i.e. - A step of sending the cable gripper (5) to a gripper alignment system, in particular a step of sending it to an alignment module (10) having an optical detection device (11) capable of checking the rotational and precise alignment of the cable end (3), - A step of calibrating the cable gripper (5) to an intermediate position by moving the gripper jaws (6, 7) of the cable gripper (5) from a closed position to an open position with at least one compressed air pulse in order to form an intermediate position as a test, wherein the operation and / or position data of the thus opened gripper jaws (6, 7) are determined using a gripper positioning system, in particular using an optical detection device (11) of an alignment module (10), The method by which it is executed.

10. The method according to claim 9, characterized in that during calibration, the gripper jaws (6, 7) are moved to an intermediate position using compressed air pulses, and the length of the corresponding compressed air pulses is changed.

11. The method according to either claim 9 or claim 10, characterized in that during calibration, the gripper jaws (6, 7) are moved to an intermediate position by several sequences of compressed air pulses, the length and / or number of compressed air pulses being varied within the sequence.

12. In a gripper positioning system, particularly if the detection device (10) is a camera (14) or includes a camera, the gripper jaws (6, 7) are moved within the focal range of the camera (14), or the camera or the lens setting of the camera (14) is adjusted so that the camera (14) focuses on the gripper jaws (6, 7) for calibration, or The method according to any one of claims 9 to 11, wherein the gripper positioning system, in particular the detection device (10), is an image acquisition module (30) having at least two line sensors (15, 16) arranged in different directions, or if it comprises an image acquisition module, the cable gripper (5) is at least partially introduced into the image acquisition module (30) during the calibration process.

13. The method according to claim 12, characterized in that the cable gripper (5) is initially calibrated at the start of manufacturing, and then the calibration is repeated at predetermined intervals.

Images