EP1981133A1 - Cable processing device - Google Patents

Cable processing device Download PDF

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Publication number
EP1981133A1
EP1981133A1 EP08002108A EP08002108A EP1981133A1 EP 1981133 A1 EP1981133 A1 EP 1981133A1 EP 08002108 A EP08002108 A EP 08002108A EP 08002108 A EP08002108 A EP 08002108A EP 1981133 A1 EP1981133 A1 EP 1981133A1
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EP
European Patent Office
Prior art keywords
gripper
processing device
carriage
motor
cable processing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08002108A
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German (de)
French (fr)
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EP1981133B1 (en
Inventor
Stefan Neubauer
Alexander Wuhrer
Markus Schäfer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaefer Werkzeug und Sondermaschinenbau GmbH
Original Assignee
Schaefer Werkzeug und Sondermaschinenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Schaefer Werkzeug und Sondermaschinenbau GmbH filed Critical Schaefer Werkzeug und Sondermaschinenbau GmbH
Priority to PL08002108T priority Critical patent/PL1981133T3/en
Publication of EP1981133A1 publication Critical patent/EP1981133A1/en
Application granted granted Critical
Publication of EP1981133B1 publication Critical patent/EP1981133B1/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26

Definitions

  • the invention relates to a cable processing device, comprising a pivot arm which is fixed to a horizontally pivotable and slidable in the longitudinal direction of the pivoting carriage and carries at the front ends a head in which at least a gripper and a nozzle tube are receivable, wherein a first motor for the pivoting of the carriage, a second motor for the displacement of the carriage and a third motor for operation of the gripper is provided, and wherein the third motor comprises a relatively movable working member, which is connected by at least one actuator with the gripper, the force-conducting the gripper attacks.
  • Such a cable processing device is known from EP 1447888 known.
  • the gripper drive is mounted in the pivot arm, which, taken as a whole, leads to a relatively low weight, but makes it necessary to connect the gripper drive and the associated, stationary devices by flexible pressure fluid hoses and / or supply cable. This results in the continuous flexing of the flexible fluid hoses and / or supply cables during normal operation of such cable handling equipment and leads to frequent failures and operational stoppages of the equipment.
  • the invention is based on the object to further develop such a device so that with a still more reduced weight of the relatively moving parts no more bridging the carriage, flexible hoses or cables are more needed for an operation of the gripper.
  • the third motor is mounted stationary in a guide receiving the carriage or in a machine frame supporting the guide and that the actuator articulated and / or flexibly bridging the carriage with the Gripper is connected.
  • the invention is based on the recognition that the Amplitude of the pivoting movements and the reciprocating displacement of the carriage are only small in size and can be easily overcome by a correspondingly designed actuator, in particular, when the parts carrying the swivel arm are hollow.
  • the actuator can then be proportionately arranged within the parts and connect the parts located outside, in particular the third motor and the gripper with each other.
  • the third motor can therefore be stored stationary as well as the other motors with the advantage that the moving parts of the cable processing device are completely relieved of its weight and inertial mass and that no flexible and thus interference-prone cables and supply lines are more needed for its operation.
  • the swivel arm can be much easier than previously built and accelerated faster with low driving forces, slowed down and moved as before.
  • the third motor may be formed by at least one piston / cylinder unit and / or an electric motor, i. through economically available units in the market.
  • the actuator comprises at least one cable that penetrates the guide centrally or a belt that is directly or indirectly connected to the gripper.
  • the rope can be replaced in at least one sub-area by a karsteifes linkage. The initial strain which results in ropes under a continuous load can thereby be reduced.
  • low-stretch cross-cut ropes made of steel are used.
  • the actuator may comprise a shaft rotatable about its axis, which is received in the pivot arm and engages the gripper.
  • the gripper can include two counter-driven gripper jaws, with intermeshing teeth or serrations are provided to securely grasp the cable to be processed.
  • the shaft is designed to reduce the weight and inertia hollow. It can be made of aluminum or of a fiber-reinforced plastic.
  • the shaft In order to put the shaft in the pivoting movement required for an actuation of the gripper, it is possible to deflect the pivoting movement as such directly to the working member of the third motor.
  • This can be achieved by at least one flexible bevel drive and / or a propeller shaft, which bridge the carriage.
  • the invention is based on the recognition that the absolute size of the displacement of the pivot arm in the carriage is only of small size and is only about 20 mm.
  • the third motor of 300 to 600 mm from the deflection results in a back and forth displacement of the carriage only a correspondingly small angular displacement in such a bevel gear or in a propeller shaft.
  • the latter can also be formed by a recorded in a hose, flexible coil spring.
  • a use of constant velocity joints is also possible and offers as well as the use of cardan shafts the advantage of extensive backlash.
  • the shaft may be further rotatable by at least one cable, a belt or a linkage, which bridge the carriage.
  • the operationally necessary pivoting movement can not lead to reactions in the actuator, which are transmitted to the gripper. It may be necessary or useful, as necessary, to completely suppress a forwarding of torsional stresses during a pivoting movement by means of an interposition of joints.
  • the gripper can be brought by the actuator only in the closed position and if at least one return spring is provided for the opening. It can be placed so that the gripper jerkily opens when decommissioning of the third motor to shake off any adhering abrasion of the cable to be processed each, which is advantageous for improving the reliability and reduces the cleaning effort.
  • a return spring is also mounted stationary and connected by a traction element bridging the carriage with the gripper.
  • a cable processing device comprising a pivot arm 1, which is fixed to a horizontal axis about a vertikae axis and slidable in the longitudinal direction of the pivot arm 1 slide 2 and which carries a head 3 at the front end, in which at least one gripper 4 and a nozzle tube are receivable, wherein a first motor 5 for the pivoting of the carriage 2, a second motor 6 for the displacement of the carriage 2 and a third motor 7 is provided for an actuation of the gripper 4 and wherein the third motor 7 is a relative comprises movable working member which is connected by at least one actuator 8 with the gripper 4 and force-conducting attacks it.
  • the pivot arm 1 consists of two arms 1.1, 1.2 which are arranged at a distance from each other and allow to move the attached at the front end head 3 in the vertical direction.
  • it is defined on the one hand on a projection of the carriage 2 and on the other hand on the head 3 in joints with pivot axes which extend transversely to his pivot axis.
  • the arms 1.1, 1.2 may be made of light metal and hollow to reduce the weight.
  • a vertical swing is sufficient to bring the head 3 in the respective correct height in front of each tool to be loaded.
  • the required stroke is less than 15 mm, usually less than 10 mm.
  • the carriage 2 is mounted about the vertical axis of its guide 11 pivotally mounted in a machine frame 9 and parallel to the longitudinal direction of the pivot arm 1 in its guide 11 forward and advocatesschiebbar. Also, this movement is required to put your head in the right position in front of you to bring each tool.
  • the length of the feed path is generally max. 70 mm.
  • the length of the swing arm 1 can be almost any size. In order to enable fast pivoting movements and power strokes, it is desirable to keep the weight as low as possible and to make the length no longer than necessary to reach the various tools.
  • the cable processing device is placed with its machine frame 9 so that a not shown in the drawing, to be processed cable can also be supplied to the tools of various cable processing stations, also not shown, which are nikbogenfömig distributed around the vertical axis of the guide 11.
  • a forward movement of at least the gripper 4 is usually carried out to thread the cable held by it in the tools of the relevant cable processing station and edit and a vertical alignment of the head to the required level.
  • the mounted on the carriage 2 pivot arm 1 is included in the forward movement.
  • the third motor 7, which is required for an actuation of the gripper 4, is mounted stationarily in a carriage 2 receiving guide 11 or in a guide 11 supporting the machine frame 9 and the actuator 8 the carriage 2 articulated and / or flexible bridging with the Gripper 4 connected to the driving forces despite the operational relative movements of the many articulated or relatively displaceable interconnected parts transmitted to the gripper 4 can.
  • the third motor 7 forms by be stationary storage is not part of a pan or Feed movement to be accelerated inertial masses of the carriage and / or the swivel arm. With the same drive power, it is possible to achieve much greater acceleration and deceleration than before. In addition, no interference-prone, flexible cables and / or cables are required for an actuation of the third motor 7.
  • the third motor 7 may be formed by at least one piston / cylinder unit and / or an electric motor. In the present case, it consists of an electromotive stepper motor, which acts on the actuator 8 by means of a belt drive.
  • the guide of the carriage 11 is mounted by means of a hollow shaft 12 in the machine frame 9, through which the actuator 8 is passed vertically.
  • the actuator 8 in this case comprises the guide 11 and the carriage 2 flexibly bridging ropes 10, which are deflected by rollers and cause a relative rotation of a shaft 8.1, which is connected to the gripper 4. It may, if necessary, be proportionately replaced by a linkage to reduce the initially resulting strains of ropes.
  • Cross-cut ropes are preferably used.
  • a use of timing belt is also possible. They should not be too wide, to be able to absorb the deformations resulting from a shift back and forth.
  • the shaft 8.1 rotatable about its axis is mounted vertically pivotable in the head 3 and the projection of the carriage 2 and engages directly on the gripper 4.
  • the latter consists of two oppositely driven jaws, which are mounted on bevel gears 3.1, 3.2 mounted opposite each other in the head 3, which engage in common with a further bevel gear 3.3 and thereby always together towards each other or from each other move away.
  • the shaft 8.1 can also bridge the carriage 2 at least at one of the two deflection points with at least one flexible bevel drive and / or one with a propeller shaft.
  • a flexible bevel gear is in this sense to understand a bevel gear, the bevel gears having mutually engaging teeth and which are relatively pivotable to the extent necessary, without the teeth get out of engagement.
  • the propeller shaft can also be formed by a flexible coil spring accommodated in a hose, which, although it results in a comparatively lower switching precision, considerably reduces production.
  • the propeller shaft may also be formed at the deflection by cardan or constant velocity joints.
  • the shaft 8.1 can be designed to be rotatable by at least one cable, a narrow belt or a linkage which bridges the carriage 2 at at least one deflection point 10.
  • the gripper 4 can also be made sensible that it can be brought by the actuator 8 motor only in the closed position, wherein it is provided that at least one return spring is provided for the opposite opening movement of the gripper 4.
  • the return spring is also stationary mounted in the frame 9 and connected by a the carriage 2 at the deflection points 10 bridging tension element with the gripper 4 to keep low in a relative movement inertial masses of the Schenkarms.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Machine Tool Units (AREA)
  • Sink And Installation For Waste Water (AREA)

Abstract

The device has a swivel arm (1) fixed at a slide that is movable in a longitudinal direction of the arm. Three motors (5-7) are respectively provided for swiveling a slide (2), moving the slide and actuating a gripper (4). The motor (7) comprises a relative movable operating member connected with the gripper via an actuating member (8). The motor (7) is stationarily supported in a guidance holding the slide or in a machine frame supporting the guidance. The actuating member is connected with the gripper bypassing the slide in a hinged and/or flexible manner.

Description

Technisches GebietTechnical area

Die Erfindung betrifft eine Kabelbearbeitungseinrichtung, umfassend einen Schwenkarm, der an einem in horizontaler Richtung schwenkbaren und in Längsrichtung des Schwenkarms verschiebbaren Schlitten festgelegt ist und am vorderen Enden einen Kopf trägt, in dem zumindest ein Greifer und ein Düsenrohr aufnehmbar sind, wobei ein erster Motor für die Schwenkung des Schlittens, ein zweiter Motor für die Verschiebung des Schlittens und ein dritter Motor für eine Betätigung des Greifers vorgesehen ist, und wobei der dritte Motor ein relativ bewegliches Arbeitsglied umfasst, das durch zumindest ein Stellglied mit dem Greifer verbunden ist, das kraftleitend an dem Greifer angreift.The invention relates to a cable processing device, comprising a pivot arm which is fixed to a horizontally pivotable and slidable in the longitudinal direction of the pivoting carriage and carries at the front ends a head in which at least a gripper and a nozzle tube are receivable, wherein a first motor for the pivoting of the carriage, a second motor for the displacement of the carriage and a third motor for operation of the gripper is provided, and wherein the third motor comprises a relatively movable working member, which is connected by at least one actuator with the gripper, the force-conducting the gripper attacks.

Stand der TechnikState of the art

Eine solche Kabelbearbeitungseinrichtung ist aus der EP 1447888 bekannt. Der Greiferantrieb ist dabei in dem Schwenkarm angebracht, was insgesamt betrachtet, zu einem relativ geringen Gewicht führt, es aber erforderlich macht, den Greiferantrieb und die zugehörigen, stationären Einrichtungen durch flexible Druckmittelschläuche und/oder Versorgungskabel zu verbinden. Das hat während des normalen Betriebs einer solchen Kabelbearbeitungseinrichtung eine andauernde Beugung der flexiblen Druckmittelschläuche und/oder Versorgungskabel zur Folge und führt zu häufigen Ausfällen und Betriebsunterbrechungen der Einrichtung.Such a cable processing device is known from EP 1447888 known. The gripper drive is mounted in the pivot arm, which, taken as a whole, leads to a relatively low weight, but makes it necessary to connect the gripper drive and the associated, stationary devices by flexible pressure fluid hoses and / or supply cable. This results in the continuous flexing of the flexible fluid hoses and / or supply cables during normal operation of such cable handling equipment and leads to frequent failures and operational stoppages of the equipment.

Darstellung der ErfindungPresentation of the invention

Der Erfindung liegt die Aufgabe zu Grunde, eine solche Vorrichtung derart weiter zu entwickeln, dass bei einem noch mehr verminderten Gewicht der relativ beweglichen Teile keine den Schlitten überbrückenden, flexiblen Schläuche oder Kabel mehr für eine Betätigung des Greifers mehr benötigt werden.The invention is based on the object to further develop such a device so that with a still more reduced weight of the relatively moving parts no more bridging the carriage, flexible hoses or cables are more needed for an operation of the gripper.

Diese Aufgabe wird erfindungsgemäß bei einer Vorrichtung nach dem Oberbegriff durch die kennzeichnenden Merkmale von Anspruch 1 gelöst. Auf vorteilhafte Weiterbildungen nehmen die Unteransprüche Bezug.This object is achieved in a device according to the preamble by the characterizing features of claim 1. In advantageous developments, the dependent claims.

Erfindungsgemäß ist es zur Lösung dieser Aufgabe bei einer Kabelbearbeitungseinrichtung der eingangs genannten Art vorgesehen, dass der dritte Motor stationär in einer den Schlitten aufnehmenden Führung oder in einem die Führung tragenden Maschinengestell gelagert ist und dass das Stellglied den Schlitten gelenkig und/oder flexibel überbrückend mit dem Greifer verbunden ist. Dabei geht die Erfindung aus von der Erkenntnis, dass die Amplitude der Schwenkbewegungen und der hin- und hergehenden Verschiebung des Schlittens nur von geringer Größe sind und problemlos durch ein entsprechend gestaltetes Stellglied überwunden werden kann, insbesondere, wenn die den Schwenkarm tragenden Teile hohl ausgebildet sind. Das Stellglied kann dann anteilig innerhalb der Teile angeordnet sein und die außerhalb befindlichen Teile, insbesondere den dritten Motor und den Greifer miteinander verbinden. Der dritte Motor kann daher ebenso wie die übrigen Motoren stationär gelagert sein mit dem Vorteil, dass die beweglichen Teile der Kabelbearbeitungseinrichtung völlig von seinem Gewicht und seiner Trägheitsmasse entlastet sind und dass keine flexiblen und dadurch störanfälligen Kabel- und Versorgungsleitungen mehr zu seinem Betrieb benötigt werden. Der Schwenkarm kann dadurch wesentlich leichter als bisher gebaut und mit geringen Antriebskräften schneller beschleunigt, abgebremst und bewegt werden als bisher.According to the invention, it is provided to solve this problem in a cable processing device of the type mentioned that the third motor is mounted stationary in a guide receiving the carriage or in a machine frame supporting the guide and that the actuator articulated and / or flexibly bridging the carriage with the Gripper is connected. The invention is based on the recognition that the Amplitude of the pivoting movements and the reciprocating displacement of the carriage are only small in size and can be easily overcome by a correspondingly designed actuator, in particular, when the parts carrying the swivel arm are hollow. The actuator can then be proportionately arranged within the parts and connect the parts located outside, in particular the third motor and the gripper with each other. The third motor can therefore be stored stationary as well as the other motors with the advantage that the moving parts of the cable processing device are completely relieved of its weight and inertial mass and that no flexible and thus interference-prone cables and supply lines are more needed for its operation. The swivel arm can be much easier than previously built and accelerated faster with low driving forces, slowed down and moved as before.

Der dritte Motor kann dabei durch zumindest eine Kolben-/Zylindereinheit und/oder einen Elektromotor gebildet sein, d.h. durch kostengünstig im Markt verfügbare Einheiten.The third motor may be formed by at least one piston / cylinder unit and / or an electric motor, i. through economically available units in the market.

Als vorteilhaft hat es sich bewährt, wenn das Stellglied zumindest ein die Führung zentral durchdringendes Seil oder einen Riemen umfasst, dass bzw. der mit dem Greifer direkt oder indirekt verbunden ist. Das Seil kann dabei in zumindest einem Teilbereich durch ein zugsteifes Gestänge ersetzt ist. Die sich in Seilen unter einer Dauerbelastung ergebende Anfangsdehnung lässt sich dadurch vermindern. Bevorzugt gelangen dehnungsarme Kreuzschlagseile aus Stahl zur Anwendung.It has proved to be advantageous if the actuator comprises at least one cable that penetrates the guide centrally or a belt that is directly or indirectly connected to the gripper. The rope can be replaced in at least one sub-area by a zugsteifes linkage. The initial strain which results in ropes under a continuous load can thereby be reduced. Preferably, low-stretch cross-cut ropes made of steel are used.

Das Stellglied kann eine um ihre Achse verdrehbare Welle umfassen, die in dem Schwenkarm aufgenommen ist und an dem Greifer angreift. Der Greifer kann dabei zwei gegenläufig angetriebene Greiferbacken umfassen, die mit ineinander eingreifenden Zähnen oder Zacken versehen sind, um das zu bearbeitende Kabel sicher zu ergreifen.The actuator may comprise a shaft rotatable about its axis, which is received in the pivot arm and engages the gripper. The gripper can include two counter-driven gripper jaws, with intermeshing teeth or serrations are provided to securely grasp the cable to be processed.

Als vorteilhaft hat es sich erwiesen, wenn die Welle zur Reduzierung des Gewichtes und der Massenträgheit hohl gestaltet ist. Sie kann aus Aluminium oder aus einem faserarmierten Kunststoff bestehen.It has proven to be advantageous if the shaft is designed to reduce the weight and inertia hollow. It can be made of aluminum or of a fiber-reinforced plastic.

Um die Welle in die zu einer Betätigung des Greifers erforderliche Schwenkbewegung zu versetzen, besteht die Möglichkeit, die Schwenkbewegung als solche unmittelbar umzulenken zum Arbeitsglied des dritten Motors. Dies kann durch zumindest einen flexiblen Kegeltrieb und /oder eine Gelenkwelle erreicht werden, die den Schlitten überbrücken. Dabei geht die Erfindung aus von der Erkenntnis, dass die absolute Größe der Verschiebung des Schwenkarms in dem Schlitten nur von geringer Größe ist und nur etwa 20 mm beträgt. Bei einem Abstand des dritten Motors von 300 bis 600 mm vom Umlenkpunkt resultiert bei einer Hin- und Herverschiebung des Schlittens nur eine entsprechend geringe Winkelverlagerung in einem solchen Kegeltrieb bzw. in einer Gelenkwelle. Letztere kann dabei auch durch eine in einem Schlauch aufgenommene, flexible Schraubenfeder gebildet sein. Eine Verwendung von Gleichlaufgelenken ist ebenfalls möglich und bietet ebenso wie die Verwendung von Gelenkwellen den Vorteil der weitgehenden Spielfreiheit.In order to put the shaft in the pivoting movement required for an actuation of the gripper, it is possible to deflect the pivoting movement as such directly to the working member of the third motor. This can be achieved by at least one flexible bevel drive and / or a propeller shaft, which bridge the carriage. The invention is based on the recognition that the absolute size of the displacement of the pivot arm in the carriage is only of small size and is only about 20 mm. At a distance of the third motor of 300 to 600 mm from the deflection results in a back and forth displacement of the carriage only a correspondingly small angular displacement in such a bevel gear or in a propeller shaft. The latter can also be formed by a recorded in a hose, flexible coil spring. A use of constant velocity joints is also possible and offers as well as the use of cardan shafts the advantage of extensive backlash.

Die Welle kann ferner durch zumindest ein Seil, einen Riemen oder ein Gestänge verdrehbar ausgebildet sein, die den Schlitten überbrücken. Die betriebsnotwendige Schwenkbewegung kann dabei nicht zu Reaktionen in dem Stellglied führen, die sich auf den Greifer übertragen. Dabei kann es je nach Bedarf erforderlich oder sinnvoll sein, eine Weiterleitung Torsionsspannungen während einer Schwenkbewegung durch eine Zwischenschaltung von Gelenken ganz zu unterdrücken.The shaft may be further rotatable by at least one cable, a belt or a linkage, which bridge the carriage. The operationally necessary pivoting movement can not lead to reactions in the actuator, which are transmitted to the gripper. It may be necessary or useful, as necessary, to completely suppress a forwarding of torsional stresses during a pivoting movement by means of an interposition of joints.

In Hinblick auf eine besonders leichte Ausbildung des Greifers hat es sich bewährt, wenn der Greifer durch das Stellglied nur in Schließstellung bringbar ist und wenn für das Öffnen zumindest eine Rückholfeder vorgesehen ist. Sie kann so platziert sein, dass sich der Greifer bei Außerbetriebsetzung des dritten Motors ruckartig öffnet, um eventuell daran anhaftenden Abrieb von dem zu verarbeitenden Kabel jeweils abzuschütteln, was für eine Verbesserung der Betriebssicherheit von Vorteil ist und den Reinigungsaufwand reduziert. Zweckmäßig ist eine solche Rückholfeder ebenfalls stationär gelagert und durch ein den Schlitten überbrückendes Zugelement mit dem Greifer verbunden.With regard to a particularly simple design of the gripper, it has proven useful if the gripper can be brought by the actuator only in the closed position and if at least one return spring is provided for the opening. It can be placed so that the gripper jerkily opens when decommissioning of the third motor to shake off any adhering abrasion of the cable to be processed each, which is advantageous for improving the reliability and reduces the cleaning effort. Suitably, such a return spring is also mounted stationary and connected by a traction element bridging the carriage with the gripper.

Kurzbeschreibung der ZeichnungBrief description of the drawing

Eine beispielhafte Ausführung der Erfindung ist in der beiliegenden Zeichnung dargestellt. Sie wird nachfolgend näher erläutert.An exemplary embodiment of the invention is illustrated in the accompanying drawings. It will be explained in more detail below.

Es zeigen:

  • Fig. 1 eine Kabelbearbeitungseinrichtung in einer perspektivischen Ansicht von hinten.
  • Fig. 2 die Kabelbearbeitungseinrichtung nach Fig. 1 in einer Ansicht von oben.
  • Fig. 3 einen Ausschnitt aus dem vorderen Ende des Schenkarms mit dem Greifer
Show it:
  • Fig. 1 a cable processing device in a perspective view from behind.
  • Fig. 2 the cable processing device after Fig. 1 in a view from above.
  • Fig. 3 a section of the front end of the gift arm with the gripper

Ausführung der ErfindungEmbodiment of the invention

In den Fig. 1 bis 3 sind verschiedene Abschnitte einer Kabelbearbeitungseinrichtung wieder gegeben, umfassend einen Schwenkarm 1, der an einem in horizontaler Richtung um eine vertikae Achse schwenkbaren und in Längsrichtung des Schwenkarms 1 verschiebbaren Schlitten 2 festgelegt ist und der am vorderen Ende einen Kopf 3 trägt, in dem zumindest ein Greifer 4 und ein Düsenrohr aufnehmbar sind, wobei ein erster Motor 5 für die Schwenkung des Schlittens 2, ein zweiter Motor 6 für die Verschiebung des Schlittens 2 und ein dritter Motor 7 für eine Betätigung des Greifers 4 vorgesehen ist und wobei der dritte Motor 7 ein relativ bewegliches Arbeitsglied umfasst, das durch zumindest ein Stellglied 8 mit dem Greifer 4 verbunden ist und kraftleitend daran angreift.In the Fig. 1 to 3 are various sections of a cable processing device given again, comprising a pivot arm 1, which is fixed to a horizontal axis about a vertikae axis and slidable in the longitudinal direction of the pivot arm 1 slide 2 and which carries a head 3 at the front end, in which at least one gripper 4 and a nozzle tube are receivable, wherein a first motor 5 for the pivoting of the carriage 2, a second motor 6 for the displacement of the carriage 2 and a third motor 7 is provided for an actuation of the gripper 4 and wherein the third motor 7 is a relative comprises movable working member which is connected by at least one actuator 8 with the gripper 4 and force-conducting attacks it.

Der Schwenkarm 1 besteht aus zwei Armen 1.1, 1.2 die in einem Abstand voneinander angeordnet sind und es erlauben, den am vorderen Ende angebrachten Kopf 3 in vertikaler Richtung zu verlagern. Dazu ist er einerseits an einem Vorsprung des Schlittens 2 und andererseits an dem Kopf 3 in Gelenken mit Schwenkachsen festgelegt, die sich quer zu seienr Schwenkachse erstrecken. Die Arme 1.1, 1.2 können aus Leichtmetall bestehen und hohl ausgebildet sein, um das Gewicht zu reduzieren. Eine vertikale Schwenkung genügt, um den Kopf 3 in die jeweils richtige Höhe vor dem jeweils zu beschickenden Werkzeug zu bringen. Der dazu erforderliche Hub beträgt weniger als 15 mm, zumeist weniger als 10 mm.The pivot arm 1 consists of two arms 1.1, 1.2 which are arranged at a distance from each other and allow to move the attached at the front end head 3 in the vertical direction. For this purpose, it is defined on the one hand on a projection of the carriage 2 and on the other hand on the head 3 in joints with pivot axes which extend transversely to his pivot axis. The arms 1.1, 1.2 may be made of light metal and hollow to reduce the weight. A vertical swing is sufficient to bring the head 3 in the respective correct height in front of each tool to be loaded. The required stroke is less than 15 mm, usually less than 10 mm.

Der Schlitten 2 ist um die vertikale Achse seiner Führung 11 schwenkbar in einem Maschinengestell 9 gelagert und parallel zu der Längsrichtung des Schwenkarms 1 in seiner Führung 11 vor- und zurückschiebbar. Auch diese Bewegung ist erforderlich, um den Kopf in die richtige Position vor dem jeweiligen Werkzeug zu bringen. Die Länge des Vorschubweges beträgt im Allgemeinen max 70 mm.The carriage 2 is mounted about the vertical axis of its guide 11 pivotally mounted in a machine frame 9 and parallel to the longitudinal direction of the pivot arm 1 in its guide 11 forward and zurückschiebbar. Also, this movement is required to put your head in the right position in front of you to bring each tool. The length of the feed path is generally max. 70 mm.

Die Länge des Schwenkarms 1 lässt sich fast beliebig groß gestalten. Um schnelle Schwenkbewegungen und Arbeitstakte zu ermöglichen, wird angestrebt, das Gewicht so gering wie möglich zu halten und die Länge nicht größer als zum Erreichen der verschiedenen Werkzeuge nötig zu gestalten.The length of the swing arm 1 can be almost any size. In order to enable fast pivoting movements and power strokes, it is desirable to keep the weight as low as possible and to make the length no longer than necessary to reach the various tools.

Die Kabelbearbeitungsreinrichtung ist mit ihrem Maschinengestell 9 so aufgestellt, dass ein in der Zeichnung nicht dargestelltes, zu bearbeitendes Kabel den ebenfalls nicht gezeigten Werkzeugen verschiedener Kabelbearbeitungsstationen nacheinander zugeführt werden kann, die kreisbogenfömig um die vertikale Achse der Führung 11 verteilt aufgestellt sind. Nach dem Verschwenken des Schwenkarms 1 in die richtige Kreisbogenposition erfolgt dabei gewöhnlich eine Vorwärtsbewegung zumindest des Greifers 4, um das davon festgehaltene Kabel in die Werkzeuge der betreffenden Kabelbearbeitungsstation einzufädeln und bearbeiten zu können sowie eine vertikale Angleichung des Kopfes an das nötige Niveau.The cable processing device is placed with its machine frame 9 so that a not shown in the drawing, to be processed cable can also be supplied to the tools of various cable processing stations, also not shown, which are kreisbogenfömig distributed around the vertical axis of the guide 11. After pivoting of the pivot arm 1 in the correct arc position is usually carried out a forward movement of at least the gripper 4 to thread the cable held by it in the tools of the relevant cable processing station and edit and a vertical alignment of the head to the required level.

Bei der erfindungsgemäßen Bauform ist der auf dem Schlitten 2 gelagerte Schwenkarm 1 in die Vorwärtsbewegung mit einbezogen.In the construction according to the invention, the mounted on the carriage 2 pivot arm 1 is included in the forward movement.

Der dritte Motor 7, der für eine Betätigung des Greifers 4 benötigt wird, ist stationär in einer den Schlitten 2 aufnehmenden Führung 11 oder in einem die Führung 11 tragenden Maschinengestell 9 gelagert und das Stellglied 8 den Schlitten 2 gelenkig und/oder flexibel überbrückend mit dem Greifer 4 verbunden, um die die Antriebskräfte trotz der betriebsbedingen Relativbewegungen der vielen gelenkig bzw. relativ verschiebbar miteinander verbundenen Teile auf den Greifer 4 übertragen zu können. Der dritte Motor 7 bildet durch seien stationäre Lagerung keinen Bestandteil der bei einer Schwenk- oder Vorschubbewegung zu beschleunigenden Trägheitsmassen des Schlittens und/oder des Schwenkarms. Bei gleicher Antriebsleistung gelingt es dadurch, wesentlich größere Beschleunigungen und Abbremsungen zu erreichen als bisher. Außerdem werden für eine Betätigung des dritten Motors 7 keine störanfälligen, flexiblen Leitungen und/oder Kabel mehr benötigt.The third motor 7, which is required for an actuation of the gripper 4, is mounted stationarily in a carriage 2 receiving guide 11 or in a guide 11 supporting the machine frame 9 and the actuator 8 the carriage 2 articulated and / or flexible bridging with the Gripper 4 connected to the driving forces despite the operational relative movements of the many articulated or relatively displaceable interconnected parts transmitted to the gripper 4 can. The third motor 7 forms by be stationary storage is not part of a pan or Feed movement to be accelerated inertial masses of the carriage and / or the swivel arm. With the same drive power, it is possible to achieve much greater acceleration and deceleration than before. In addition, no interference-prone, flexible cables and / or cables are required for an actuation of the third motor 7.

Der dritte Motor 7 kann durch zumindest eine Kolben-/Zylindereinheit und/oder einen Elektromotor gebildet sein. Vorliegend besteht er aus einem elektromotorischen Schrittmotor, der durch einen Riementrieb auf das Stellglied 8 einwirkt.The third motor 7 may be formed by at least one piston / cylinder unit and / or an electric motor. In the present case, it consists of an electromotive stepper motor, which acts on the actuator 8 by means of a belt drive.

Die Führung des Schlittens 11 ist mittels einer Hohlwelle 12 in dem Maschinengestell 9 gelagert, durch die das Stellglied 8 vertikal hindurchgeführt ist.The guide of the carriage 11 is mounted by means of a hollow shaft 12 in the machine frame 9, through which the actuator 8 is passed vertically.

Das Stellglied 8 umfasst dabei die Führung 11 und den Schlitten 2 flexibel überbrückende Seile 10, die über Rollen umgelenkt sind und eine Relativverdrehung einer Welle 8.1 bewirken, die mit dem Greifer 4 verbunden ist. Es kann bedarfsweise anteilig durch ein Gestänge ersetzt sein, um die sich anfänglich ergebenden Dehnungen von Seilen zu vermindern. Bevorzugt gelangen Kreuzschlagseile zur Anwendung. Eine Verwendung von Zahnriemen ist ebenfalls möglich. Sie sollten nicht zu breit bemesen sein, die die sich bei einer Hin- und Herverschiebung des Schittens ergebenden Verformungen aufnehmen zu können.The actuator 8 in this case comprises the guide 11 and the carriage 2 flexibly bridging ropes 10, which are deflected by rollers and cause a relative rotation of a shaft 8.1, which is connected to the gripper 4. It may, if necessary, be proportionately replaced by a linkage to reduce the initially resulting strains of ropes. Cross-cut ropes are preferably used. A use of timing belt is also possible. They should not be too wide, to be able to absorb the deformations resulting from a shift back and forth.

Die um ihre Achse verdrehbare Welle 8.1 ist vertikal schwenkbar in dem Kopf 3 und dem Vorsprung des Schlittens 2 gelagert und greift unmittelbar an dem Greifer 4 an. Letzterer besteht aus zwei gegenläufig angetriebenen Backen, die an einander gegenüberliegend in dem Kopf 3 montierten Kegelrädern 3.1, 3.2 befestigt sind, die gemeinsam mit einem weiteren Kegelrad 3.3 in Eingriff stehen und sich dadurch stets gemeinsam aufeinander zu bzw. von einander weg bewegen. Um eine solche Relativbewegung zu bewirken, genügt es, wenn eines der miteinander in Eingriff stehenden Kegelräder 3.1, 3.2, 3.3 relativ verdreht wird, was bei dem gezeigten Ausführungsbeispiel durch eine Relativverdrehung des rechts gezeigten Kegelrades 3.2 mittels der Welle 8.1 erfolgt.The shaft 8.1 rotatable about its axis is mounted vertically pivotable in the head 3 and the projection of the carriage 2 and engages directly on the gripper 4. The latter consists of two oppositely driven jaws, which are mounted on bevel gears 3.1, 3.2 mounted opposite each other in the head 3, which engage in common with a further bevel gear 3.3 and thereby always together towards each other or from each other move away. In order to effect such a relative movement, it is sufficient if one of the mutually engaged bevel gears 3.1, 3.2, 3.3 is relatively rotated, which takes place in the embodiment shown by a relative rotation of the bevel wheel 3.2 shown on the right by means of the shaft 8.1.

Die Welle 8.1 kann den Schlitten 2 auch an zumindest einer der beiden Umlenkstellen mit zumindest einem flexiblen Kegeltrieb und/oder einer mit einer Gelenkwelle überbrücken. Unter einem flexiblen Kegeltrieb ist in diesem Sinne zu verstehen ein Kegeltrieb, dessen Kegelräder miteinander in Eingriff stehende Zähne aufweisen und die im erforderlichen Umfang relativ verschwenkbar sind, ohne dass die Zähne außer Eingriff gelangen.The shaft 8.1 can also bridge the carriage 2 at least at one of the two deflection points with at least one flexible bevel drive and / or one with a propeller shaft. Under a flexible bevel gear is in this sense to understand a bevel gear, the bevel gears having mutually engaging teeth and which are relatively pivotable to the extent necessary, without the teeth get out of engagement.

Die Gelenkwelle kann auch durch eine in einem Schlauch aufgenommene, flexible Schraubenfeder gebildet sein, was zwar eine vergleichsweise geringere Schaltpräzision zur Folge hat, die Herstellung aber erheblich verbilligt.The propeller shaft can also be formed by a flexible coil spring accommodated in a hose, which, although it results in a comparatively lower switching precision, considerably reduces production.

Die Gelenkwelle kann ferner an den Umlenkstellen durch Kardan- oder Gleichlaufgelenke gebildet sein.The propeller shaft may also be formed at the deflection by cardan or constant velocity joints.

Die Welle 8.1 kann durch zumindest ein Seil, einen schmalen Riemen oder ein Gestänge verdrehbar ausgebildet sein, das den Schlitten 2 an zumindest einer Umlenkstelle 10 überbrückt.The shaft 8.1 can be designed to be rotatable by at least one cable, a narrow belt or a linkage which bridges the carriage 2 at at least one deflection point 10.

Der Greifer 4 kann auch so ausgbildet sein, dass er durch das Stellglied 8 motorisch nur in Schließstellung bringbar ist, wobei es vorgesehen ist, dass für die entgegengesetzte Öffnungsbewegung des Greifers 4 zumindest eine Rückholfeder vorgesehen ist.The gripper 4 can also be ausgebildet that it can be brought by the actuator 8 motor only in the closed position, wherein it is provided that at least one return spring is provided for the opposite opening movement of the gripper 4.

Zweckmäßig ist die Rückholfeder dabei gleichfalls in dem Gestell 9 stationär gelagert und durch ein den Schlitten 2 an den Umlenkstellen 10 überbrückendes Zugelement mit dem Greifer 4 verbunden, um die bei einer Relativbewegung zu beschleunigenden Trägheitsmassen des Schenkarms gering zu halten.Suitably, the return spring is also stationary mounted in the frame 9 and connected by a the carriage 2 at the deflection points 10 bridging tension element with the gripper 4 to keep low in a relative movement inertial masses of the Schenkarms.

Claims (10)

Kabelbearbeitungseinrichtung, umfassend einen Schwenkarm (1), der an einem in horizontaler Richtung schwenkbaren und in Längsrichtung des Schwenkarms (1) verschiebbaren Schlitten (2) festgelegt ist und am vorderen Ende einen Kopf (3) trägt, in dem zumindest ein Greifer (4) und ein Düsenrohr aufnehmbar sind, wobei ein erster Motor (5) für die Schwenkung des Schlittens (2), ein zweiter Motor (6) für die Verschiebung des Schlittens (2) und ein dritter Motor (7) für eine Betätigung des Greifers (4) vorgesehen ist, und wobei der dritte Motor (7) ein relativ bewegliches Arbeitsglied umfasst, das durch zumindest ein Stellglied (8) mit dem Greifer (4) verbunden ist und kraftleitend daran angreift, dadurch gekennzeichnet, dass der dritte Motor (7) stationär in einer den Schlitten (2) aufnehmenden Führung oder in einem die Führung tragenden Maschinengestell (9) gelagert ist und dass das Stellglied (8) den Schlitten (2) gelenkig und/oder flexibel überbrückend mit dem Greifer (4) verbunden ist.Cable processing device, comprising a swivel arm (1) which is fixed to a carriage (2), which is pivotable in the horizontal direction and displaceable in the longitudinal direction of the swivel arm (1), and carries a head (3) at the front end, in which at least one gripper (4) and a nozzle tube are receivable, wherein a first motor (5) for the pivoting of the carriage (2), a second motor (6) for the displacement of the carriage (2) and a third motor (7) for an actuation of the gripper (4 ), and wherein the third motor (7) comprises a relatively movable working member, which is connected by at least one actuator (8) to the gripper (4) and force-acting thereon, characterized in that the third motor (7) stationary in a carriage (2) receiving guide or in a guide supporting the machine frame (9) is mounted and that the actuator (8) the carriage (2) articulated and / or flexible bridging with the gripper (4) verbu is. Kabelbearbeitungseinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der dritte Motor (7) durch zumindest eine Kolben-/Zylindereinheit und/oder einen Elektromotor gebildet ist.Cable processing device according to claim 1, characterized in that the third motor (7) by at least one piston / cylinder unit and / or an electric motor is formed. Kabelbearbeitungseinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Stellglied (8) zumindest ein die Führung überbrückendes Seil umfasst, dass mit dem Greifer (4) direkt oder indirekt verbunden ist.Cable processing device according to claim 1 or 2, characterized in that the actuator (8) comprises at least one cable bridging the guide that is directly or indirectly connected to the gripper (4). Kabelbearbeitungseinrichtung nach Anspruch 3, dadurch gekennzeichnet, dass das Seil in zumindest einem Teilbereich durch ein Gestänge ersetzt ist.Cable processing device according to claim 3, characterized in that the rope is replaced in at least a partial area by a linkage. Kabelbearbeitungseinrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das Stellglied (8) eine um ihre Achse verdrehbare Welle (8.1) umfasst, die in dem Schwenkarm (1) aufgenommen ist und an dem Greifer (4) angreift.Cable processing device according to one of claims 1 to 4, characterized in that the actuator (8) comprises a shaft rotatable about its axis (8.1) which is received in the pivot arm (1) and engages the gripper (4). Kabelbearbeitungseinrichtung nach Anspruch 5, dadurch gekennzeichnet, dass Welle (8.1) den Schlitten (2) an zumindest einer Umlenkstelle mit zumindest einem flexiblen Kegeltrieb und/oder einer Umlenkstelle (10) mit einer Gelenkwelle überbrückt.Cable processing device according to claim 5, characterized in that shaft (8.1) bridging the carriage (2) at at least one deflection point with at least one flexible bevel drive and / or a deflection point (10) with a propeller shaft. Kabelbearbeitungseinrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die Gelenkwelle durch eine in einem Schlauch aufgenommene, flexible Schraubenfeder gebildet ist.Cable processing device according to claim 6, characterized in that the propeller shaft is formed by a flexible coil spring received in a tube. Kabelbearbeitungseinrichtung nach Anspruch 5, dadurch gekennzeichnet, dass die Welle (8.1) durch zumindest ein Seil oder ein Gestänge verdrehbar ist, das den Schlitten 2 an zumindest einer Umlenkstelle überbrückt.Cable processing device according to claim 5, characterized in that the shaft (8.1) by at least one cable or a linkage is rotatable, which bridges the carriage 2 at least one deflection point. Kabelbearbeitungseinrichtung nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass der Greifer (4) durch das Stellglied (8) nur in Schließstellung bringbar ist und dass für das Öffnen des Greifers (4) zumindest eine Rückholfeder vorgesehen ist.Cable processing device according to one of claims 1 to 8, characterized in that the gripper (4) by the actuator (8) can be brought only in the closed position and that at least one return spring is provided for opening the gripper (4). Kabelbearbeitungseinrichtung nach Anspruch 9, dadurch gekennzeichnet, dass die Rückholfeder in dem Gestell (9) stationär gelagert und durch ein den Schlitten (2) überbrückendes Zugelement mit dem Greifer (4) verbunden ist.Cable processing device according to claim 9, characterized in that the return spring in the frame (9) stationary is mounted and connected by a the carriage (2) bridging tension element with the gripper (4).
EP08002108A 2007-02-08 2008-02-05 Cable processing device Not-in-force EP1981133B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL08002108T PL1981133T3 (en) 2007-02-08 2008-02-05 Cable processing device

Applications Claiming Priority (1)

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DE102007006213A DE102007006213A1 (en) 2007-02-08 2007-02-08 Cable processing device, has motor stationarily supported in guidance that holds slide or in machine frame supporting guidance, and actuating member connected with gripper bypassing slide in hinged and/or flexible manner

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EP1981133A1 true EP1981133A1 (en) 2008-10-15
EP1981133B1 EP1981133B1 (en) 2009-06-10

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EP (1) EP1981133B1 (en)
AT (1) ATE433612T1 (en)
DE (2) DE102007006213A1 (en)
ES (1) ES2327016T3 (en)
PL (1) PL1981133T3 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109980380A (en) * 2019-03-28 2019-07-05 国网江苏省电力有限公司常州供电分公司 Substation Electric Equipment overhauls conductor earthing device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011107870U1 (en) * 2011-11-14 2013-02-18 Schäfer Werkzeug- und Sondermaschinenbau GmbH Variable feeder for a crimping unit

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61197180A (en) * 1985-02-25 1986-09-01 株式会社東芝 Drive for manipulator
EP1403983A1 (en) * 2002-09-26 2004-03-31 komax Holding AG Cable treating device with a pivoting device for operating cable end processing stations
EP1447888A1 (en) 2003-02-17 2004-08-18 Komax Holding Ag Gripper for a cable treating device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61197180A (en) * 1985-02-25 1986-09-01 株式会社東芝 Drive for manipulator
EP1403983A1 (en) * 2002-09-26 2004-03-31 komax Holding AG Cable treating device with a pivoting device for operating cable end processing stations
EP1447888A1 (en) 2003-02-17 2004-08-18 Komax Holding Ag Gripper for a cable treating device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109980380A (en) * 2019-03-28 2019-07-05 国网江苏省电力有限公司常州供电分公司 Substation Electric Equipment overhauls conductor earthing device
CN109980380B (en) * 2019-03-28 2023-12-12 国网江苏省电力有限公司常州供电分公司 Transformer substation electrical equipment overhauls wire earthing device

Also Published As

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EP1981133B1 (en) 2009-06-10
ATE433612T1 (en) 2009-06-15
PL1981133T3 (en) 2009-11-30
ES2327016T3 (en) 2009-10-22
DE502008000034D1 (en) 2009-07-23
DE102007006213A1 (en) 2008-08-14

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