EP3301769B1 - Vorrichtung und verfahren zum bestücken eines steckergehäuses mit konfektionierten kabelenden eines kabelstrangs - Google Patents

Vorrichtung und verfahren zum bestücken eines steckergehäuses mit konfektionierten kabelenden eines kabelstrangs Download PDF

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Publication number
EP3301769B1
EP3301769B1 EP16192019.4A EP16192019A EP3301769B1 EP 3301769 B1 EP3301769 B1 EP 3301769B1 EP 16192019 A EP16192019 A EP 16192019A EP 3301769 B1 EP3301769 B1 EP 3301769B1
Authority
EP
European Patent Office
Prior art keywords
cable
segment
longitudinal direction
cables
cable ends
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.)
Active
Application number
EP16192019.4A
Other languages
German (de)
French (fr)
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EP3301769A1 (en
EP3301769B8 (en
Inventor
Thomas Bussmann
Beat Estermann
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.)
Komax Holding AG
Original Assignee
Komax Holding AG
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.)
Filing date
Publication date
Application filed by Komax Holding AG filed Critical Komax Holding AG
Priority to MA43395A priority Critical patent/MA43395B1/en
Priority to RS20200232A priority patent/RS59998B1/en
Priority to EP16192019.4A priority patent/EP3301769B8/en
Priority to CN201710928256.2A priority patent/CN107895876B/en
Priority to US15/722,245 priority patent/US10804668B2/en
Priority to JP2017193670A priority patent/JP7095969B2/en
Publication of EP3301769A1 publication Critical patent/EP3301769A1/en
Publication of EP3301769B1 publication Critical patent/EP3301769B1/en
Application granted granted Critical
Publication of EP3301769B8 publication Critical patent/EP3301769B8/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/40—Securing contact members in or to a base or case; Insulating of contact members
    • H01R13/42—Securing in a demountable manner
    • H01R13/428—Securing in a demountable manner by resilient locking means on the contact members; by locking means on resilient contact members
    • H01R13/432—Securing in a demountable manner by resilient locking means on the contact members; by locking means on resilient contact members by stamped-out resilient tongue snapping behind shoulder in base or case

Definitions

  • the present invention relates to a device and a method for equipping at least one plug housing with prefabricated cable ends of a particular twisted harness with at least two cables, wherein the device has at least two cable grippers for gripping each one of the at least two cables on a free, in particular untwisted portion of the cable end ,
  • Cable harnesses such as those used in automobiles or aircraft, consist of several cables, which are provided at their pre-assembled cable ends with so-called connector housings, which is generally referred to as assembly or equipping the connector housing.
  • connector housings which is generally referred to as assembly or equipping the connector housing.
  • the cables of a cable harness with the cable ends to be equipped are individually present and are also individually introduced with corresponding mechanical devices in the chambers of the connector housing.
  • Cable harnesses made of several individual cables are nowadays increasingly being used for predominantly twisted cable pairs, for which there is also the need to equip the free, in particular untwisted, and possibly elongated cable ends of the cable harness.
  • twisted cable pairs or cable strands but also untwisted cable pairs or cable strands or other multi-cable systems can be used, in which the cables are arranged only side by side and possibly combined in a composite, such as two or more surrounded by a jacket single cable.
  • EP 2 317 613 A1 a device and a corresponding method for equipping plug housings with cable ends by means of a cable gripper, which has two jaws for gripping the cable end, which can be controlled in a coarse and fine movement.
  • EP 1 317 031 A1 also describes a placement device for such purposes, which further comprises a force sensor which is adapted to the force-sensing process to monitor the placement process. A force-sensory monitoring of the assembly process is necessary in particular at potentially critical sections along the feed path of the assembled cable end into or into the plug housing.
  • plug housings for sealing can have so-called sealing mats, which must be pierced by the contacts on the assembled cable ends during the assembly process.
  • sealing mats can be located either in front of the chambers or plug housing receptacles or else as an intermediate piece in the chambers or plug housing receptacles of the plug housing. In this respect, even those provide piercing sealing mats during the assembly process potentially critical sections along the feed path of the cable end.
  • retaining or locking devices are present in the connector housings, which lock with the inserted contacts.
  • the contacts at the cable ends can also have such retaining or locking devices, which engage in the end position in the housing.
  • a pull-out test is performed after the assembly has been completed, pulling the cable with a reduced force while monitoring the force applied to the cable.
  • EP 1 317 031 A1 also reveals EP 0 348 615 A1 a mounting device for single cable, in which the contact and the cable is held with one gripper and the correct locking of the contact to the connector housing is checked by a force-monitored extension movement. If any problems arise during the loading of individual cables at the potentially critical sections along the feed path, then the assembly process can easily be repeated with the devices for processing individual cables known hitherto from the prior art. For this purpose, the cable to be inserted is either withdrawn and advanced again in the direction of the plug housing in order to repeat the insertion or assembly process.
  • the cable gripper may make a shaking motion to overcome the critical situation, for example, when a contact is inserted upon insertion into the insertion portion of the male housing receptacle slight mispositioning relative to the connector housing receptacle should hang or bump.
  • the document US 2002/173204 describes a process and apparatus for assembling a connector comprising provisionally locking a pick-up holder in the connector housing; inserting a rod into the connector housing before inserting the terminal into the connector housing, the rod serving to release the lock of the spacer which is fully locked in the connector housing; Pulling the rod out of the connector housing; and inserting the terminal into the connector housing.
  • the object of the present invention is thus to realize a device and a method for equipping at least one connector housing with prefabricated cable ends of a cable harness of several cables, in which or in which the assembly process for the assembled cable ends of the cable harness, in particular with regard to potential critical sections along the feed path in or in the plug housing, each can be made as independent as possible.
  • the cable ends in the connector housing in particular by those for Successfully feed and pass through a successful assembly process potentially critical sections along the feed path with a length offset.
  • the device according to the invention has at least two cable grippers for gripping in each case one of the at least two cables on a free, in particular untwisted, section of the respective cable end.
  • the at least two cable grippers are designed to be independent in the longitudinal direction of the cable ends to be gripped.
  • the at least two cable grippers are designed to be displaceable independently of one another in the longitudinal direction of the cable ends to be gripped, at least over or over the length of, in particular, the longest of the potentially critical sections along the feed path.
  • the prefabricated cable ends, in particular contact elements mounted there can pass individually those sections or zones which are potentially critical for the equipping process and in which force monitoring is preferably to be carried out.
  • each cable end can be individually or separately passed through a potentially critical zone and monitored by force sensors.
  • the cable ends of the cable harness to be populated relate to those cable ends that are located at one end of the cable harness.
  • the cable ends to be equipped are to be freely available at one end of the cable harness, ie, that the Composite of the wiring harness, such as a twist, is dissolved in the region of the cable ends to be equipped, so that about an otherwise twisted harness the cable ends or the wiring harness is untwisted in the region of the cable ends and preferably also stretched.
  • the cable ends should in any case be "free” in that they are essentially unbound from each other, gripped independently of each other and moved relative to each other at least in a certain area, in particular in the longitudinal direction relative to each other.
  • the cable ends to be aligned according to the invention are not yet free of each other, then according to an advantageous embodiment of the invention it may be provided to "free" the cable ends prior to alignment, for example to untwist, or to route the cable harness (the composite of the cable harness, for example the cable harness) Twisting of the cable harness) in the region of the cable ends to be aligned, for example, to untwist.
  • the cable harness the composite of the cable harness, for example the cable harness
  • the at least two or more cable grippers are arranged one behind the other in the longitudinal direction of the cable ends to be gripped and correspondingly displaced or displaced independently of one another in the longitudinal direction.
  • the cable grippers it is also conceivable, however, for the cable grippers to be arranged at the same axial position with respect to the longitudinal direction of the cable ends to be gripped, but to access the respective cable ends transversely, in particular perpendicularly to the longitudinal direction, from different directions.
  • each cable gripper is provided for each cable end, which can be displaced or displaced independently of one another in the longitudinal direction of the cable ends to be gripped and are preferably arranged one behind the other in the longitudinal direction.
  • At least one or preferably all cable grippers have a pair of gripping jaws which are adjustable relative to each other. These can be brought at least into a closed position for clamping holding a cable end and in an open position for receiving and releasing the cable end.
  • the gripping jaws can be brought into an intermediate position for at least partially radial enclosing and guiding the cable end along its longitudinal axis. This intermediate position can be used in particular to allow retrofitting in the sense of a gradual advancement of the cable end in the direction of the end position in the connector housing.
  • the gripping jaws of the at least one cable gripper may be designed to additionally receive a cable end of at least one other cable of the harness and in the closed position and preferably also in the intermediate position at least partially radially to close and along its cable longitudinal axis.
  • the gripping jaws of the cable gripper respectively corresponding gripping or receiving troughs respectively.
  • the jaws are formed similar to the jaws of a pair of pliers.
  • the gripping or receiving cavities may in particular have a roughened surface or a toothed surface.
  • the troughs or those regions of the gripping jaws which serve only to radially enclose and guide a further additional cable end, have a smooth surface.
  • one of the at least two cable grippers relative to the other cable gripper separately in particular by means of a gripper-displacement device in Is displaceable longitudinally and the other cable gripper by moving the entire mounting device in the longitudinal direction, in particular by means of a total displacement device, is displaceable.
  • the at least two cable grippers are each movable separately, in particular in each case with a separate cable gripper displacement device, in the longitudinal direction.
  • actuator-driven (linear) displacement devices come into consideration as cable gripper displacement device or overall displacement device.
  • actuators come, for example, pneumatically, hydraulically or electromotively actuated actuators (linear motors or rotary motors with motion converter, such as gearbox) into consideration.
  • At least one of the cable gripper in at least one direction transversely, in particular perpendicular to the longitudinal direction of the cable ends to be gripped is displaceable.
  • a simplified supply of the cable gripper to the cable ends to be processed can be realized in an advantageous manner.
  • all cable grippers are transversely displaceable, in particular perpendicular to the longitudinal direction of the cable ends to be gripped.
  • At least one, preferably all, cable grippers are designed to carry out a vibrating movement along and / or transversely to the longitudinal direction of the cable ends to be gripped.
  • appropriate actuators may be attached to the cable grippers, which generate such a shaking movement.
  • the jogging movement is primarily used in the case of a critical situation, such as when the cable end or the cable attached contact at the critical portion, such as in the insertion, in the region of the sealing mat or in the locking or latching device, the cable end correct in his position and thereby overcome the critical situation.
  • the device has at least one force sensor for measuring a tensile and / or compressive force acting on a cable end to be gripped.
  • a force sensor is provided for each cable gripper, which can measure the forces acting on the respective cable.
  • the cable ends of the at least two cables are arranged offset in length relative to one another along their longitudinal direction by a length offset corresponding at least to the length of the critical section.
  • the length offset between the cable ends of the at least two cables can be compensated for after the trailing end of the cable has passed the critical section. This can be realized in particular by separately advancing the trailing end of the cable without further advancement of the leading end of the cable.
  • the advancement of the corresponding cable end is stopped.
  • the advancing is repeated, in particular by a retraction and renewed advancement of the corresponding cable end and / or by carrying out a shaking movement of the cable end along and / or transversely to the longitudinal direction of the cable end.
  • Fig. 1 shows a component assembly 400 with a possible embodiment of the inventive placement device 1, which serves to plug housing 200 with prefabricated cable ends 111, 121 of a presently twisted cable pair 100, wherein the connector housings are arranged in corresponding housing holders 500 on a so-called pallet 501.
  • the mounting device 1 takes over the cable pair 100 to be processed by a so-called alignment unit 300, as described, for example, in the European patent application no. EP16192006.1 of the same applicant.
  • the alignment unit 300 serves to align the ready-made, in particular with contact elements 113, 123 and untwisted or stretched cable ends 111, 121 of the otherwise twisted cable pair 100 with respect to the plug housing 200 to be equipped rotationally.
  • the alignment unit 300 has corresponding cable grippers 310, 320, which can be moved horizontally together and lowered vertically, in order to transfer the cable pair 100 to substantially identically designed cable grippers 10, 20 of the placement device 1.
  • 120 each have a cable gripper 10, 20; 310, 320 provided. The transfer takes place so that the cables 110, 120 are always always at least in a cable gripper 10, 20; 310, 320 - either on the mounting device side or alignment unit side - remain clamped so that the orientation of the contacts 113, 123 that is correct for rotation is maintained.
  • the mounting device 1 is designed to be displaceable in the direction of the cable longitudinal axes L.
  • the start-up of the plug housing receptacle 210, 220 or plug housing chambers 210, 220 takes place via the pallet 501, which for this purpose is horizontal and vertical, i. in two independent directions transversely, in particular perpendicular to the cable longitudinal axis L can be moved.
  • the mounting device 1 is designed to be displaceable independently of each other in several directions and the pallet 501 must accordingly have less degrees of freedom.
  • the core of the mounting device 1, the two cable grippers 10, 20, each having a pair of gripping jaws 11, 12; 21, 22 have, which may be formed in particular analogous to those of the cable grippers 310, 320 of the alignment unit 300.
  • the gripping jaws 11, 12; 21, 22 are designed such that they clamp in a closed position in each case a cable 110, 120 and the correspondingly different cables 120, 110 only radially enclose and so far along its longitudinal direction L lead.
  • the gripping jaws 11, 12; 21, 22 can be further converted into an open position to the two cables 110, 120 between the jaws 11, 12; 21, 22 of the corresponding cable gripper 10, 20 introduce or to the two cables 110, 120 to release again.
  • the cable grippers 10, 20 in a so-called intermediate position be transferred, in which the two cables 110, 120 are only radially enclosed and so far axially guided, which in particular a retrieval of the cable is made possible.
  • the mounting device 1 can be moved as a whole in the cable longitudinal direction L.
  • one of the two cable grippers 20 of the mounting device can be displaced relative to the other cable gripper 10 in the longitudinal direction L of the cables 110, 120.
  • an actuator 620 may be present.
  • the two cable grippers 10, 20 of the mounting device 1 it is also possible for the two cable grippers 10, 20 of the mounting device 1 to be designed to be movable or displaceable individually or separately in the cable longitudinal direction L.
  • corresponding actuators such as programmable servo axes (servomotors) may be provided, which are not shown in detail.
  • the placement apparatus 1 in the present exemplary embodiment has force sensors (not shown here).
  • the mounting device 1 preferably has a sensor which can measure the tensile and / or compressive forces acting on the respectively detected or gripped cable.
  • the mounting device 1 preferably has a sensor which can measure the tensile and / or compressive forces acting on the respectively detected or gripped cable.
  • only one sensor is present, which measures the forces acting on the entire mounting device 1 forces, which act in the cable longitudinal direction L on the entire mounting device 1.
  • the entire mounting device 1 is formed such that at least one of the two cable grippers 10, 20 is additionally designed to be displaceable in a corresponding direction transverse to the cable longitudinal axis L.
  • the gripping jaws 11, 12; 21, 22 of the corresponding cable gripper 10; Be formed such that the non-clamping inner contours of the gripping jaws 11, 12; 21, 22, for example, are slit-shaped.
  • the two cable grippers 10, 20 of the mounting device 1 can each grasp a cable 110, 120 of the cable pair 100 and according to the invention in the longitudinal direction L of the cable 110, 120 are formed independently movable or displaceable.
  • the cable grippers 10, 20 of the mounting device 1 are also arranged one behind the other in the longitudinal direction L of the cables 110, 120 in order to realize a particularly compact design of the mounting device 1.
  • the two cable ends 111, 121 provided with contact elements 113, 123 can be arranged offset to each other in the longitudinal direction L so that the respective contacts 113, 123 on the assembled cable ends 111 , 121 of the two cables 110, 120 potentially critical sections 211, 212, 213; 221, 222, 223 along the feed path in the direction plug housing 200 or end position of the connector housing 200 can pass successively or individually and in particular to be able to realize an independent force monitoring.
  • the method shown can also be carried out analogously for plug housings without sealing mats or plug housings with a sealing mat which is arranged outside the insertion openings of the plug housing.
  • Fig. 3a shows the starting position of the mounting method, in which the contacts 113, 123 of the cable pair 100 are positioned in the direction of rotation in rotation in front of the two plug housing chambers 210, 220.
  • Each of the two cables 110, 120 is thereby retained on a section of the free, untwisted cable end 111, 121 by a respective cable gripper 10, 20 of the mounting device 1.
  • one of the two cable grippers 20 is retracted to produce a length offset ⁇ L between the two cable ends 111, 121.
  • the length offset .DELTA.L corresponds at least to the length of the so-called chamber inlet 211, 221 or insertion section of the corresponding plug housing chamber 210, 220, which represents a first potentially critical section for the placement process along the feed path.
  • the mounting device 1 is pushed so far in the direction of the plug housing 200 (see. Fig. 3c ), until the contact element 113 of the leading cable end 111 is just in front of the sealing mat device 212. While This Vorschiebezi is monitored on this cable end 111 any force acting. Since the two contact elements 113, 123 successively pass through the chamber inlet 211, 221, the corresponding loading force for each contact 113, 123 can be monitored individually. If a predetermined maximum force is exceeded, then a collision at the chamber inlet 211, 221 can be inferred and the insertion process can be repeated if necessary.
  • the rear cable gripper 20 is withdrawn until a length offset .DELTA.L arises, which corresponds at least to the thickness of the sealing mat device 212, 222, which represents a further potentially critical section for the placement process along the feed path.
  • the mounting device is driven so far until the sealing mat 212, 222 is pierced by the contact 113 of the leading end of the cable 110. Again, the loading force can be monitored.
  • the rear cable gripper 20 in the direction plug housing 200 is moved further forward until the contact element 123 of the trailing cable end 120 has penetrated the sealing mat device 222.
  • the placement device 1 moves forward with the cable grippers 10, 20 arranged at a length offset and that the length offset ⁇ L is subsequently compensated for this step. This is particularly advantageous if the placement force is to be monitored and only one force sensor for the entire assembly device 1 and not separate force sensors for both cable grippers 10, 20 are present.
  • the mounting device 1 - as in Fig. 3g shown as far as possible in the direction of the end position are moved forward and then the cable grippers 10, 20 are opened to the middle position. Subsequently, the placement device 1 travels back to the amount necessary for retrofitting. Thereafter, the gripping jaws 11, 12; 21 22 of the cable grippers 10, 20 closed again to complete the Nachgreifvorgang (see. Fig. 3h ).
  • a forward movement of the entire assembly device 1 in the end position of the two contact elements 113, 123 in the connector housing 200 can be detected by the force sensor and the feed motion can be stopped accordingly.
  • the force can not be measured independently for each cable 110, 120
  • one of the two cable grippers 10, 20 can be opened to the middle position, so that initially only one cable 110 is inserted into the corresponding end position (cf. Fig. 3i ).
  • an extract test can also be performed.
  • the power is drawn with reduced force on the two cables 110, 120 and at the same time monitors the forces acting on the cable ends 111, 121 to determine whether the two contact elements 113, 123 are properly locked in the end positions of the plug housing 200 , Again, it may be necessary to bring one of the two cable grippers 10, 20 in the middle position, in order to be able to carry out the pull-out test for both cables 110, 120 independently of one another or one after the other.
  • the placement device 1 can then take over a further pair of cables from the alignment unit 300, while the pallet 501 is moved to bring the plug housing chambers to be equipped with the next pair of cables in the appropriate position.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Installation Of Indoor Wiring (AREA)
  • Details Of Connecting Devices For Male And Female Coupling (AREA)
  • Manufacturing Of Electrical Connectors (AREA)

Description

Die vorliegende Erfindung betrifft eine Vorrichtung sowie ein Verfahren zum Bestücken wenigstens eines Steckergehäuses mit konfektionierten Kabelenden eines insbesondere verdrillten Kabelstrangs mit wenigstens zwei Kabeln, wobei die Vorrichtung wenigstens zwei Kabelgreifer zum Greifen jeweils eines der wenigstens zwei Kabel an einem freien, insbesondere entdrillten Abschnitts des Kabelendes aufweist.The present invention relates to a device and a method for equipping at least one plug housing with prefabricated cable ends of a particular twisted harness with at least two cables, wherein the device has at least two cable grippers for gripping each one of the at least two cables on a free, in particular untwisted portion of the cable end ,

Kabelbäume, wie sie beispielsweise in Automobilen oder Flugzeugen eingesetzt werden, bestehen aus mehreren Kabeln, die an ihren konfektionierten Kabelenden mit sogenannten Steckergehäusen versehen werden, was im Allgemeinen als Bestückung oder Bestücken der Steckergehäuse bezeichnet wird. Hierzu werden die zuvor konfektionierten, d.h. abgelängten, abisolierten und mit Kontaktteilen versehenen Kabelenden in die Kammern bzw. Aufnahmen der Steckergehäuse eingeführt.Cable harnesses, such as those used in automobiles or aircraft, consist of several cables, which are provided at their pre-assembled cable ends with so-called connector housings, which is generally referred to as assembly or equipping the connector housing. For this purpose, the prefabricated, i. cut to length, stripped and provided with contact parts cable ends inserted into the chambers or recordings of the connector housing.

In der Regel liegen die Kabel eines Kabelbaums mit den zu bestückenden Kabelenden einzeln vor und werden insoweit auch einzeln mit entsprechenden maschinellen Vorrichtungen in die Kammern der Steckergehäuse eingeführt. In zunehmendem Masse kommen bei Kabelbäumen neuerdings auch Kabelstränge aus mehreren Einzelkabeln zum Einsatz vornehmlich verdrillte Kabelpaare, für die ebenfalls das Bedürfnis besteht, die freien, insbesondere entdrillten und ggf. gestreckten Kabelenden des Kabelstrangs zu bestücken. Neben verdrillten Kabelpaaren bzw. Kabelsträngen können aber auch unverdrillte Kabelpaare bzw. Kabelstränge oder andere Mehrkabelsysteme zum Einsatz kommen, bei denen die Kabel lediglich nebeneinander angeordnet und ggf. in einem Verbund zusammengefasst sind, etwa zwei oder mehrere von einem Mantel umgebene Einzelkabel.As a rule, the cables of a cable harness with the cable ends to be equipped are individually present and are also individually introduced with corresponding mechanical devices in the chambers of the connector housing. Cable harnesses made of several individual cables are nowadays increasingly being used for predominantly twisted cable pairs, for which there is also the need to equip the free, in particular untwisted, and possibly elongated cable ends of the cable harness. In addition to twisted cable pairs or cable strands but also untwisted cable pairs or cable strands or other multi-cable systems can be used, in which the cables are arranged only side by side and possibly combined in a composite, such as two or more surrounded by a jacket single cable.

Ganz allgemein besteht daher ein Bedürfnis, Kabelstränge aus wenigstens zwei Kabeln, insbesondere verdrillten Kabeln, mit entsprechenden maschinellen Vorrichtungen kabelendseitig bestücken zu können.In general, therefore, there is a need to be able to equip cable strands of at least two cables, in particular twisted cables, with corresponding mechanical devices on the cable end side.

Vorrichtungen zum Bestücken von Steckergehäusen mit einzelnen Kabeln bzw. Kabelenden einzelner Kabel sind aus dem Stand der Technik grundsätzlich bekannt. So beschreibt zum Beispiel EP 2 317 613 A1 eine Vorrichtung und ein entsprechendes Verfahren zum Bestücken von Steckergehäusen mit Kabelenden mittels eines Kabelgreifers, welcher zwei Klemmbacken zum Greifen des Kabelendes aufweist, die in einer Grob- und Feinbewegung gesteuert werden können. EP 1 317 031 A1 beschreibt ebenfalls eine Bestückungsvorrichtung für derartige Zwecke, die ferner einen Kraftsensor aufweist, der dazu geeignet ist, den Bestückungsvorgang kraftsensorisch zu überwachen. Eine kraftsensorische Überwachung des Bestückungsvorgangs ist insbesondere an potentiell kritischen Abschnitten entlang des Vorschubwegs des konfektionierten Kabelendes in das oder in die Steckergehäuse notwendig. Solche potentiell kritischen Abschnitte entlang des Vorschubwegs betreffen insbesondere den sogenannten Einführabschnitt im Eintrittsbereich der Steckergehäuseaufnahme bzw. Steckergehäusekammer, an denen ein einzuführendes Kabelende aufgrund unzureichender oder fehlerhafter Vorpositionierung hängen bleiben kann oder den ein einzuführendes Kabelende sogar gänzlich verfehlen kann. Ferner können Steckergehäuse zur Abdichtung über sogenannte Dichtmatten verfügen, die von den Kontakten an den konfektionierten Kabelenden während des Bestückungsprozesses durchstossen werden müssen. Solche Dichtmatten können entweder vor den Kammern bzw. Steckergehäuseaufnahmen oder aber auch als Zwischenstück in den Kammern bzw. Steckergehäuseaufnahmen der Steckergehäuse liegen. Insofern stellen auch solche zu durchstossenden Dichtmatten während des Bestückungsprozesses potentiell kritische Abschnitte entlang des Vorschubwegs des Kabelendes dar. Damit die konfektionierten Kabel nach der Bestückung nicht mehr aus dem Steckergehäuse gezogen werden können, sind in den Steckergehäusen Rückhalte- oder Verriegelungseinrichtungen vorhanden, die mit den eingeführten Kontakten verrasten. Umgekehrt können auch die Kontakte an den Kabelenden über derartige Rückhalte- oder Verriegelungseinrichtungen verfügen, die in der Endposition im Gehäuse einrasten. Um festzustellen, ob der Kontakt ordnungsgemäss verriegelt ist, wird nach der erfolgten Bestückung üblicherweise ein Auszugstest durchgeführt, bei dem mit einer reduzierten Kraft am Kabel gezogen und gleichzeitig die auf das Kabel einwirkende Kraft überwacht wird. Damit stellt auch das Einführen in die Rückhalte- bzw. Verriegelungseinrichtungen einen kritischen Abschnitt entlang des Vorschubwegs dar.Devices for equipping plug housings with individual cables or cable ends of individual cables are known in principle from the prior art. So for example describes EP 2 317 613 A1 a device and a corresponding method for equipping plug housings with cable ends by means of a cable gripper, which has two jaws for gripping the cable end, which can be controlled in a coarse and fine movement. EP 1 317 031 A1 also describes a placement device for such purposes, which further comprises a force sensor which is adapted to the force-sensing process to monitor the placement process. A force-sensory monitoring of the assembly process is necessary in particular at potentially critical sections along the feed path of the assembled cable end into or into the plug housing. Such potentially critical sections along the feed path relate in particular to the so-called insertion section in the entry region of the plug housing receptacle or plug housing chamber, at which a cable end to be inserted may become stuck due to insufficient or incorrect prepositioning or which may even miss a cable end to be inserted altogether. Furthermore, plug housings for sealing can have so-called sealing mats, which must be pierced by the contacts on the assembled cable ends during the assembly process. Such sealing mats can be located either in front of the chambers or plug housing receptacles or else as an intermediate piece in the chambers or plug housing receptacles of the plug housing. In this respect, even those provide piercing sealing mats during the assembly process potentially critical sections along the feed path of the cable end. So that the prefabricated cables can not be pulled out of the connector housing after the assembly, retaining or locking devices are present in the connector housings, which lock with the inserted contacts. Conversely, the contacts at the cable ends can also have such retaining or locking devices, which engage in the end position in the housing. To determine whether the contact is properly locked, usually a pull-out test is performed after the assembly has been completed, pulling the cable with a reduced force while monitoring the force applied to the cable. Thus, insertion into the retention or locking devices also constitutes a critical section along the feed path.

Neben EP 1 317 031 A1 offenbart auch EP 0 348 615 A1 eine Bestückungsvorrichtung für Einzelkabel, bei der der Kontakt und das Kabel mit je einem Greifer gehalten wird und die korrekte Verriegelung des Kontakts zum Steckergehäuse durch eine kraftüberwachte Auszugsbewegung überprüft wird. Treten bei dem Bestücken von Einzelkabeln an den potentiell kritischen Abschnitten entlang des Vorschubwegs etwaige Probleme auf, so kann mit den bisher aus dem Stand der Technik bekannten Vorrichtungen zur Verarbeitung von Einzelkabeln der Bestückungsvorgang problemlos wiederholt werden. Hierzu wird das einzuführende Kabel entweder zurückgezogen und erneut in Richtung des Steckergehäuses vorgeschoben, um den Einführ- bzw. Bestückungsprozess zu wiederholen. Alternativ kann beim Auftreten etwaiger Probleme der Kabelgreifer eine Rüttelbewegung ausführen, um die kritische Situation zu überwinden, beispielsweise wenn ein Kontakt beim Einführen in den Einführabschnitt der Steckergehäuseaufnahme aufgrund einer leichten Fehlpositionierung relativ zur Steckergehäuseaufnahme hängen bleiben oder anstossen sollte.Next EP 1 317 031 A1 also reveals EP 0 348 615 A1 a mounting device for single cable, in which the contact and the cable is held with one gripper and the correct locking of the contact to the connector housing is checked by a force-monitored extension movement. If any problems arise during the loading of individual cables at the potentially critical sections along the feed path, then the assembly process can easily be repeated with the devices for processing individual cables known hitherto from the prior art. For this purpose, the cable to be inserted is either withdrawn and advanced again in the direction of the plug housing in order to repeat the insertion or assembly process. Alternatively, in the event of any problems, the cable gripper may make a shaking motion to overcome the critical situation, for example, when a contact is inserted upon insertion into the insertion portion of the male housing receptacle slight mispositioning relative to the connector housing receptacle should hang or bump.

Solche Überwachungs- und Korrekturmassnahmen sind jedoch bei Kabelsträngen aus mehreren Kabeln mit den bisher aus dem Stand der Technik bekannten Vorrichtungen und Verfahren nicht möglich, da die einzelnen Kabel innerhalb des Kabelstrangs miteinander verbunden sind und da die Kabelenden an einem Ende des Kabelstrangs die jeweils potentiell kritischen Abschnitte entlang des Vorschubwegs im Wesentlichen gleichzeitig erreichen und passieren. Aus denselben Gründen ist auch die Kraftüberwachung für einzelne Kabel innerhalb des Kabelstrangs mit den bisher aus dem Stand der Technik bekannten Vorrichtungen nicht möglich.However, such monitoring and corrective measures are not possible with cable harnesses of multiple cables with the previously known from the prior art devices and methods, since the individual cables are interconnected within the cable harness and because the cable ends at each end of the cable harness each potentially critical Sections along the feed path substantially simultaneously reach and pass. For the same reasons, the force monitoring for individual cables within the cable harness with the previously known from the prior art devices is not possible.

Das Dokument US 2002/173204 beschreibt einen Prozess und eine Einrichtung zum Zusammenbauen eines Verbinders, umfassend ein provisorisches Verriegeln eines Abastandshalters im Verbindergehäuse; ein Einführen einer Stange in das Verbindergehäuse, bevor der Anschluss in das Verbindergehäuse eingeführt wird, wobei die Stange zum Lösen der Verriegelung des Abstandshalters dient, der vollständig im Verbindergehäuse verriegelt ist; Herausziehen der Stange aus dem Verbindergehäuse; und Einführen des Anschlusses in das Verbindergehäuse.The document US 2002/173204 describes a process and apparatus for assembling a connector comprising provisionally locking a pick-up holder in the connector housing; inserting a rod into the connector housing before inserting the terminal into the connector housing, the rod serving to release the lock of the spacer which is fully locked in the connector housing; Pulling the rod out of the connector housing; and inserting the terminal into the connector housing.

Die Aufgabe der vorliegenden Erfindung besteht somit darin, eine Vorrichtung sowie ein Verfahren zum Bestücken wenigstens eines Steckergehäuses mit konfektionierten Kabelenden eines Kabelstrangs aus mehreren Kabeln zu realisieren, bei der bzw. bei dem der Bestückungsvorgang für die konfektionierten Kabelenden des Kabelstrangs, insbesondere im Hinblick auf potentielle kritische Abschnitte entlang des Vorschubwegs in das oder in dem Steckergehäuse, jeweils möglichst unabhängig voneinander erfolgen kann.The object of the present invention is thus to realize a device and a method for equipping at least one connector housing with prefabricated cable ends of a cable harness of several cables, in which or in which the assembly process for the assembled cable ends of the cable harness, in particular with regard to potential critical sections along the feed path in or in the plug housing, each can be made as independent as possible.

Diese Aufgabe wird gelöst durch eine Vorrichtung gemäss Anspruch 1 sowie ein Verfahren gemäss Anspruch 9. Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.This object is achieved by a device according to claim 1 and a method according to claim 9. Advantageous embodiments of the invention are the subject of the dependent claims.

Um die einzelnen konfektionierten Kabelenden an einem Ende eines Kabelstrangs möglichst unabhängig voneinander zu bestücken, ist es gemäss der Erfindung vorgesehen, die Kabelenden in das Steckergehäuse insbesondere durch jene für einen erfolgreichen Bestückungsprozess potentiell kritischen Abschnitte entlang des Vorschubweges längenversetzt nacheinander ein- und hindurchzuführen. Hierzu weist die erfindungsgemässe Vorrichtung wenigstens zwei Kabelgreifer zum Greifen jeweils eines der wenigstens zwei Kabel an einem freien, insbesondere entdrillten Abschnitts des jeweiligen Kabelendes auf. Um den erfindungsgemässen Längenversatz zu erzeugen und die Kabelenden entsprechend längenversetzt nacheinander in und durch die potentiell kritischen Abschnitte entlang des Vorschubweges ein- und hindurchzuführen, sind die wenigstens zwei Kabelgreifer in Längsrichtung der zu ergreifenden Kabelenden unabhängig voneinander verschiebbar ausgebildet.In order to equip the individual prefabricated cable ends as independent as possible at one end of a cable harness, it is provided according to the invention, the cable ends in the connector housing in particular by those for Successfully feed and pass through a successful assembly process potentially critical sections along the feed path with a length offset. For this purpose, the device according to the invention has at least two cable grippers for gripping in each case one of the at least two cables on a free, in particular untwisted, section of the respective cable end. In order to produce the inventive longitudinal offset and lead the cable ends according to length offset succession in and through the potentially critical sections along the feed path and pass, the at least two cable grippers are designed to be independent in the longitudinal direction of the cable ends to be gripped.

Nach einer vorteilhaften Ausgestaltung der Erfindung sind die wenigstens zwei Kabelgreifer in Längsrichtung der zu ergreifenden Kabelenden wenigstens um bzw. über die Länge eines, insbesondere des längsten der potentiell kritischen Abschnitte entlang des Vorschubweges unabhängig voneinander verschiebbar ausgebildet. Hierdurch wird insbesondere erreicht, dass die konfektionierten Kabelenden, insbesondere dort angebrachten Kontaktelemente jene Abschnitte bzw. Zonen, die für den Bestückungsvorgang potentiell kritisch sind, und bei denen vorzugsweise eine Kraftüberwachung vorgenommen werden soll, einzeln passieren können. Somit kann jedes Kabelende individuell bzw. separat durch eine potentiell kritische Zone hindurch geleitet und kraftsensorisch überwacht werden.According to an advantageous embodiment of the invention, the at least two cable grippers are designed to be displaceable independently of one another in the longitudinal direction of the cable ends to be gripped, at least over or over the length of, in particular, the longest of the potentially critical sections along the feed path. In this way it is achieved, in particular, that the prefabricated cable ends, in particular contact elements mounted there, can pass individually those sections or zones which are potentially critical for the equipping process and in which force monitoring is preferably to be carried out. Thus, each cable end can be individually or separately passed through a potentially critical zone and monitored by force sensors.

Im Sinne der vorliegenden Erfindung betreffen die zu bestückenden Kabelenden des Kabelstrangs jene Kabelenden, die sich an einem Ende des Kabelstrangs befinden. Ferner sollen im Sinne der vorliegenden Erfindung die zu bestückenden Kabelenden an dem einen Ende des Kabelstrangs frei vorliegen, d.h. dass der Verbund des Kabelstrangs, etwa eine Verdrillung, im Bereich der zu bestückenden Kabelenden aufgelöst ist, so dass etwa bei einem ansonsten verdrillten Kabelstrang die Kabelenden bzw. der Kabelstrang im Bereich der Kabelenden entdrillt und vorzugsweise auch gestreckt ist. Im Sinne der vorliegenden Erfindung sollen die Kabelenden jedoch in jedem Fall insoweit "frei" sein, dass sie im Wesentlichen voneinander entbunden sind, unabhängig voneinander ergriffen und zumindest in einem bestimmten Bereich relativ zueinander bewegt, insbesondere in Längsrichtung relativ zueinander versetzt werden können. Sollten die erfindungsgemäss auszurichtenden Kabelenden noch nicht frei voneinander sein, so kann es nach einer vorteilhaften Ausgestaltung der Erfindung vorgesehen sein, vor dem Ausrichten die Kabelenden entsprechend zu "befreien", beispielsweise zu entdrillen, bzw. den Kabelstrang (den Verbund des Kabelstrangs, beispielsweise die Verdrillung des Kabelstrangs) im Bereich der auszurichtenden Kabelenden aufzulösen, beispielsweise zu entdrillen.For the purposes of the present invention, the cable ends of the cable harness to be populated relate to those cable ends that are located at one end of the cable harness. Furthermore, in the context of the present invention, the cable ends to be equipped are to be freely available at one end of the cable harness, ie, that the Composite of the wiring harness, such as a twist, is dissolved in the region of the cable ends to be equipped, so that about an otherwise twisted harness the cable ends or the wiring harness is untwisted in the region of the cable ends and preferably also stretched. For the purposes of the present invention, however, the cable ends should in any case be "free" in that they are essentially unbound from each other, gripped independently of each other and moved relative to each other at least in a certain area, in particular in the longitudinal direction relative to each other. If the cable ends to be aligned according to the invention are not yet free of each other, then according to an advantageous embodiment of the invention it may be provided to "free" the cable ends prior to alignment, for example to untwist, or to route the cable harness (the composite of the cable harness, for example the cable harness) Twisting of the cable harness) in the region of the cable ends to be aligned, for example, to untwist.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung kann es ferner vorgesehen sein, dass die wenigstens zwei bzw. mehreren Kabelgreifer in Längsrichtung der zu ergreifenden Kabelenden hintereinander angeordnet sind und entsprechend unabhängig voneinander in Längsrichtung versetzt bzw. verschoben werden können. Hierdurch wird eine besonders kompakte Bauweise der Bestückungsvorrichtung erreicht. Denkbar ist es aber auch, dass die Kabelgreifer bezüglich der Längsrichtung der zu ergreifenden Kabelenden auf der gleichen axialen Position angeordnet sind, jedoch aus unterschiedlichen Richtungen quer, insbesondere senkrecht zur Längsrichtung auf die jeweiligen Kabelenden zugreifen.According to a further advantageous embodiment of the invention, it may further be provided that the at least two or more cable grippers are arranged one behind the other in the longitudinal direction of the cable ends to be gripped and correspondingly displaced or displaced independently of one another in the longitudinal direction. As a result, a particularly compact design of the mounting device is achieved. It is also conceivable, however, for the cable grippers to be arranged at the same axial position with respect to the longitudinal direction of the cable ends to be gripped, but to access the respective cable ends transversely, in particular perpendicularly to the longitudinal direction, from different directions.

Bei Kabelsträngen mit mehr als zwei zu verarbeitenden Kabelenden sind entsprechen mehr als zwei Kabelgreifer, d.h. für jedes Kabelende je ein Kabelgreifer vorgesehen, die entsprechend unabhängig voneinander in Längsrichtung der zu ergreifenden Kabelenden versetztet bzw. verschoben werden können und vorzugsweise in Längsrichtung hintereinander angeordnet sind.For cable harnesses with more than two cable ends to be processed are more than two cable gripper, ie one cable gripper is provided for each cable end, which can be displaced or displaced independently of one another in the longitudinal direction of the cable ends to be gripped and are preferably arranged one behind the other in the longitudinal direction.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung weist wenigstens ein, beziehungsweise weisen vorzugsweise alle Kabelgreifer ein Paar relativ zueinander verstellbarer Greifbacken auf. Diese lassen sich wenigstens in eine Schliessstellung zum klemmenden Festhalten eines Kabelendes und in eine Offenstellung zum Aufnehmen und Freigeben des Kabelendes bringen. Vorzugsweise kann es zudem vorgesehen sein, dass die Greifbacken in eine Zwischenstellung zum zumindest teilweise radialen Umschliessen und Führen des Kabelendes entlang seiner Längsachse bringbar sind. Diese Zwischenstellung kann insbesondere dazu benutzt werden, um ein Nachgreifen im Sinne eines stufenweisen Vorschiebens des Kabelendes in Richtung der Endposition im Steckergehäuse zu ermöglichen.According to a further advantageous embodiment of the invention, at least one or preferably all cable grippers have a pair of gripping jaws which are adjustable relative to each other. These can be brought at least into a closed position for clamping holding a cable end and in an open position for receiving and releasing the cable end. Preferably, it can also be provided that the gripping jaws can be brought into an intermediate position for at least partially radial enclosing and guiding the cable end along its longitudinal axis. This intermediate position can be used in particular to allow retrofitting in the sense of a gradual advancement of the cable end in the direction of the end position in the connector housing.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung können die Greifbacken des wenigstens einen Kabelgreifers derart ausgebildet sein, zusätzlich ein Kabelende wenigstens eines weiteren Kabels des Kabelstrangs aufzunehmen und in der Schliessstellung sowie vorzugsweise auch in der Zwischenstellung zumindest teilweise radial zum Schliessen und entlang seiner Kabellängsachse zu führen. Hierdurch wird das Kabelende beim Einführen bzw. Bestücken während des Vorschiebens in vorteilhafter Weise zusätzlich stabilisiert.According to a further advantageous embodiment of the invention, the gripping jaws of the at least one cable gripper may be designed to additionally receive a cable end of at least one other cable of the harness and in the closed position and preferably also in the intermediate position at least partially radially to close and along its cable longitudinal axis. As a result, the cable end during insertion or loading during advancement is advantageously additionally stabilized.

Zum Festhalten, teilweise radialen Umschliessen bzw. Führen der jeweiligen Kabelenden können die Greifbacken des Kabelgreifers nach einer weiteren vorteilhaften Ausgestaltung der Erfindung jeweils korrespondierende Greif- oder Aufnahmemulden aufweisen. Denkbar ist beispielsweise, dass die Greifbacken ähnlich den Backen einer Zange ausgebildet sind. Zum Festhalten eines Kabelendes in der Schliessstellung können die Greif- bzw. Aufnahmemulden insbesondere eine aufgeraute Oberfläche oder eine gezahnte Oberfläche aufweisen. Demgegenüber können die Mulden bzw. jene Bereiche der Greifbacken, die nur zum radialen Umschliessen und Führen eines weiteren zusätzlichen Kabelendes dienen, eine glatte Oberfläche aufweisen.For holding, partially radial enclosing or guiding the respective cable ends, the gripping jaws of the cable gripper according to a further advantageous embodiment of the invention respectively corresponding gripping or receiving troughs respectively. It is conceivable, for example, that the jaws are formed similar to the jaws of a pair of pliers. For holding a cable end in the closed position, the gripping or receiving cavities may in particular have a roughened surface or a toothed surface. In contrast, the troughs or those regions of the gripping jaws, which serve only to radially enclose and guide a further additional cable end, have a smooth surface.

Um das voneinander unabhängige Verschieben der wenigstens zwei Kabelgreifer in Längsrichtung der zu ergreifenden Kabelenden zu realisieren, kann es nach einer weiteren vorteilhaften Ausgestaltung der Erfindung vorgesehen sein, dass einer der wenigstens zwei Kabelgreifer relativ zum anderen Kabelgreifer separat, insbesondere mittels einer Greifer-Verschiebeeinrichtung, in Längsrichtung verschiebbar ist und der andere Kabelgreifer durch Verschieben der gesamten Bestückungsvorrichtung in Längsrichtung, insbesondere mittels einer Gesamt-Verschiebeeinrichtung, verschiebbar ist. Alternativ kann es vorgesehen sein, dass zum voneinander unabhängigen Verschieben der wenigstens zwei Kabelgreifer in Längsrichtung der zu ergreifenden Kabelenden die wenigstens zwei Kabelgreifer jeweils separat, insbesondere jeweils mit einer separaten Kabelgreifer-Verschiebeeinrichtung, in Längsrichtung verschiebbar sind. Als Kabelgreifer-Verschiebeeinrichtung bzw. Gesamt-Verschiebeeinrichtung kommen insbesondere aktuatorbetriebene (Linear-) Verschiebeeinrichtungen in Betracht. Als Aktuatoren kommen beispielsweise pneumatisch, hydraulisch oder elektromotorisch betätigte Aktuatoren (Linearmotoren oder Rotationsmotoren mit Bewegungsumsetzer, beispielsweise Getriebe) in Betracht.In order to realize the mutually independent displacement of the at least two cable grippers in the longitudinal direction of the cable ends to be gripped, it may be provided according to a further advantageous embodiment of the invention that one of the at least two cable grippers relative to the other cable gripper separately, in particular by means of a gripper-displacement device in Is displaceable longitudinally and the other cable gripper by moving the entire mounting device in the longitudinal direction, in particular by means of a total displacement device, is displaceable. Alternatively, it can be provided that, for mutually independent displacement of the at least two cable grippers in the longitudinal direction of the cable ends to be gripped, the at least two cable grippers are each movable separately, in particular in each case with a separate cable gripper displacement device, in the longitudinal direction. In particular actuator-driven (linear) displacement devices come into consideration as cable gripper displacement device or overall displacement device. As actuators come, for example, pneumatically, hydraulically or electromotively actuated actuators (linear motors or rotary motors with motion converter, such as gearbox) into consideration.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung kann es vorgesehen sein, dass wenigstens einer der Kabelgreifer in wenigstens einer Richtung quer, insbesondere senkrecht zur Längsrichtung der zu ergreifenden Kabelenden verschiebbar ist. Hierdurch kann in vorteilhafter Weise eine vereinfachte Zuführung des Kabelgreifers an die zu verarbeitenden Kabelenden realisiert werden. Zudem ist es möglich, hierdurch Steckergehäuse mit unterschiedlichen Abständen zwischen zu bestückenden Steckergehäusekammern zu verarbeiten. Vorzugsweise sind sämtliche Kabelgreifer quer, insbesondere senkrecht zur Längsrichtung der zu ergreifenden Kabelenden verschiebbar. Alternativ oder zusätzlich kann es ferner vorgesehen sein, dass wenigstens einer, vorzugsweise alle Kabelgreifer zum Ausführen einer Rüttelbewegung längs und/oder quer zur Längsrichtung der zu ergreifenden Kabelenden ausgebildet sind. Hierzu können entsprechende Aktuatoren an den Kabelgreifern angebracht sein, die eine derartige Rüttelbewegung erzeugen. Die Rüttelbewegung dient vornehmlich dazu, im Falle einer kritischen Situation, etwa beim Hängenbleiben des Kabelendes bzw. des am Kabelende angebrachten Kontakts im Bereich eines kritischen Abschnitts, etwa im Einführbereich, im Bereich der Dichtmatte oder im Bereich der Verriegelungs- bzw. Verrastungseinrichtung, das Kabelende in seiner Position zu korrigieren und dadurch die kritische Situation zu überwinden.According to a further advantageous embodiment of the invention, it may be provided that at least one of the cable gripper in at least one direction transversely, in particular perpendicular to the longitudinal direction of the cable ends to be gripped is displaceable. As a result, a simplified supply of the cable gripper to the cable ends to be processed can be realized in an advantageous manner. In addition, it is possible to process thereby plug housing with different distances between plug housing chambers to be loaded. Preferably, all cable grippers are transversely displaceable, in particular perpendicular to the longitudinal direction of the cable ends to be gripped. Alternatively or additionally, it may further be provided that at least one, preferably all, cable grippers are designed to carry out a vibrating movement along and / or transversely to the longitudinal direction of the cable ends to be gripped. For this purpose, appropriate actuators may be attached to the cable grippers, which generate such a shaking movement. The jogging movement is primarily used in the case of a critical situation, such as when the cable end or the cable attached contact at the critical portion, such as in the insertion, in the region of the sealing mat or in the locking or latching device, the cable end correct in his position and thereby overcome the critical situation.

Zum Überwachen des Bestückungsvorgangs kann es im Weiteren vorgesehen sein, dass die Vorrichtung wenigstens einen Kraftsensor zum Messen einer auf ein zu ergreifendes Kabelende einwirkenden Zug- und/oder Druckkraft aufweist. Idealerweise ist für jeden Kabelgreifer ein Kraftsensor vorgesehen, der die auf das jeweilige Kabel wirkenden Kräfte messen kann. Alternativ kann aber auch nur ein Kraftsensor für die gesamte Bestückungsvorrichtung vorgesehen sein, der dann jeweils über die Gesamtvorrichtung die auf die Kabel einwirkenden Kräfte misst. Aufgrund der Möglichkeit, die Kabelenden in Längsrichtung versetzt zueinander anzuordnen und entsprechend nacheinander durch potentiell kritische Abschnitte entlang des Vorschubwegs zu führen, ist es so möglich, für jedes Kabelende einzeln die entlang des entsprechenden kritischen Abschnitts einwirkenden Zug- und/oder Druckkräfte zu messen.For monitoring the assembly process, it may further be provided that the device has at least one force sensor for measuring a tensile and / or compressive force acting on a cable end to be gripped. Ideally, a force sensor is provided for each cable gripper, which can measure the forces acting on the respective cable. Alternatively, however, it is also possible to provide only one force sensor for the entire equipping device, which then measures the forces acting on the cables over the entire device in each case. Due to the possibility of cable ends in Staggered longitudinally to each other and accordingly successively lead through potentially critical sections along the feed path, it is thus possible to measure individually for each end of the cable acting along the corresponding critical section tensile and / or compressive forces.

Die Aufgabe der vorliegenden Erfindung wird ferner durch das nachfolgend beschriebene Verfahren zum Bestücken wenigstens eines Steckergehäuses mit konfektionierten Kabelenden eines insbesondere verdrillten Kabelstrangs aus wenigstens zwei Kabeln gelöst, das insbesondere unter Verwendung der zuvor beschriebenen erfindungsgemässen Vorrichtung durchgeführt werden kann. Bei dem Verfahren werden die konfektionierten Kabelenden in korrespondierende Steckergehäuseaufnahmen bzw. Steckergehäusekammern des wenigstens einen Steckergehäuses bis in eine jeweilige Endposition eingeführt. Gemäss der Erfindung zeichnet sich das Verfahren durch die folgenden Schritte aus:

  1. a. Separates Greifen der wenigstens zwei Kabel an einem Abschnitts des jeweiligen freien, insbesondere entdrillten Kabelendes;
  2. b. Vorschieben der ergriffenen Kabelenden entlang ihrer Längsrichtung in Richtung der jeweiligen Endposition bis zum Erreichen eines für einen erfolgreichen Bestückungsprozesses potentiell kritischen Abschnitts entlang des Vorschubwegs in das oder in dem Steckergehäuse, insbesondere bis zum Erreichen eines Einführabschnittes der jeweiligen Steckergehäuseaufnahme eines Dichtmattenabschnitts in oder vor der Steckergehäuseaufnahme oder eines Fixierabschnitts der jeweiligen Steckergehäuseaufnahme;
  3. c. Längenversetztes Vorschieben der Kabelenden durch den kritischen Abschnitt derart, dass die Kabelenden der wenigstens zwei Kabel nacheinander den kritischen Abschnitt passieren;
  4. d. Wiederholen der Schritte b. und c. für jeden weiteren etwaigen kritischen Abschnitt bis zum Erreichen der jeweiligen Endposition.
The object of the present invention is further achieved by the method described below for equipping at least one plug housing with prefabricated cable ends of a particularly twisted cable strand of at least two cables, which can be carried out in particular using the device according to the invention described above. In the method, the prefabricated cable ends are inserted into corresponding plug housing receptacles or plug housing chambers of the at least one plug housing up to a respective end position. According to the invention, the method is characterized by the following steps:
  1. a. Separately gripping the at least two cables at a portion of the respective free, in particular untwisted cable end;
  2. b. Advancing the gripped cable ends along their longitudinal direction in the direction of the respective end position until reaching a potentially critical for a successful placement process section along the feed path in or in the connector housing, in particular until reaching an insertion of the respective connector housing receptacle of a sealing mat section in or in front of the connector housing receptacle or a fixing portion of the respective male housing receptacle;
  3. c. Lengthwise feeding the cable ends through the critical section such that the cable ends of the at least two cables pass successively the critical section;
  4. d. Repeat steps b. and c. for each further possible critical section until reaching the respective end position.

Nach einer vorteilhaften Ausgestaltung des erfindungsgemässen Verfahrens kann es vorgesehen sein, dass die Kabelenden der wenigstens zwei Kabel vor dem Passieren eines kritischen Abschnitts entlang ihrer Längsrichtung zueinander längenversetzt um einen wenigstens der Länge des kritischen Abschnitts entsprechenden Längenversatz angeordnet werden. Durch diese Massnahme wird eine Situation erreicht, in der die wenigstens zwei Kabel anschliessend einzeln nacheinander durch den kritischen Abschnitt hindurch geführt werden können und sichergestellt ist, dass das nacheilende Kabelende in den kritischen Abschnitt erst eintritt, wenn das vorauseilende Kabelende selbigen bereits passiert hat. Alternativ kann es ebenfalls vorgesehen sein, dass die Kabelenden der wenigstens zwei Kabel bis vor einen kritischen Abschnitt vorgeschoben werden und dann zunächst das eine Kabelende durch den kritischen Abschnitt hindurch geführt wird, während das andere Kabelende vor dem kritischen Abschnitt verweilt und erst dann in den kritischen Abschnitt eingeführt und hindurch geführt wird, wenn das vorauseilende Kabelende den kritischen Abschnitt passiert hat.According to an advantageous embodiment of the inventive method, it can be provided that the cable ends of the at least two cables are arranged offset in length relative to one another along their longitudinal direction by a length offset corresponding at least to the length of the critical section. By this measure, a situation is reached in which the at least two cables can then be guided one after the other through the critical section and it is ensured that the trailing cable end only enters the critical section when the leading cable end has already passed the same. Alternatively, it can also be provided that the cable ends of the at least two cables are advanced to a critical section and then first one end of the cable is passed through the critical section, while the other cable end lingers before the critical section and only then into the critical section Section is introduced and passed through when the leading end of the cable has passed the critical section.

Im Fall, dass die Kabelenden vor dem Passieren eines kritischen Abschnitts entsprechend längenversetzt angeordnet werden, kann es nach einer weiteren vorteilhaften Ausgestaltung der Erfindung vorgesehen sein, dass das längenversetzte Vorschieben der Kabelenden durch den kritischen Abschnitt folgendes umfasst:

  • Synchrones Vorschieben der vor dem Passieren längenversetzt angeordneten Kabelenden in Richtung der jeweiligen Endposition, bis das vorauseilende Kabelende den kritischen Abschnitt passiert hat, und anschliessendes separates Vorschieben des nacheilenden Kabelendes durch den kritischen Abschnitt ohne weiteres Vorschieben des vorauseilenden Kabelendes;
    oder
  • Synchrones Vorschieben der vor dem Passieren längenversetzt angeordneten Kabelenden in Richtung der jeweiligen Endposition, bis das vorauseilende Kabelende und anschliessend das nacheilende Kabelende den kritischen Abschnitt passiert haben.
In the event that the cable ends are arranged offset in length before passing a critical section, it may be provided according to a further advantageous embodiment of the invention that the longitudinal displacement of the cable ends by the critical section comprising:
  • Synchronously advancing the cable ends arranged in a length-displaced manner before passing in the direction of the respective end position until the leading cable end has passed the critical section, and then feeding the trailing cable end separately through the critical section without further advancement of the leading cable end;
    or
  • Synchronous advancement of the cable ends arranged offset in length before passing in the direction of the respective end position until the leading end of the cable and then the trailing cable end have passed the critical section.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung kann der Längenversatz zwischen den Kabelenden der wenigstens zwei Kabel ausgeglichen werden, nachdem das nacheilende Kabelende den kritischen Abschnitt passiert hat. Dies kann insbesondere durch separates Vorschieben des nacheilenden Kabelendes ohne weiteres Vorschieben des vorauseilenden Kabelendes realisiert werden.According to a further advantageous embodiment of the invention, the length offset between the cable ends of the at least two cables can be compensated for after the trailing end of the cable has passed the critical section. This can be realized in particular by separately advancing the trailing end of the cable without further advancement of the leading end of the cable.

Analog zur erfindungsgemässen Vorrichtung kann es auch bei dem erfindungsgemässen Verfahren vorgesehen sein, dass beim Vorschieben eines jeweiligen Kabelendes in und/oder durch einen kritischen Abschnitt eine auf das Kabelende einwirkende Zug- und/oder Druckkraft gemessen wird. Denkbar ist, dass entweder für jedes der Kabelenden beim jeweiligen Vorschiebevorgang eine Kraftüberwachung erfolgt. Alternativ ist es aber auch denkbar, dass lediglich bei einem der, insbesondere wenigstens einem der Kabelenden eine Kraftüberwachung erfolgt.Analogously to the device according to the invention, it can also be provided in the method according to the invention that, when advancing a respective cable end into and / or through a critical section, a tensile and / or compressive force acting on the cable end is measured. It is conceivable that either for each of the cable ends during the respective Vorschiebevorgang force monitoring takes place. Alternatively, it is also conceivable that force monitoring takes place only in one of, in particular at least one of the cable ends.

Sollte die gemessene Zug- und/oder Druckkraft einen vorgegebenen Wert überschreiten, so kann es nach einer weiteren vorteilhaften Ausgestaltung der Erfindung vorgesehen sein, dass das Vorschieben des entsprechenden Kabelendes gestoppt wird. Alternativ oder zusätzlich ist es möglich, dass das Vorschieben wiederholt wird, insbesondere durch ein Zurückziehen und erneutes Vorschieben des entsprechenden Kabelendes und/oder durch Ausführen einer Rüttelbewegung des Kabelendes längs und/oder quer zur Längsrichtung des Kabelendes.If the measured tensile and / or compressive force exceed a predetermined value, it may be provided according to a further advantageous embodiment of the invention that the advancement of the corresponding cable end is stopped. Alternatively or additionally, it is possible that the advancing is repeated, in particular by a retraction and renewed advancement of the corresponding cable end and / or by carrying out a shaking movement of the cable end along and / or transversely to the longitudinal direction of the cable end.

Insbesondere im Hinblick auf das Erreichen der jeweiligen Endposition kann es nach einer weiteren vorteilhaften Ausgestaltung der Erfindung vorgesehen sein, dass vorzugsweise für jedes der wenigstens zwei Kabelenden unabhängig ein Auszugstest durchgeführt wird, insbesondere durch Ausüben und Messen einer Zugkraft auf das entsprechende Kabelende entgegen der Einführrichtung.In particular with regard to the achievement of the respective end position, it can be provided according to a further advantageous embodiment of the invention that preferably for each of the at least two cable ends independently an extension test is performed, in particular by exerting and measuring a tensile force on the corresponding cable end against the insertion.

Weitere Ziele, Vorteile und Anwendungsmöglichkeiten der vorliegenden Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispiels der Erfindung sowie anhand der beigefügten Figuren.Other objects, advantages and applications of the present invention will become apparent from the following description of an embodiment of the invention and with reference to the accompanying figures.

Es zeigen:

Fig. 1
perspektivische Ansicht einer Bestückungseinheit mit einem möglichen Ausführungsbeispiel der erfindungsgemässen Bestückungsvorrichtung;
Fig. 2
Detailansicht des Ausführungsbeispiels der Bestückungsvorrichtung gemäss Fig. 1; und
Fig. 3a-i
Illustration eines Ausführungsbeispiels des erfindungsgemässen Verfahrens unter Verwendung der Bestückungsvorrichtung gemäss Fig. 1.
Show it:
Fig. 1
perspective view of a placement unit with a possible embodiment of the inventive placement device;
Fig. 2
Detail view of the embodiment of the mounting device according to Fig. 1 ; and
Fig. 3a-i
Illustration of an embodiment of the inventive method using the mounting device according to Fig. 1 ,

Fig. 1 zeigt eine Bestückungseinheit 400 mit einem möglichen Ausführungsbeispiel der erfindungsgemässen Bestückungsvorrichtung 1, die dazu dient, Steckergehäuse 200 mit konfektionierten Kabelenden 111, 121 eines vorliegend verdrillten Kabelpaares 100 zu bestücken, wobei die Steckergehäuse in entsprechenden Gehäusehalterungen 500 auf einer sogenannten Palette 501 angeordnet sind. Die Bestückungsvorrichtung 1 übernimmt das zu verarbeitende Kabelpaar 100 von einer sogenannten Ausrichteeinheit 300, wie sie beispielsweise in der am selben Tag wie die vorliegende Anmeldung hinterlegten Europäischen Patentanmeldung Nr. EP16192006.1 des gleichen Anmelders beschrieben ist. Die Ausrichteeinheit 300 dient dazu, die fertig konfektionierten, insbesondere mit Kontaktelementen 113, 123 versehenen und entdrillten bzw. gestreckten Kabelenden 111, 121 des ansonsten verdrillten Kabelpaares 100 bezüglich der zu bestückenden Steckergehäuse 200 rotationslagerichtig auszurichten. Die Ausrichteeinheit 300 verfügt hierzu über entsprechende Kabelgreifer 310, 320, die gemeinsam horizontal verfahren und vertikal abgesenkt werden können, um das Kabelpaar 100 an im Wesentlichen gleich ausgebildete Kabelgreifer 10, 20 der Bestückungsvorrichtung 1 zu übergeben. Dabei ist bei der Ausrichteeinheit 300 wie auch bei der Bestückungsvorrichtung 1 pro Kabel 110, 120 jeweils ein Kabelgreifer 10, 20; 310, 320 vorgesehen. Die Übergabe erfolgt so, dass die Kabel 110, 120 jeweils immer mindestens in einem Kabelgreifer 10, 20; 310, 320 - entweder bestückungsvorrichtungsseitig oder ausrichteeinheitsseitig - geklemmt bleiben, so dass die rotationslagerichtige Ausrichtung der Kontakte 113, 123 erhalten bleibt. Fig. 1 shows a component assembly 400 with a possible embodiment of the inventive placement device 1, which serves to plug housing 200 with prefabricated cable ends 111, 121 of a presently twisted cable pair 100, wherein the connector housings are arranged in corresponding housing holders 500 on a so-called pallet 501. The mounting device 1 takes over the cable pair 100 to be processed by a so-called alignment unit 300, as described, for example, in the European patent application no. EP16192006.1 of the same applicant. The alignment unit 300 serves to align the ready-made, in particular with contact elements 113, 123 and untwisted or stretched cable ends 111, 121 of the otherwise twisted cable pair 100 with respect to the plug housing 200 to be equipped rotationally. For this purpose, the alignment unit 300 has corresponding cable grippers 310, 320, which can be moved horizontally together and lowered vertically, in order to transfer the cable pair 100 to substantially identically designed cable grippers 10, 20 of the placement device 1. Here, in the alignment unit 300 as well as in the mounting device 1 per cable 110, 120 each have a cable gripper 10, 20; 310, 320 provided. The transfer takes place so that the cables 110, 120 are always always at least in a cable gripper 10, 20; 310, 320 - either on the mounting device side or alignment unit side - remain clamped so that the orientation of the contacts 113, 123 that is correct for rotation is maintained.

Um die so übergebenen Kabel 110, 120 mit Hilfe der Bestückungsvorrichtung 1 in die Steckergehäuseaufnahmen 210, 220 des in der Steckergehäusehalterung 500 auf der Palette 501 gehaltenen Steckergehäuses 200 einzuführen, ist im vorliegenden Beispiel die Bestückungsvorrichtung 1 in Richtung der Kabellängsachsen L verschiebbar ausgeführt. Das Anfahren der Steckergehäuseaufnahme 210, 220 bzw. Steckergehäusekammern 210, 220 erfolgt über die Palette 501, die hierzu horizontal und vertikal, d.h. in zwei unabhängigen Richtungen quer, insbesondere senkrecht zur Kabellängsachse L bewegt werden kann. Selbstverständlich sind auch andere Varianten denkbar, bei denen die Bestückungsvorrichtung 1 in mehreren Richtungen unabhängig voneinander verschiebbar ausgebildet ist und die Palette 501 entsprechend über weniger Freiheitsgrade verfügen muss.In order to insert the cables 110, 120 thus transferred with the aid of the mounting device 1 into the plug housing receptacles 210, 220 of the plug housing 200 held in the plug housing holder 500 on the pallet 501, in the present example the mounting device 1 is designed to be displaceable in the direction of the cable longitudinal axes L. The start-up of the plug housing receptacle 210, 220 or plug housing chambers 210, 220 takes place via the pallet 501, which for this purpose is horizontal and vertical, i. in two independent directions transversely, in particular perpendicular to the cable longitudinal axis L can be moved. Of course, other variants are conceivable in which the mounting device 1 is designed to be displaceable independently of each other in several directions and the pallet 501 must accordingly have less degrees of freedom.

Unter Bezugnahme auf Fig. 2 wird nachfolgend das vorliegende Ausführungsbeispiel der Bestückungsvorrichtung 1 näher erläutert. Den Kern der Bestückungsvorrichtung 1 bilden die beiden Kabelgreifer 10, 20, die jeweils über ein Paar Greifbacken 11, 12; 21, 22 verfügen, die insbesondere analog zu denen der Kabelgreifer 310, 320 der Ausrichteeinheit 300 ausgebildet sein können. Die Greifbacken 11, 12; 21, 22 sind derart ausgebildet, dass sie in einer Schliessstellung jeweils ein Kabel 110, 120 klemmen und das entsprechend andere Kabel 120, 110 lediglich radial umschliessen und insoweit entlang seiner Längsrichtung L führen. Die Greifbacken 11, 12; 21, 22 können im Weiteren in eine Offenstellung überführt werden, um die beiden Kabel 110, 120 zwischen die Greifbacken 11, 12; 21, 22 des entsprechenden Kabelgreifers 10, 20 einzuführen bzw. um die beiden Kabel 110, 120 wieder frei zu geben. Zudem können in dem vorliegend gezeigten Ausführungsbeispiel die Kabelgreifer 10, 20 in eine sogenannte Zwischenstellung überführt werden, in der die beiden Kabel 110, 120 lediglich radial umschlossen und insoweit axial geführt sind, wodurch insbesondere ein Nachgreifen der Kabel ermöglicht wird.With reference to Fig. 2 the present embodiment of the mounting device 1 will be explained in more detail below. The core of the mounting device 1, the two cable grippers 10, 20, each having a pair of gripping jaws 11, 12; 21, 22 have, which may be formed in particular analogous to those of the cable grippers 310, 320 of the alignment unit 300. The gripping jaws 11, 12; 21, 22 are designed such that they clamp in a closed position in each case a cable 110, 120 and the correspondingly different cables 120, 110 only radially enclose and so far along its longitudinal direction L lead. The gripping jaws 11, 12; 21, 22 can be further converted into an open position to the two cables 110, 120 between the jaws 11, 12; 21, 22 of the corresponding cable gripper 10, 20 introduce or to the two cables 110, 120 to release again. In addition, in the embodiment shown here, the cable grippers 10, 20 in a so-called intermediate position be transferred, in which the two cables 110, 120 are only radially enclosed and so far axially guided, which in particular a retrieval of the cable is made possible.

Die Bestückungsvorrichtung 1 kann als Ganzes in Kabellängsrichtung L verschoben werden. Hierzu kann beispielsweise eine Aktuatoreinrichtung 601 dienen. Zusätzlich kann einer der beiden Kabelgreifer 20 der Bestückungsvorrichtung relativ zum anderen Kabelgreifer 10 in Längsrichtung L der Kabel 110, 120 verschoben werden. Auch hierzu kann ein Aktuator 620 vorhanden sein. Als Alternativvariante ist es aber auch möglich, dass die beiden Kabelgreifer 10, 20 der Bestückungsvorrichtung 1 jeweils einzeln bzw. separat in Kabellängsrichtung L bewegbar bzw. verschiebbar ausgeführt sind. Auch hier können entsprechende Aktuatoren, beispielsweise programmierbare Servoachsen (Servomotoren) vorgesehen sein, die nicht im Detail dargestellt sind.The mounting device 1 can be moved as a whole in the cable longitudinal direction L. For this purpose, for example, serve an actuator 601. In addition, one of the two cable grippers 20 of the mounting device can be displaced relative to the other cable gripper 10 in the longitudinal direction L of the cables 110, 120. Also for this purpose, an actuator 620 may be present. Alternatively, however, it is also possible for the two cable grippers 10, 20 of the mounting device 1 to be designed to be movable or displaceable individually or separately in the cable longitudinal direction L. Again, corresponding actuators, such as programmable servo axes (servomotors) may be provided, which are not shown in detail.

Zum Überwachen des Bestückungsvorgangs und zum Durchführen eines sogenannten Auszugstests verfügt die Bestückungsvorrichtung 1 im vorliegenden Ausführungsbeispiel über (hier nicht dargestellte) Kraftsensoren. Vorzugsweise weist die Bestückungsvorrichtung 1 für jeden der beiden Kabelgreifer 10, 20 einen Sensor auf, der die auf das jeweils erfasste bzw. ergriffene Kabel wirkenden Zug- und/oder Druckkräfte messen kann. Alternativ ist es denkbar, dass lediglich ein Sensor vorhanden ist, der die auf die gesamte Bestückungsvorrichtung 1 einwirkenden Kräfte misst, die jeweils in Kabellängsrichtung L auf die gesamte Bestückungsvorrichtung 1 einwirken.For monitoring the assembly process and for carrying out a so-called pull-out test, the placement apparatus 1 in the present exemplary embodiment has force sensors (not shown here). For each of the two cable grippers 10, 20, the mounting device 1 preferably has a sensor which can measure the tensile and / or compressive forces acting on the respectively detected or gripped cable. Alternatively, it is conceivable that only one sensor is present, which measures the forces acting on the entire mounting device 1 forces, which act in the cable longitudinal direction L on the entire mounting device 1.

Um das Bestücken von Steckergehäusen 200 mit unterschiedlichen Abständen zwischen den Steckergehäuseaufnahmen bzw. Steckergehäusekammern 210, 220 zu ermöglichen, kann es ferner vorgesehen sein, dass die gesamte Bestückungsvorrichtung 1 derart ausgebildet ist, dass wenigstens einer der beiden Kabelgreifer 10, 20 zusätzlich in einer entsprechenden Richtung quer zur Kabellängsachse L verschiebbar ausgeführt ist. In diesem Fall können die Greifbacken 11, 12; 21, 22 des entsprechenden Kabelgreifers 10; 20 derart ausgebildet sein, dass die nicht klemmenden Innenkonturen der Greifbacken 11, 12; 21, 22 beispielsweise schlitzförmig ausgebildet sind. Hierdurch können mit denselben Greifbacken 11, 12; 21, 22 unterschiedliche Kabelabstände verarbeitet werden.To the loading of connector housings 200 with different distances between the connector housing receptacles or To allow plug housing chambers 210, 220, it may further be provided that the entire mounting device 1 is formed such that at least one of the two cable grippers 10, 20 is additionally designed to be displaceable in a corresponding direction transverse to the cable longitudinal axis L. In this case, the gripping jaws 11, 12; 21, 22 of the corresponding cable gripper 10; Be formed such that the non-clamping inner contours of the gripping jaws 11, 12; 21, 22, for example, are slit-shaped. As a result, with the same gripping jaws 11, 12; 21, 22 different cable spacings are processed.

Erfindungsgemäss ist vorgesehen, dass die beiden Kabelgreifer 10, 20 der Bestückungsvorrichtung 1 jeweils ein Kabel 110, 120 des Kabelpaares 100 ergreifen können und erfindungsgemäss in Längsrichtung L der Kabel 110, 120 unabhängig voneinander bewegbar bzw. verschiebbar ausgebildet sind. Im vorliegenden Ausführungsbeispiel sind die Kabelgreifer 10, 20 der Bestückungsvorrichtung 1 zudem in Längsrichtung L der Kabel 110, 120 hintereinander angeordnet, um eine besonders kompakte Bauweise der Bestückungsvorrichtung 1 zu realisieren. Im Hinblick auf das erfindungsgemässe Verfahren ist es vorgesehen, dass die beiden mit Kontaktelementen 113, 123 versehenen Kabelenden 111, 121 für den Bestückungsvorgang 1 jeweils in Längsrichtung L zueinander versetzt angeordnet werden können, so dass die jeweiligen Kontakte 113, 123 an den konfektionierten Kabelenden 111, 121 der beiden Kabel 110, 120 potentiell kritische Abschnitte 211, 212, 213; 221, 222, 223 entlang des Vorschubwegs in Richtung Steckergehäuse 200 bzw. Endposition der Steckergehäuse 200 nacheinander bzw. einzeln passieren können und um insbesondere auch eine unabhängige Kraftüberwachung realisieren zu können.According to the invention, it is provided that the two cable grippers 10, 20 of the mounting device 1 can each grasp a cable 110, 120 of the cable pair 100 and according to the invention in the longitudinal direction L of the cable 110, 120 are formed independently movable or displaceable. In the present embodiment, the cable grippers 10, 20 of the mounting device 1 are also arranged one behind the other in the longitudinal direction L of the cables 110, 120 in order to realize a particularly compact design of the mounting device 1. With regard to the method according to the invention, it is provided that the two cable ends 111, 121 provided with contact elements 113, 123 can be arranged offset to each other in the longitudinal direction L so that the respective contacts 113, 123 on the assembled cable ends 111 , 121 of the two cables 110, 120 potentially critical sections 211, 212, 213; 221, 222, 223 along the feed path in the direction plug housing 200 or end position of the connector housing 200 can pass successively or individually and in particular to be able to realize an independent force monitoring.

Anhand der Fig. 3a-i wird im Folgenden exemplarisch ein Ausführungsbeispiel des Bestückungsverfahrens mit Hilfe der hier gezeigten Bestückungsvorrichtung 1 gezeigt, um die konfektionierten, gestreckten und mit Kontaktelementen 113, 123 versehenen Kabelenden 111, 121 eines ansonsten verdrillten Kabelpaares 100 in jeweilige Steckergehäuseaufnahmen bzw. Steckergehäusekammern 210, 220 eines Steckergehäuses 200 einzuführen, in dem zusätzlich eine Dichtmatteneinrichtung 212, 222 vorgesehen ist. Das gezeigte Verfahren kann auch analog bei Steckergehäusen ohne Dichtmatten oder bei Steckergehäusen mit einer Dichtmatte, die aussen vor den Einführöffnungen der Steckergehäuse angeordnet ist, durchgeführt werden.Based on Fig. 3a-i will be exemplified below Embodiment of the mounting method using the mounting device 1 shown here to introduce the prefabricated, elongated and provided with contact elements 113, 123 cable ends 111, 121 of an otherwise twisted cable pair 100 in respective plug housing or plug housing chambers 210, 220 of a connector housing 200, in addition a sealing mat device 212, 222 is provided. The method shown can also be carried out analogously for plug housings without sealing mats or plug housings with a sealing mat which is arranged outside the insertion openings of the plug housing.

Fig. 3a zeigt die Ausgangslage des Bestückungsverfahrens, bei dem die Kontakte 113, 123 des Kabelpaares 100 in rotationslagerichtiger Orientierung vor den beiden Steckergehäusekammern 210, 220 positioniert sind. Jedes der beiden Kabel 110, 120 ist dabei an einem Abschnitt des freien, entdrillten Kabelendes 111, 121 von einem jeweiligen Kabelgreifer 10, 20 der Bestückungsvorrichtung 1 festgehalten. Fig. 3a shows the starting position of the mounting method, in which the contacts 113, 123 of the cable pair 100 are positioned in the direction of rotation in rotation in front of the two plug housing chambers 210, 220. Each of the two cables 110, 120 is thereby retained on a section of the free, untwisted cable end 111, 121 by a respective cable gripper 10, 20 of the mounting device 1.

Im nächsten Schritt (Fig. 3b) wird einer der beiden Kabelgreifer 20 zurückgezogen, um einen Längenversatz ΔL zwischen den beiden Kabelenden 111, 121 zu erzeugen. Der Längenversatz ΔL entspricht mindestens der Länge des sogenannten Kammereinlaufs 211, 221 bzw. Einführabschnitts der entsprechenden Steckergehäusekammer 210, 220, welcher einen ersten für den Bestückungsprozess potentiell kritischen Abschnitt entlang des Vorschubweges darstellt.In the next step ( Fig. 3b ), one of the two cable grippers 20 is retracted to produce a length offset ΔL between the two cable ends 111, 121. The length offset .DELTA.L corresponds at least to the length of the so-called chamber inlet 211, 221 or insertion section of the corresponding plug housing chamber 210, 220, which represents a first potentially critical section for the placement process along the feed path.

Anschliessend wird die Bestückungsvorrichtung 1 so weit in Richtung des Steckergehäuses 200 vorgeschoben (vgl. Fig. 3c), bis das Kontaktelement 113 des vorauseilenden Kabelendes 111 gerade noch vor der Dichtmatteneinrichtung 212 steht. Während dieser Vorschiebebewegung wird die auf dieses Kabelende 111 etwaig einwirkende Kraft überwacht. Da die beiden Kontaktelemente 113, 123 nacheinander den Kammereinlauf 211, 221 passieren, kann die entsprechende Bestückungskraft für jeden Kontakt 113, 123 einzeln überwacht werden. Wird eine vorgegebene Maximalkraft überschritten, so kann auf eine Kollision beim Kammereinlauf 211, 221 geschlossen werden und der Einführvorgang gegebenenfalls wiederholt werden.Subsequently, the mounting device 1 is pushed so far in the direction of the plug housing 200 (see. Fig. 3c ), until the contact element 113 of the leading cable end 111 is just in front of the sealing mat device 212. While This Vorschiebebewegung is monitored on this cable end 111 any force acting. Since the two contact elements 113, 123 successively pass through the chamber inlet 211, 221, the corresponding loading force for each contact 113, 123 can be monitored individually. If a predetermined maximum force is exceeded, then a collision at the chamber inlet 211, 221 can be inferred and the insertion process can be repeated if necessary.

Im nächsten Schritt (vgl. Fig. 3d) wird der hintere Kabelgreifer 20 so weit zurückgezogen, bis ein Längenversatz ΔL entsteht, der mindestens der Dicke der Dichtmatteneinrichtung 212, 222 entspricht, welche einen weiteren für den Bestückungsprozess potentiell kritischen Abschnitt entlang des Vorschubweges darstellt.In the next step (cf. Fig. 3d ), the rear cable gripper 20 is withdrawn until a length offset .DELTA.L arises, which corresponds at least to the thickness of the sealing mat device 212, 222, which represents a further potentially critical section for the placement process along the feed path.

Anschliessend (vgl. Fig. 3e) wird die Bestückungsvorrichtung so weit vorgefahren, bis die Dichtmatte 212, 222 vom Kontakt 113 des vorauseilenden Kabelendes 110 durchstossen ist. Auch hierbei kann die Bestückungskraft überwacht werden.Subsequently (cf. Fig. 3e ), the mounting device is driven so far until the sealing mat 212, 222 is pierced by the contact 113 of the leading end of the cable 110. Again, the loading force can be monitored.

Im Anschluss daran (vgl. Fig. 3f) wird der hintere Kabelgreifer 20 in Richtung Steckergehäuse 200 weiter nach vorne gefahren, bis auch das Kontaktelement 123 des nacheilenden Kabelendes 120 die Dichtmatteneinrichtung 222 durchstossen hat. Als Alternativvariante ist auch denkbar, dass die Bestückungseinrichtung 1 mit den längenversetzt angeordneten Kabelgreifern 10, 20 vorfährt und der Längenversatz ΔL anschliessend an diesen Schritt ausgeglichen wird. Dies ist insbesondere dann von Vorteil, wenn die Bestückungskraft überwacht werden soll und lediglich ein Kraftsensor für die gesamte Bestückungsvorrichtung 1 und nicht jeweils separate Kraftsensoren für beide Kabelgreifer 10, 20 vorhanden sind.Following this (cf. Fig. 3f ), the rear cable gripper 20 in the direction plug housing 200 is moved further forward until the contact element 123 of the trailing cable end 120 has penetrated the sealing mat device 222. As an alternative variant, it is also conceivable that the placement device 1 moves forward with the cable grippers 10, 20 arranged at a length offset and that the length offset ΔL is subsequently compensated for this step. This is particularly advantageous if the placement force is to be monitored and only one force sensor for the entire assembly device 1 and not separate force sensors for both cable grippers 10, 20 are present.

Im Falle, dass ein Nachgreifen notwendig ist, etwa weil der Vorschubweg innerhalb des Steckergehäuses 200 länger ist als der freie Verschiebeweg der Kabelgreifer 10, 20, kann die Bestückungsvorrichtung 1 - wie in Fig. 3g gezeigt - so weit wie möglich in Richtung der Endposition nach vorne gefahren werden und anschliessend die Kabelgreifer 10, 20 bis zur Mittelstellung geöffnet werden. Anschliessend fährt die Bestückungsvorrichtung 1 um den für das Nachgreifen notwendigen Betrag zurück. Danach werden die Greifbacken 11, 12; 21 22 der Kabelgreifer 10, 20 wieder geschlossen, um den Nachgreifvorgang abzuschliessen (vgl. Fig. 3h).In the event that a Nachgreifen is necessary, for example because the feed path within the plug housing 200 is longer than the free displacement of the cable grippers 10, 20, the mounting device 1 - as in Fig. 3g shown as far as possible in the direction of the end position are moved forward and then the cable grippers 10, 20 are opened to the middle position. Subsequently, the placement device 1 travels back to the amount necessary for retrofitting. Thereafter, the gripping jaws 11, 12; 21 22 of the cable grippers 10, 20 closed again to complete the Nachgreifvorgang (see. Fig. 3h ).

Als letzter Schritt erfolgt im vorliegenden Ausführungsbeispiel eine Vorwärtsbewegung der gesamten Bestückungseinrichtung 1 in die Endposition der beiden Kontaktelemente 113, 123 im Steckergehäuse 200. Das Erreichen dieser Endposition kann durch den Kraftsensor erkannt und die Vorschubbewegung entsprechend gestoppt werden. Für den Fall, dass die Kraft nicht für jedes Kabel 110, 120 unabhängig gemessen werden kann, ist es möglich, diesen Schritt für jedes der beiden Kabel 110, 120 einzeln auszuführen. Hierzu kann einer der beiden Kabelgreifer 10, 20 bis zur Mittelstellung geöffnet werden, so dass zunächst nur ein Kabel 110 bis in die entsprechende Endposition eingeschoben wird (vgl. Fig. 3i).As a last step in the present embodiment, a forward movement of the entire assembly device 1 in the end position of the two contact elements 113, 123 in the connector housing 200. The achievement of this end position can be detected by the force sensor and the feed motion can be stopped accordingly. In the event that the force can not be measured independently for each cable 110, 120, it is possible to perform this step individually for each of the two cables 110, 120. For this purpose, one of the two cable grippers 10, 20 can be opened to the middle position, so that initially only one cable 110 is inserted into the corresponding end position (cf. Fig. 3i ).

Nach Abschluss der erfolgten Bestückung kann zudem ein Auszugstest durchgeführt werden. Hierzu wird mit reduzierter Kraft über die Bestückungseinrichtung 1 an den beiden Kabeln 110, 120 gezogen und gleichzeitig die hierbei auf die Kabelenden 111, 121 einwirkende Kraft überwacht, um festzustellen, ob die beiden Kontaktelemente 113, 123 ordnungsgemäss in den Endpositionen des Steckergehäuses 200 verriegelt sind. Auch hier kann es notwendig sein, einen der beiden Kabelgreifer 10, 20 in die Mittelstellung zu bringen, um den Auszugstest für beide Kabel 110, 120 unabhängig voneinander bzw. nacheinander ausführen zu können.After completing the placement, an extract test can also be performed. For this purpose, the power is drawn with reduced force on the two cables 110, 120 and at the same time monitors the forces acting on the cable ends 111, 121 to determine whether the two contact elements 113, 123 are properly locked in the end positions of the plug housing 200 , Again, it may be necessary to bring one of the two cable grippers 10, 20 in the middle position, in order to be able to carry out the pull-out test for both cables 110, 120 independently of one another or one after the other.

Nach diesem Schritt ist der Bestückungsvorgang für dieses Kabelpaar 100 abgeschlossen. Die Bestückungsvorrichtung 1 kann anschliessend ein weiteres Kabelpaar von der Ausrichteeinheit 300 übernehmen, während die Palette 501 verfahren wird, um die mit dem nächsten Kabelpaar zu bestückenden Steckergehäusekammern in die entsprechende Position zu bringen.After this step, the mounting process for this cable pair 100 is completed. The placement device 1 can then take over a further pair of cables from the alignment unit 300, while the pallet 501 is moved to bring the plug housing chambers to be equipped with the next pair of cables in the appropriate position.

Claims (15)

  1. A device (1) for assembling at least one plug housing (200) with prefabricated cable ends (111, 121) of a cable harness (100), in particular a twisted harness comprised of at least two cables (110, 120), wherein the device (1) has at least two cable grips (10, 20), each for gripping one of the at least two cables (110, 120) on a segment (112, 122) of its free cable end (111, 121), in particular untwisted, characterized in that for selective assembly, in particular for insertion of the cable ends (111, 121) with a longitudinal offset into the plug housing (200) through a segment (211, 212, 213; 221, 222, 223) along the path of travel which is potentially critical for a successful assembly process, the at least two cable grips (10, 20) are displaceable independently of one another in the longitudinal direction (L) of the cable ends (111, 121) to be gripped.
  2. The device (1) according to claim 1, characterized in that the at least two cable grips are disposed one after the other in the longitudinal direction (L) of the cable ends (111, 121) to be gripped.
  3. The device (1) according to claim 1 or 2, characterized in that at least one of the at least two cable grips (10, 20), preferably all of them, has/have at least one pair of gripping jaws (11, 12; 21, 22) that are adjustable relative to one another, which can be brought into a closed position for clamping securely a cable end (111, 121) and can be brought into an open position for receiving and releasing one cable end (111, 121) and preferably can be brought into an intermediate position for at least partially enclosing radially and guiding a cable end (111, 121) along the longitudinal axis (L) of the cable.
  4. The device (1) according to claim 3, characterized in that the gripping jaws (11, 12; 21, 22) of the at least one cable grip (10, 20) are designed to accommodate the cable end (121; 111) of at least one additional cable (120; 110) and, in the closed position as well as preferably also in the intermediate position, to enclose it at least partially radially and to guide it along the longitudinal axis (L) of the cable.
  5. The device (1) according to claim 3 or 4, characterized in that the gripping jaws (11, 12; 21, 22) of the cable grip (10, 20) each have corresponding gripping troughs or receiving troughs for securing, partial radial enclosing and guiding, respectively, the respective cable ends (111, 121).
  6. The device (1) according to any one of the preceding claims, characterized in that for mutually independent displacement of the at least two cable grips (10, 20) in the longitudinal direction (L) of the cable ends (111, 121) to be gripped, one of the at least two cable grips (20) is displaceable separately, in particular by means of a grip displacement device (620) in the longitudinal direction (L) relative to the other cable grip (10), and the other cable grip (10) is displaceable by displacement of the entire device (1) in the longitudinal direction (L) in particular by means of an overall displacement device (601); or for mutually independent displacement of the at least two cable grips (10, 20) in the longitudinal direction (L) of the cable ends (111, 121) to be gripped, the two cable grips (10, 20) are each displaceable separately, in particular each with a separate grip displacement device, in the longitudinal direction (L).
  7. The device (1) according to any one of the preceding claims, characterized in that at least one of the cable grips (10, 20) is displaceable in at least one direction transversely, in particular at a right angle to the longitudinal direction (L) of the cable ends (111, 121) to be gripped; and/or at least one of the cable grips (10, 20) is designed to execute a vibrating movement longitudinally and/or transversely to the longitudinal direction (L) of the cable ends (111, 121) to be gripped.
  8. The device (1) according to any one of the preceding claims, characterized in that the device (1) has at least one force sensor for measuring a tensile force and/or a compressive force acting on a cable end to be gripped for monitoring the assembly process.
  9. A method for assembling at least one plug housing (200) with prefabricated cable ends (111, 121) of a cable harness (100), in particular a twisted harness comprised of at least two cables (110, 120), in particular by using a device (1) according to any one of the preceding claims, wherein the method, in which the prefabricated cable ends (111, 121) are inserted into the corresponding plug housing receptacles (210, 220) of the at least one plug housing (200) up to a respective end position, comprising the following steps:
    a. separate gripping of the at least two cables (110, 120) on a segment of the respective free cable end, in particular untwisted;
    b. advancing cable ends (111, 121) being gripped along their longitudinal axis (L) in the direction of the respective end position until reaching a segment (211, 212, 213; 221, 222, 223) which is potentially critical for a successful assembly process along the path of travel in or into the plug housing (200), in particular until reaching an insertion segment (211, 221) of the respective plug housing receptacle (210, 220), a sealing mat segment (212, 222) in or in front of the respective plug housing receptacle (210, 220) or a fixation segment (213, 223) of the respective plug housing receptacle (210, 220);
    c. longitudinally offset advance of the cable ends (111, 121) through the critical segment (211, 212, 213; 221, 222, 223) such that the cable ends (111, 121) of the at least two cables (110, 210) pass by the critical segment (211, 212, 213; 221, 222, 223) one after the other;
    d. repeating steps b. and c. for each additional possible critical segment (211, 212, 213; 221, 222, 223) for reaching the respective end position.
  10. The method according to claim 9, characterized in that the cable ends (111, 121) of the at least two cables (110, 120) are offset longitudinally along their longitudinal direction (L) relative to one another before passing by a critical segment (211, 212, 213; 221, 222, 223) along their longitudinal direction (L) are disposed around a longitudinal offset (ΔL) which corresponds at least to the length of the critical segment (211, 212, 213; 221, 222, 223).
  11. The method according to claim 10, characterized in that the longitudinally-offset advance of the cable ends (111, 121) through the critical segment (211, 212, 213; 221, 222, 223) comprises:
    • synchronous advance of the cable ends (111, 121) that are disposed with a longitudinal offset in the direction of the respective end position upstream from the critical segment until the leading cable end (111) has passed through the critical segment (211, 212, 213; 221, 222, 223), and then a separate advance of the trailing cable end (121) through the critical segment (211, 212, 213; 221, 222, 223) without any additional advance of the leading cable end (111);
    or
    • synchronous advance of the cable ends (111, 121) that are disposed with a longitudinal offset upstream from the passing in the direction of the respective end position until the leading cable end and (111) next the trailing cable end (121) have passed through the critical segment (211, 212, 213; 221, 222, 223).
  12. The method according to any one of claims 9 through 11, characterized in that the longitudinal offset (ΔL) between the cable ends (111, 121) of the at least two cables (110, 120) is being compensated after the trailing cable end (121) has passed by the critical segment (211, 212, 213; 221, 222, 223), in particular by separate advance of the trailing cable end (121) without additional advance of the leading cable end (111) .
  13. The method according to any one of claims 9 through 11, characterized in that in the advance of a respective cable end (111, 121) into and/or through a critical segment (211, 212, 213; 221, 222, 223), a tensile force and/or compressive force acting on the cable end (111, 121) is measured.
  14. The method according to claim 13, characterized in that when the measured tensile force and/or compressive force exceeds a predefined value, the advance of the cable end is stopped or repeated, in particular by retraction and renewed advance of the corresponding cable end (111, 121) and/or by carrying out a vibrating movement of the cable end (111, 121) longitudinally and/or transversely to the longitudinal direction of the cable end (111, 121).
  15. The method according to any one of claims 9 through 14, characterized in that on reaching the respective end position, a pull-out test is performed, preferably for each one of the at least two cable ends (111, 121) independently, in particular by exerting and measuring a tensile force on the corresponding cable end (111, 121) in opposition to the direction of insertion.
EP16192019.4A 2016-10-03 2016-10-03 Device and method for fitting a plug housing with prefabricated cable ends of a wire harness Active EP3301769B8 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
MA43395A MA43395B1 (en) 2016-10-03 2016-10-03 Vorrichtung und verfahren zum bestücken eines steckergehäuses mit konfektionierten kabelenden eines kabelstrangs
RS20200232A RS59998B1 (en) 2016-10-03 2016-10-03 Vorrichtung und verfahren zum bestücken eines steckergehäuses mit konfektionierten kabelenden eines kabelstrangs
EP16192019.4A EP3301769B8 (en) 2016-10-03 2016-10-03 Device and method for fitting a plug housing with prefabricated cable ends of a wire harness
CN201710928256.2A CN107895876B (en) 2016-10-03 2017-09-30 Device and method for assembling a plug housing with a prefabricated cable end of a cable harness
US15/722,245 US10804668B2 (en) 2016-10-03 2017-10-02 Device for assembling a plug housing
JP2017193670A JP7095969B2 (en) 2016-10-03 2017-10-03 Devices and methods for attaching the plug housing to the pre-assembled cable ends of the cable harness

Applications Claiming Priority (1)

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EP16192019.4A EP3301769B8 (en) 2016-10-03 2016-10-03 Device and method for fitting a plug housing with prefabricated cable ends of a wire harness

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EP3301769A1 EP3301769A1 (en) 2018-04-04
EP3301769B1 true EP3301769B1 (en) 2019-12-04
EP3301769B8 EP3301769B8 (en) 2020-04-15

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EP (1) EP3301769B8 (en)
JP (1) JP7095969B2 (en)
CN (1) CN107895876B (en)
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RS59998B1 (en) 2020-04-30
US20180097328A1 (en) 2018-04-05
EP3301769A1 (en) 2018-04-04
JP7095969B2 (en) 2022-07-05
US10804668B2 (en) 2020-10-13
CN107895876A (en) 2018-04-10
EP3301769B8 (en) 2020-04-15
JP2018060791A (en) 2018-04-12
MA43395B1 (en) 2020-02-28
MA43395A (en) 2019-12-04
CN107895876B (en) 2022-03-15

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