CLIP MODULE FOR POSITIONING A CLIP AT A PREDEFINED ASSEMBLY POSITION OF A CABLE RUN, AND ASSEMBLY HEAD COMPRISING SUCH A CLIP MODULE

Abstract

A clip module is used for automatically positioning a clip at any angular position on a cable run. The clip module has a gripper having gripping elements for gripping the clip. These gripping elements can be adjusted between an open position and a gripping position by a control mechanism. Furthermore, a delivery unit is provided by which the gripper can be moved in a longitudinal direction and in a vertical direction. The gripper is rotatable and the gripping elements can be actuated in any angular position of the gripper.

Claims

1-18. (canceled)

19. A clip module extending in a longitudinal direction, a transverse direction and a vertical direction, and configured for positioning a clip at a predefined assembly position on a cable run extending in the transverse direction, the clip module comprising: a gripper having gripping elements for gripping the clip; a control mechanism acting on said gripping elements and via which said gripping elements can be adjusted between an open position and a gripping position; a feed unit, by means of said feed unit said gripper being moved in the longitudinal direction and the vertical direction; and said gripper being rotatable about a rotational axis extending in the transverse direction, said gripping elements being adjusted by means of said control mechanism in different angular positions of said gripper between the open position and the gripping position, with a result that the clip being positioned at different angular positions on the cable run.

20. The clip module according to claim 19, wherein said gripper being rotatable by at least 180°.

21. The clip module according to claim 19, further comprising a first rod; and wherein said gripper has a first rotational element which is rotatable about the rotational axis, to which said gripping elements are fastened and which is connected to said first rod which can be adjusted in the longitudinal direction in order to carry out a rotational movement.

22. The clip module according to claim 21, wherein said control mechanism has a control cam which acts on said gripping elements in order to actuate them.

23. The clip module according to claim 22, wherein said gripping elements are configured as rocker arms, and said control cam acts on one end of said gripping elements.

24. The clip module according to claim 22, wherein said control cam can be adjusted independently of the rotational movement of said first rotational element.

25. The clip module according to claim 22, wherein said control mechanism has a control element which can be rotated about the rotational axis and has a spiral slotted guide formed therein, in said spiral slotted guide said control cam is guided, with a result that a spacing of said control cam from the rotational axis is changed in a case of a movement of said control cam and said spiral slotted guide.

26. The clip module according to claim 22, wherein said first rotational element has a guide formed therein and extends in a radial direction and in said guide said control cam is additionally guided.

27. The clip module according to claim 19, wherein said gripping elements can be transferred into a starting position in a manner actuated by spring force.

28. The clip module according to claim 25, further comprising a second rod, said control element being a rotatable control element is connected to said second rod which extends in the longitudinal direction.

29. The clip module according to claim 25, wherein said control element is positively coupled to said first rotational element, with a result that said control element forcibly corotates in a case of a rotational movement of said first rotational element.

30. The clip module according to claim 28, further comprising: a first drive for said first rod; and a second drive for said second rod.

31. The clip module according to claim 30, wherein said second drive is coupled to said first drive in such a way that, in a case of a feed movement of said first drive, said second drive is moved together with said second rod.

32. The clip module according to claim 28, wherein said first rod has a U-shaped profile, and said second rod is guided in said U-shaped profile.

33. The clip module according to claim 25, wherein: said first rotational element is one of a plurality of first rotational elements; and said control element is disposed between two said first rotational elements.

34. The clip module according to claim 21, wherein said feeding unit has a carrier, on which said first rod is fastened.

35. The clip module according to claim 19, wherein said gripper has a width in the transverse direction of at most 20 mm.

36. The clip module according to claim 21, wherein said first rotational element is a first gearwheel.

37. The clip module according to claim 25, wherein said control element is a second gearwheel.

38. An assembly head for automatically fastening a clip to a cable run, the assembly head comprising: said clip module according to claim 19; and at least one winding module configured to apply a band around the clip in order to fasten it to the cable run.

Description

[0037] One exemplary embodiment of the invention will be described in greater detail in the following text on the basis of the figures, in which:

[0038] FIG. 1 shows a perspective illustration of an assembly head for automatically fastening a clip to a cable run,

[0039] FIG. 2 shows a side view of a clip module,

[0040] FIG. 3A shows an enlarged side view of the clip module in the region of the gripper, and

[0041] FIG. 3B shows a side view, similar to FIG. 3A, with a view of an exposed control element.

[0042] In the figures, identically acting parts are provided with the same designations.

[0043] FIG. 1 shows an assembly head 2, which serves to automatically fasten clips 4 to a cable run 6 which is shown using dashed lines in FIG. 1.

[0044] Here, the assembly head 2 is composed of a plurality of modules which are arranged next to one another in a transverse direction 8. The assembly station 2 has a clip module 10 which is configured to position and to guide the clip 4 onto the cable run 6, to be precise in such a way that the clip 4 can be positioned at any desired angular positions around the circumference of the cable run 6.

[0045] In each case one winding module 12 is arranged on both sides next to the clip module 10, which winding module 12 has in each case one winding head 14, by way of which a tape is wound around the clip 4 in order to form a band for fastening this clip 4 to the cable run 6. At its outermost, opposite ends, the assembly head 2 preferably also has in each case one fixing module 16, by way of which the cable run 6 is fixed in a stationary manner, in particular in a clamping manner, for example, with the aid of adjustable clamping elements, in particular clamping jaws. The assembly head 2 which is shown here, specifically the construction of the winding modules, is described in the application of the applicant, submitted at the same time as the present application, with the title “Assembly head and method for automated wrapping of a cable run”.

[0046] Furthermore, the assembly head 2 is preferably fastened to an automatic adjusting device, in particular to a robot, specifically to a multiple-axle jointed arm robot. A respective clip is received from a provision station, at which the clips are provided separately, and is transferred to an assembly station, at which the cable run 6 is provided. By means of the clip module 10, the gripped clip is positioned at the desired position of the cable run 6 and is subsequently fastened there with the aid of the at least one winding module 12.

[0047] The clip module 10 which is preferably situated in the center of the assembly head 2 between two winding modules 12 is configured here in such a way that the clip 4 can be guided to any desired angular position around the circumference of the cable run 6.

[0048] The specific construction of the clip module 10 will be described in greater detail in conjunction with FIGS. 2 and 3A, 3B.

[0049] The clip module 10 extends first of all in a longitudinal direction 18, in a vertical direction 20 which is oriented perpendicularly with respect to this longitudinal direction 18, and in the transverse direction 8 which is once again oriented perpendicularly with respect to this vertical direction 20. As essential components, the clip module 10 has a gripper 22 and a feed unit 24, by means of which the gripper 22 can be adjusted in the longitudinal direction 18 and the vertical direction 20, and can therefore be fed in the direction toward the cable run 6 (shown using dashed lines in FIG. 2).

[0050] The feed unit 24 has a carrier 26 which defines, in particular, an upper end of the feed unit 24. A first rod (first actuating element) which is configured as a first rack 28 is arranged on this carrier 26. This first rod can be adjusted by means of a first drive 30 in the longitudinal direction 18 relative to the carrier 26 and therefore relative to the feed unit 24. The first drive 30 is, in particular, a linear drive, for example a cylinder drive, in the case of which a piston is extended in order to carry out the actuating movement. The first drive 30 is fastened to the carrier 26.

[0051] Here, the first rack 28 is, in particular, of U-shaped configuration with a longitudinal groove, in which a second (control) rod (second actuating element) which is configured as a second rack 32 is arranged. The second rack 32 is arranged such that it can be displaced within the groove of the first rack 28. The second rack 32 is guided displaceably once again in the longitudinal direction 18 and within the first rack 28 relative to the latter with the aid of a second drive 34. The second drive 34 is preferably once again configured as a linear drive and, for example, as a cylinder with an extendable piston.

[0052] The second drive 34 is fixedly connected mechanically, for example via a connecting plate, to the first drive 30, specifically to an extendable element (piston) of the first drive 30. Therefore, an actuating movement of the first drive 30 leads to the complete second drive also forcibly being moved. This has the consequence that, in the case of an adjustment of the first rack 28 with the aid of the first drive 3, the second rack 32 is forcibly also adjusted, without a relative movement taking place between the two racks 30, 32.

[0053] A third drive 36 is arranged for the feed movement of the feed unit 24 in the longitudinal direction 18, and a fourth drive 38 is arranged for the movement of the feed unit 24 in the vertical direction 20. These drives are preferably once again configured as linear drives for carrying out linear actuating movements. All of the drives 30, 34, 36, 38 are configured, for example, as pneumatic or hydraulic cylinders or else as electric motor actuating drives. The fourth drive 38 for carrying out the movement in the vertical direction 20 is fixed, for example, on further components of the assembly head 2. A longitudinal guide 40, for example a longitudinal rail, can be adjusted in the vertical direction 20 by way of the fourth drive 38. A carrying unit 42 which can be displaced in the longitudinal direction 18 by means of the third drive 36 is arranged on this longitudinal guide 40, to which carrying unit 42 the abovementioned carrier 26 is once again fastened.

[0054] As a result of the U-shaped configuration of the first rack 28, the latter has, at least in a front end region (cf. FIG. 2 in this regard), two rows of teeth which are configured on the upper end sides of the U-shaped profile. Here, a rotational element which is configured as a first gearwheel 44 engages into each of these rows of teeth. There is fundamentally also the possibility that merely a (single) first gearwheel 44 and merely a single first rack 28 without a U-shaped profile are provided.

[0055] In a similar way, a second gearwheel 46 which is configured as a control element is connected to the second rack 32. The gearwheels 44, 46 can be rotated about a common rotational axis 48 and are arranged, for example, on a common rotary shaft.

[0056] Here, the gearwheels 44, 46 are part of the gripper 22. The latter additionally has two gripping elements 50 which are preferably configured in the manner of rocker arms which can be tilted about a tilting axis. The gripping elements 50 extend along a rocker arm longitudinal axis which corresponds to a radial direction with regard to the rotational axis 48, from a rear (control) end to a front gripping end. The clip 4 is gripped between the gripping elements 50 by being clamped in between the two gripping ends. The gripping elements 50 are fastened to the first gearwheel 44.

[0057] As can be seen specifically from the enlarged illustration of FIGS. 3A and 3B, the clip 4 has a central fastening pin 52 which, when it is gripped by the gripper 22, extends in the radial direction (with regard to the rotational axis 48). The fastening pin 52 is adjoined perpendicularly with respect thereto, that is to say in the transverse direction 8, by at least one and preferably two fastening limbs 54 which are therefore configured on both sides of the fastening pin 52 and extend in the transverse direction 8. The tape for the band is later wound around these fastening limbs 54 and the cable run 6.

[0058] Here, the entire width of the gripper 22 in the transverse direction 8 lies overall in a range up to at most 20 mm, preferably up to at most 15 mm and preferably up to approximately 12 mm. This achieves a situation where merely the fastening pin 22 is gripped and the tape can be guided as close as possible to the fastening pin.

[0059] The first gearwheel 44 is overall of approximately disk-shaped configuration, there being a deviation from the circular shape over a certain angular region of, for example, approximately 90°, and a type of fastening flange 56 being formed, to which the gripping elements 50 can be fastened such that they can be tilted about the tilting axis.

[0060] Furthermore, the first gearwheel 44 has a guide 58 which extends in the radial direction and which is configured, in particular, as a slot which is preferably open toward the edge side. Here, the guide 58 extends in the radial direction toward the rotational axis 48. A pin which is called a control cam 60 in the following text is guided within this guide 58. This control cam 60 therefore generally defines a control element, via which the gripping elements 50 can be actuated.

[0061] The second gearwheel 46 which, just like the first gearwheel 44 in the exemplary embodiment, is configured as a gearwheel disk, has a spiral slotted guide 62. The control cam 60 is likewise guided in this slotted guide 62. Here, the slotted guide 62 extends, for example, in the circumferential direction over an angular range of merely from 20° to 60°.

[0062] The second gearwheel 46 with the associated second rack 32 and the second drive 34 are, in combination with the control cam 60, the guide 58 and the slotted guide 62, part of a control mechanism or configure a control mechanism, by way of which the gripping elements 50 are actuated. The latter are preferably transferred positively and in a force-actuated manner into a gripping position by way of the control mechanism, specifically with the aid of the control cam 60, as shown in FIGS. 3A and 3B. To this end, the control cam 60 is displaced into a radially front position. At the rear-side (control) ends, the gripping elements 50 have control faces which run obliquely with respect to the longitudinal direction 18 and along which the control cam 60 slides. In the case of a displacement of the control cam 60 in the radial direction, that is to say in the direction toward the gripping elements 50, the rearward (control) end is pressed apart, with the result that the fastening pin 52 is clamped.

[0063] Furthermore, a (tension) spring 64 is provided for each gripping element 50, which (tension) spring 64 acts firstly on the front (gripping) end of the gripping element 5 and on the first gearwheel 44, specifically on the fastening flange 56. With the aid of the spring force, the gripping elements 50 are returned passively and automatically into a starting position which corresponds to the open position. This takes place automatically as soon as the control cam 60 has been reset again in the radial direction in the direction of the rotational axis 48 and therefore releases the gripping elements 50.

[0064] Here, the controlled movement sequence of the control cams 60 is as follows:

[0065] In the case of a displacement of the first rack 28 in the longitudinal direction 18, the second rack 32 is first of all forcibly also moved. As a result, the first gearwheel 44 and the second gearwheel 46 rotates synchronously about the rotational axis 48. As a result, the gripping elements 50 are first of all transferred into a desired angular position with regard to the cable run 6. This takes place in the case of a gripped clip 4. Subsequently, the attachment of the tape to the fastening limbs 54 for fastening the clip 4 takes place.

[0066] After this, the gripping elements 50 are released and are returned into their open position. To this end, a relative rotational movement between the two gearwheels 44, 46 is then required. To this end, the second rack 32 is displaced relative to the first rack 28 in the longitudinal direction 18. As a result of the guidance of the control cam 60 firstly in the spiral slotted guide 62 and secondly in the radial guide 58, the control cam 60 is positively adjusted in the radial direction. Here, in order to release and open the gripping elements, the control cam 60 is displaced toward the rotational axis 48. To this end, in the exemplary embodiment of FIG. 3B, a rotational movement of the second gearwheel 46 in the clockwise direction is therefore required.

[0067] As described above, in each case one clip 4 is received from a provision station by means of the gripper 22. The clip module 10 and, in particular, the entire assembly head 2 preferably move to this provision station and receive the clip. To this end, the gripper 22 is guided with the gripping elements 50 over the clip 4. For clamping fixing, the control cam 60 is subsequently moved forward in the radial direction (away from the rotational axis 48). To this end, a relative movement between the two gearwheels 44, 46 via the drive of the second rack 32 is required and is performed.

[0068] The entire movement sequence for positioning the clip 4 is therefore overall as follows: [0069] a) First of all, the gripping elements 50 are transferred into their starting position (open position) and receive the clip 4. [0070] b) The clip 4 is clamped by the gripping elements 50 as a result of the controlled movement of the control cam 60. [0071] c) The clip is subsequently guided onto the cable run 6. To this end, the gripper 22 is first of all transferred to a desired longitudinal and vertical position with the aid of the feed unit 24. At the same time, a defined angular position is assumed on the circumference of the cable run 6 by means of a rotational movement of the gripper, specifically via the first gearwheel 44. [0072] d) The application of a band to the fastening limbs 54 subsequently takes place. [0073] e) After the application of a band, the gripping elements 50 are released again, by the control cam 60 being returned and the gripping elements 50 being opened by way of the springs 64.

[0074] The cycle begins again after this.

[0075] Overall, a rotational movement of the gripper 22 by 180° is possible. Here, the gripping elements 50 can assume any desired angular positions. The control of the control cam 60 is made possible in any desired angular position. Proceeding from FIGS. 3A and 3B which show a rotational end position of the gripper 22, the gripper 22, specifically the first gearwheel 44, can be rotated about the rotational axis 48 by 180° counter to the clockwise direction.

LIST OF DESIGNATIONS

[0076] 2 Assembly station [0077] 4 Clip [0078] 6 Cable run [0079] 8 Transverse direction [0080] 10 Clip module [0081] 12 Winding module [0082] 14 Winding head [0083] 16 Fixing module [0084] 18 Longitudinal direction [0085] 20 Vertical direction [0086] 22 Gripper [0087] 24 Feed unit [0088] 26 Carrier [0089] 28 First rack [0090] 30 First drive [0091] 32 Second rack [0092] 34 Second drive [0093] 36 Third drive (longitudinal direction) [0094] 38 Fourth drive (vertical) [0095] 40 Longitudinal guide [0096] 42 Supporting unit [0097] 44 First gearwheel [0098] 46 Second gearwheel [0099] 48 Rotational axis [0100] 50 Gripping elements [0101] 52 Fastening pin [0102] 54 Fastening limb [0103] 56 Fastening flange [0104] 58 Guide [0105] 60 Control cam [0106] 62 Slotted guide [0107] 64 Spring