WO1993000727A1 - Device for obtaining open loops on electric wire sections and for holding them during processing of their extremities - Google Patents

Abstract

The present invention relates to a device for making open loops on electric wire sections obtained from wire from a reel (6), characterised in that it comprises an assembly of coaxial, opening wire guide-tubes (146-151) aligned to receive the wire (5) supplied from the reel (6) and to guide it under a manipulating arm (12) comprising grips (131, 132), situated in the initial position of said arm (12) on the path of the wire (5) guided by said assembly of tubes. At least one fixed grip (131) integral with the arm (12) and one movable loop grip (132) situated downstream of said fixed grip (131) with respect to the wire moving direction whose function is to form a wire loop and present the extremities of said wire section to the grips of a conveyor of a wiring machine.

Description

 Device for making open loops of sections of electric wire and for maintaining them during the processing of their ends.

DESCRIPTION

The present invention relates to a device for making open loops of sections of electric wire and for maintaining them during the processing of their ends.

The technical sector of the invention is that of robotic wiring machines.

Cabling machines are known which automatically cut sections of wires of determined length in order to crimp connection pieces onto the ends of each section.

The Applicant has already made improvements to such machines. A machine for selecting a thread from a plurality of threads has been the subject of patent FR.A.2 632 .81. On the other hand, the applicant has made improvements to the conveyors fitted to the wiring machines, such improvements being recorded in patent FR.A.2 619 038. 20 The objective of the invention is to capture the wire coming from said wire selector device, with a view to making sections of wire and placing and maintaining said sections on said conveyor during the processing of their ends. The expression “treatment” is understood to mean all operations such as stripping, crimping,

_____ _ / t_ _* Cw • • •

This objective is achieved by the device according to the invention, in order to produce open loops of sections of electric wire obtained from the wire coming from a coil selected from a set of coils of wire of section and / or of different colors,

30 for placing said parts of wire on a gripper conveyor of a wiring machine to hold the ends of the wire during the stripping and / or crimping of connection pieces on said stripped ends, including the wire from said coil is unwound at different lengths in a direction that cuts the

35 direction of travel of said conveyor and is put into action by means for cutting it into sections, characterized by the fact that it further comprises a set of coaxial and opening wire guide tubes, aligned to receive the wire from the spool and to guide it in a substantially rectilinear manner below a manipulator arm, movable in vertical and lateral directions and comprising at least two grippers gripping said sections of wire, mutually parallel and located in the initial position of said arm on the path of the wire guided by said set of tubes and the jaws of which are positioned to move on either side of the wire according to deflections substantially perpendicular thereto to each grip one end of said sections of wire and to release it: - at least one fixed clamp secured to the arm and

- a movable loop clamp located downstream of said clamp fixed relative to the direction of travel of the wire, which movable clamp is controlled by means to cause it to perform a change of orientation of 180 ° and bring it next to said fixed gripper in an alignment substantially parallel to the direction of travel of said gripper conveyor, so as to form a loop of wire and bring the ends of said section of wire in position substantially parallel to each other and to the grip of the grippers of the conveyor.

In one embodiment, the device comprises two grippers for gripping said sections of wire, mutually parallel and situated in the initial position of said arm on the path of the wire guided by said set of tubes and the jaws of which are articulated on either side other of the wire according to deflections substantially perpendicular thereto to each grip one end of said sections of wire and to release it:

- a first fixed clamp secured to the arm and

a second movable loop clamp located downstream of said clamp fixed relative to the direction of travel of the wire, which second clamp is controlled by means for causing it to execute a change of orientation of 180 ° and bring it next to said gripper fixed in an alignment substantially parallel to the direction of travel of said gripper conveyor, so as to form a loop of wire and put the ends of said section of wire in position substantially parallel to each other and to the grip of grippers of the conveyor and the fact that, when gripping the wire, the jaws of said fixed and mobile grippers move in spaces reserved between said wire guide tubes. Said gripping pliers are carried by an arm articulated according to two degrees of freedom, which arm is articulated on a support pivoting relative to the structure of said device and is actuated by means for making it pivot in the vertical direction and putting the ends grippers in line with the passage of the wire guided by said guide tubes or away from said tubes and means for pivoting it in the horizontal direction to put said grippers in position in order to place the ends of the section of wire between the gripper jaws of the conveyor.

The manipulator according to the invention consists of a support articulated to said structure around a vertical axis and an arm articulated to said support pivoting about a horizontal axis and on which arms are mounted said gripping pliers, which support and arms are actuated by double-acting cylinders.

Said manipulator arm on which said gripping pliers are mounted is articulated to said support to pivot in the vertical direction, which arm adopts the shape of an L, comprising two parts, the one of which which is articulated to the support comprises at its end a frame chassis extending 90 ° from said part above said wire guide tubes and below which chassis are mounted said grippers, which grippers are parallel to each other and are perpendicular to said frame chassis.

Said movable clamp is offset relative to its axis of rotation, which axis is rotatably mounted in a carriage movable in the longitudinal direction of the chassis-frame according to a fixed stroke, on which axis is wedged a pinion meshing with a rack fixed to said chassis and arranged in the longitudinal direction of it, so that, during the movement of the carriage and during its travel, the movable gripper pivots 180 ° by traversing the path of an involute of a circle, to be placed on the side of the fixed gripper.

The fixed and mobile grippers have two identical jaws taking the form of a two-jaw fork to grip the wire at two points.

In the gripping position of a section of wire by said fixed and movable clamps, said section of wire is substantially in the plane passing through the articulation of the jaws of said clamps, and the jaws of each of them frame a wire guide tube by overlapping said section.

According to this embodiment, said set of wire-guide tubes consists of several aligned coaxial tubes, so that one tube of said assembly is located upstream of said fixed clamp and that another of these tubes is located downstream of said movable clamp.

Said assembly comprises a series of independent wire-guide tubes of the same length, the tubes of which are separated from each other by a space reserved for the passage of the jaws of the fixed and mobile grippers.

The wire guide tubes of said assembly are cylindrical and have a fixed part and a mobile part, the assembly of said parts being in a diametral plane. The mobile part is articulated and opening from below and on the side towards which the said arm pivots in the phase where it presents the gripping pliers and the ends of the section of wire above the pliers of the conveyor.

Preferably and according to this embodiment, said assembly comprises six wire-guide tubes, the second and fifth of which are overlapped by said fixed and movable loop clips when gripping the section of wire, which tubes are actuated by double-acting cylinders, the movable rod of which has a yoke for simultaneously actuating either the first two tubes relative to the direction of travel of the wire, or the last four, or all of the wire guide tubes.

More particularly, said assembly comprises three jacks, the movable rod of which comprises a yoke for each actuating a pair of wire-guide tubes.

According to another embodiment, said device comprises: - a first fixed clamp for gripping said sections of wire, which clamp is located on the path of the wire guided by said set of tubes-guide-wire and whose jaws are articulated on either side of the wire according to deflections substantially perpendicular thereto to grip one of the ends of said sections and to release it;

- A second articulated loop clamp, located downstream of said clamp fixed relative to the direction of travel of the wire, which second loop gripper is controlled by means for causing it to carry out a change of orientation of 180 ° and bring it to the side and below said fixed gripper in an alignment substantially parallel to the direction of travel of said gripper conveyor, so as to form a loop of wire and put the ends of said section of wire in a position substantially parallel to each other and perpendicular to the gripper conveyor;

a third fixed clamp arranged on the side and parallel to said first fixed clamp and in line with the end of the section of wire held by said second articulated loop clamp after the formation of the loop,

- And means for simultaneously actuating said fixed clamps to grip the two ends of the wire loop thus formed and to put them in the grip of the clamps of the conveyor. Said manipulator consists of a support articulated to said structure around a vertical axis and an arm articulated to said support pivoting about a horizontal axis and at the end of which arms are mounted said fixed clamps, which support and arms are actuated by double-acting cylinders. The arm on which said fixed clamps are mounted is articulated to said support to pivot in the vertical direction, which arm adopts the shape of a T comprising two parts, one of which is articulated on the support and the other extending at 90 ° of said part above the wire guide tubes, comprises at its end a yoke in which are mounted at the same level said fixed clamps.

As in the embodiment described above, the fixed clamps have two identical jaws adopting the shape of a two-jaw fork for gripping the wire at two points and are articulated around axes parallel to each other and to the axis of the tubes thread guide.

Said set of thread guide tubes consists of two aligned tubes separated from each other by a space. The second tube, with respect to the direction of travel of the wire, is overlapped by one of said fixed clamps, the jaws of which frame the wire on either side of said tube.

The device comprises downstream and in alignment with said wire guide tubes a wire guide conduit comprising an opening lateral to allow the release of the wire and the formation of the loop.

One of said fixed clamps overlaps the jaws of the articulated loop clamp, momentarily immobilized next to all of the wire guide tubes after formation of the loop.

According to this embodiment, the two wire guide tubes are actuated together for their opening and closing, by a double-acting cylinder.

Said articulated loop clamp comprises a clamp body comprising at one of its ends a fixed jaw cooperating with a movable jaw actuated by a double-acting cylinder integrated in said clamp body which is of substantially vertical orientation. The jaws are at its upper part for gripping the wire downstream and substantially in the axis of the wire guide tubes and of said conduit. The loop clamp is articulated to said structure of the manipulator by means of two superimposed crossed rods.

It is articulated to a support fixed to said manipulator, the first link articulated at a point located at the rear of said support relative to the direction of travel of the wire, is actuated by a double-acting cylinder pivotally mounted on said support and has the function , by rotation of 90 °, to project the clamp on the side of the wire guide tubes and whose second link articulated to said support at a point located downstream of the point of articulation of said first link has the function, jointly with that- here and during this rotation, cause the clamp to rotate 180 ° to form the wire loop.

Said side opening conduit, has a notch to allow the movable clamp to grasp the wire in said conduit. The movable jaw of the loop clamp is slidably mounted in the fixed jaw to insert the wire with a jaw of the fixed jaw, perpendicular to the axis on which the movable jaw moves, which fixed jaw furthermore has a lateral opening and two walls parallel to each other, which frame the movable jaw, which walls have a notch for the passage of the wire.

Said fixed and movable loop grippers comprise a clamp body constituted by a double-acting cylinder comprising a piston moving in a bore, which piston is fixed to a movable rod whose position of the jaws is determined so that when they close they grip a section of wire , which are characterized in that said movable rod comprises a coupling to which said fork-shaped jaws are articulated. Said gripper body further comprises a yoke to which articulated by one of their ends are connecting rods, which are articulated by their other end to said jaws at a point situated below the point of articulation of the jaws to said coupling so that said actuator simultaneously causes the jaws to move towards the gripper body and outside the assembly of the wire guide tubes, and, when they are closed, move the jaws in the opposite direction to penetrate into said spaces reserved between said tubes, in order to grasp the section of wire.

Said jaws have an extension extending inside the yoke and from the middle of their fork-shaped part, which extension is articulated by its free end in a yoke of said coupling fixed to the movable rod of the jack and to two links located on either side and articulated on the one hand at a point of articulation close to said fork-shaped part and to the yoke of the clamp body.

The result of the invention is an automatic machine for gripping the wire coming from a wire selector device and allowing at high rates, to make sections of wires of different lengths and to place and maintain said sections on a conveyor wiring during the processing of the ends of these sections. The advantages and characteristics of the invention will emerge on reading the following description given by way of nonlimiting example and with reference to the appended drawings in which:

- Figure 1 is a perspective view of a manipulator arm according to the invention, in one embodiment;

- Figure 2 is a schematic side view of a machine for making open loops of wire and comprising the arm manipulator of the previous figure;

- Figure 3 is a top view of the machine of Figure 2;

- the figure . is a top view of the actuation mechanism of the wire gripping pliers, with which said manipulator arm is fitted;

- Figures 5 to 10 are partial views of the machine of Figures 2 and 3. _ui illustrate the operating phases of the gripping pliers of the manipulator arm; - Figure 11 is a perspective view of a gripper which equips said arm;

- Figure 12 is a sectional view of the clamp of the previous figure in the open position;

- Figure 13 is a sectional view of said clamp in the gripping position of the wire.

- Figure 1. is a perspective view of a manipulator arm according to the invention in another embodiment;

- Figure 15 is a schematic top view of the means used for the formation of the loop; - Figure 16 is a longitudinal sectional view of the articulated loop clamp fitted to the apparatus according to the second embodiment;

- Figure 17 is a top view of the loop clip of the previous figure; - Figures 18 to 20 illustrate in top views the operation of the loop clamp of Figures 16 and 17.

Reference is first made to FIGS. 2 and 3 of the drawing which schematically represent a machine according to the invention. Such a machine consists of a frame 1, on which is mounted a transfer conveyor 2, the carrying strand 2a is located above the frame 1 and the return strand 2b below it. Said conveyor 2 comprises clamps 3 designed to receive the ends of the section of wire in order to present these sections in front of work stations distributed over the length of the conveyor 2. The latter is of the type described in patent FR.A.2 619,038 in the name of the plaintiff. The sections of wire which are placed in the grippers 3 of the conveyor are cut to the desired length by means cutting 4 known on such machines, which means are located above the conveyor 2. Upstream of these means, the machine comprises several spools for storing wires 5 of different sections and / or colors which are each wound around 'a coil 6. The wire from the coil 6 is first passed through a tensioning device 7 around a deflection pulley 8 mounted to rotate freely at the top of a support structure 9. to finally be taken charging by an automatic distributor comprising a rotating barrel 10 of the type described in patent FR.A.2 63 .81. The unwinding of the wire 5 at the outlet of the barrel 10 is controlled by a computing unit 11 which also actuates said cutting means 4 in order to produce sections of wire of determined lengths.

The wire 5 is, at the outlet of said barrel 10, in an inclined position so that it intersects the conveyor 2, the angle α formed by the axis of the barrel 10 and said conveyor is preferably 67 °. The wire coming from the pulley 8 is inclined relative to the horizontal at an angle β of the order of 45 °.

According to the invention, the machine comprises a loading manipulator 12 aligned with the barrel 10 which has the function of holding the sections of wire coming from said barrel, and of placing the ends of said sections in the clamps 3 of the conveyor 2, which manipulator 12 is therefore inclined, as mentioned above, to be in alignment with the wire _. . Said manipulator 12 is shown according to two embodiments in perspective and on a larger scale in Figures 1 and 14 of the drawing. It is pivotally mounted to move above the conveyor 2 around an axis 121 of orientation, substantially vertical, in particular to transfer the sections of wire coming from the barrel 10 and to engage them, after a rotation on the left, as shown in phantom in Figure 3 "in said pliers 3-

According to a first embodiment (FIG. 1), said loading manipulator 12 comprises an articulated arm 122 adopting the general shape of an L, a part 122a of which is articulated around an axis 123 of substantially horizontal orientation on a support 124 pivoting around said axis 121 mounted in a yoke 125 secured to a structure 126 fixed to the frame 1 of the machine. The pivoting of the support 124 and of the arm 122 is obtained by a double-acting pneumatic cylinder 127, articulated to the structure 126 around an axis 128 and whose movable rod is articulated to the support 124 around an axis 129. Said support 124 has two lateral legs 124a between which are mounted two double-acting pneumatic cylinders 130, mounted articulated between said legs 124a and pins 130a and whose rods 130b are articulated by their ends to said part 122a of arm 122, so as to make rotate said arm vertically. The arm 122 comprises a second part 122b connected to said part 122a, which part 122b is perpendicular to the part 122a, extends in a cantilevered fashion towards the barrel 10 and is constituted by a chassis-frame carrying two gripping pliers, the l one 131 is fixed relative to the arm 122 and the other called "loop" 13 is movable to pivot about its longitudinal axis and to change its orientation by 18 ° by traveling a path along an involute of a circle, such as this will be explained later.

The two clamps 131 and 132 are mutually parallel and of the same length and extend perpendicular to the frame 122b and below it, parallel to the part 122a of the arm. The framework

122b is of rectangular shape and the fixed clamp 131 is fixed at its free end and on one of its longitudinal sides. It has a bottom wall 122c which partially seals its lower part, to which wall is fixed the clamp 131 by means of screws 133- Above said wall 122c, the frame-frame 122b comprises a rack

134 fixed to said frame and extending parallel to its longitudinal lateral sides. Inside the frame-frame 122b, is mounted a carriage 135 guided on the one hand by means of a cylindrical slide I36 cooperating with a ball slide 137 mounted in the carriage 135 and, on the other hand, by two rollers with balls, one of which I38 is supported by rolling on the face 134a of the rack and the other 139 is supported on the face 134b of the latter.

In said carriage 135 is further mounted with free rotation a pinion l4θ around an axis l4l, perpendicular to the bottom wall 122c of the frame-frame, to which axis is fixed the clamp 132. The pinion 140 meshes with the teeth of the rack 134 and is mounted between two bearings constituted by ball bearings 142/143. The carriage 135 is coupled to the movable rod 144a of a double-acting pneumatic cylinder 144, articulated on two journals 144b to said arm 122. According to this arrangement, it is understood that under the action of the cylinder 144 the movement of the carriage 135 parallel to the rack 134 with which the pinion l4θ cooperates, causes the rotation of said pinion and correlatively the rotation of the movable clamp 13 to which it is linked.

The clamp 132 is offset relative to the axis 14l at a distance R and is parallel to said axis. In the gripping position of the wire at the outlet of the barrel 10 and, as shown in FIG. 1, the two clamps 131, 132 are aligned, their respective longitudinal axes being in the same plane in which the section of wire is also located.

The clamp 131 is located at a distance R 'from the axis l4l, so that the offset R of the clamp 132 = R'. The axis l4l has an extension l4la, to which the movable clamp 132 is fixed.

From the aligned position of the two clamps 131, 132 and under the action of the jack 144, the linear movement of the carriage 135 simultaneously with the rotation of the pinion 14 l to which the clamp 132 is linked, result in the displacement of the clamp according to an involute of a circle. Thus, the movable clamp initially aligned with the fixed clamp 131 is located at the end of the travel of the carriage 135 on the side of the fixed clamp 131, the two clamps being equidistant from the axis l4l as illustrated in FIG. 5 and the two ends of the wire section being parallel to each other.

The fixed clamps 131 and movable loop 132 being essentially the elements which compose them, identical, only one of them will be described, for example the clamp 132. Such a clamp being shown in more detail in FIGS. 11 to 13. Said clamps therefore comprise a clamp body 132a constituted by a double-acting cylinder, of a generally cubic shape, comprising a lateral lug 132b for fixing it to the extension 14a of the axis 141. Said body 13 thus comprises a bore 132c in which is mounted a piston 132d delimiting a chamber on either side and whose rod 132e carries at its end a coupling 132f. One of the faces of the body 132a has two fluid intake orifices 132gι, 132g2 in said chambers. Said coupling 132f comprises two clevis 132fι, 132f2 aligned and perpendicular to the rod 132nd of the jack, in which are mounted two axes 132hι, 132h2 equidistant from said rod 132nd and around which the extensions 13a of two jaws 132 in the form of a fork and with two jaws 132jb- Said jaws 132j are also articulated to a yoke 132k secured to the body 132a and to the lower part of the latter, so that the coupling 132f and said extensions 132a are located inside this yoke.

This comprises at its end an axis 1321 located on the longitudinal axis XXi of the clamp and perpendicular thereto. Around this axis 1321 are articulated pairs of rods 132 ml, 132 m of the same length, so that each pair of rods frames an extension 13 has jaws 13 d, the other rods being articulated around two axes 132nι, 132n2. Thus, the axis 13 ni is located below the axis 132hι, the axis 132n2 is located below the axis 132h2.

Said rods 132mι, 132n_2 being articulated by their other end around said fixed axis 1321, it is understood that the linear displacement of the coupling 132f under the effect of the jack 132a causes the opening of the clamp, the two jaws 132jb being distant l 'from each other, when the rod 132e is retracted (Figure 12) and the closing of the clamp, the two jaws 13 jb being joined, when the rod 132e is extended (Figure 13).

The opening and closing of the jaws 132j occur simultaneously with the linear displacement obtained under the effect of the jack 132a.

The clamps according to the invention, called with a clearing opening trajectory, thus make it possible to grasp the section of wire on the arrival axis from the barrel 10 at the end of the low stroke of the jack 132a (FIG. 13) and to release the wire at the top end of said actuator, said stroke being materialized at C in FIG. 12.

The design of these grippers makes it possible to reduce the operational movements compared with conventional grippers, which results in a significant saving in the time of the operating cycle and, correspondingly, in a simplification and a reduction in the cost of the manipulator.

The loading manipulator further comprises below clamps 131, 132 aligned in the gripping position of the section of wire coming from the barrel 10, as illustrated in FIGS. 1 and 2, a set of coaxial wire guide tubes 14 which, in the position for receiving the wire, is parallel to the frame-frame 122b of the arm 122. Said set of tubes 145 is fixed to the structure 126 and is independent of the manipulator arm 122. It is made up of several parts of tube, for example six parts referenced 146 to 151 coaxial, the axis of which is located in the plane where the longitudinal axes of the clamps 131, 132 are, so that the wire coming from the barrel 10 is placed, in the initial position of the arm 122 and of the said clamps, substantially in this plane and between the jaws 13 jb pliers.

Said tube parts 146 to 1 1 are all of the same length. Said wire guide tubes 146-151 are cylindrical and are opening from below, as shown in FIG. 8. The six tubes being identical, we will limit ourselves to describing only one of them, for example the tube 146. This consists of two parts, a fixed part l46a and a movable part l46b, the two parts joining in the closed position in a diametral plane and inclined relative to the horizontal. The angle α formed between the plane P and the horizontal is for example 45 °.

The fixed part 146a is fixed to a support 145a extending transversely to the arm 122 and to the structure 126. The mobile part 146b is mounted articulated below said support around an axis 146c, said part 146b adopts the form of a yoke l46d for receiving the end of the movable rod 152a of a double-acting pneumatic cylinder 152, which is articulated around an axis l46e. The cylinder body 152 is articulated to a yoke 1 5b of the support 145 located opposite the wire guide tube 146 about an axis 5c. The six wire guide tubes 146-151 are actuated two by two by three jacks 152, 153. 154, mounted identically on the support 145a. The jack 152 has a yoke 152b for actuating together the articulated parts of the tubes 146 and 147. The jack 153 actuates the pipes 148, 149 in the same way, the jack 1 the pipes 150, 151.

Tubes 146-151 are independent of each other to be operated separately. It will be noted that the tubes 148, 1 9 could be replaced by a single tube; however, the choice of mounting with two tubes identical to the other 146/147, 150 / 151t was made for obvious reasons for manufacturing and profitability.

The second tube 147 and the fifth 1 0 are overlapped by the jaws 131j and 132j of the clamps 131 and 132. The jaws 131b of the fixed clamp 131 move when gripping the section of wire between two spaces reserved between the first tube 146 and the second, 147 and between the second tube 147 and the third 148. The jaws 132 b of the movable clamp 132 move during this operation between two reserved spaces between the fourth tube 19 and the fifth, 150 and between the fifth 1 0 and the sixth 151 (Figure 1). The position of the jaws of the clamps 131, 132 relative to the wire guide tubes 146-151 is a function of the stroke C of the jaws 131j. 132j, so that when they close they enclose the portion of wire extending between said spaces.

The operation of the device according to FIG. 1 is as follows:

The pliers 131. 13 are aligned as described above and illustrated in FIGS. 1 and 2, the manipulator arm 122 is in the gripping position, the pliers 131, 132 are ready to grip the wire.

The wire 5 from the barrel 10 is guided by all of the tubes 146-151 in the closed position, their two fixed and movable parts being joined.

The wire is unwound in two stages:

- A first unwinding brings the end of the wire 5 into position to be gripped by the movable clamp 132 (FIG. 1), which closes by enclosing the wire in said spaces existing between the tubes 150, 151.

The tubes 148/149, 150/151 open, allowing the release of the part of wire which they surrounded.

Under the effect of the jack 136, the carriage 135 moves in the direction of the arrow F causing the rotation of the pinion 140 and correspondingly of the clamp 132 (FIG. 7) •

At the end of the carriage 135 travel. The clamp 132 has rotated 180 ° and is placed next to the clamp 131. During the movement of the clamp 132, an open loop 5b is formed, the end 5a of which is substantially parallel over _. .

- The clamp 131 is in the open position, the wire guide tubes 146, 147 are closed (FIG. 6). - The second unwinding of the wire is then carried out to bring the wire to its final length. The clamp 131 closes in the spaces reserved between the tubes 146/147 and 147/148 to grip the wire.

The wire 5 is cut to the desired length. The wire guide tubes 146, 147 are open (FIG. 8), the arm 122 is pivoted in the direction of the arrow Fi under the effect of the jack 127 (FIG. 3) to release the clamps 131, 132 and the wire 5 from the unwinding area.

- At the end of this rotation, the clamps 131, 132 are brought above two of the clamps 3 of the conveyor 2, each of the clamps 131. 132 being vertical to a clamp 3 of the conveyor 2 (Figure 8).

The arm 122 is then pivoted in the direction of the arrow F2 (FIGS. 1 and 2) under the action of the jacks 130 to put the free ends of the wire loop 5b in the grip of two of the grippers 3 of the conveyor (FIG. 9) • - The pliers 131. 132 open, the arm 122 pivots upwards under the effect of the jacks 130 in the direction of the arrow F3 in the opposite direction to the arrow F2, to release the pliers 131, 132 at above the conveyor 2, the wire loop 5b remains between the jaws of the grippers 3 of the conveyor. The arm is replaced in an inclined position (angle β). - The wire guide tubes 146-151 close, the first unwinding of the next section of wire is operated, the arm 122, in the inclined position, returns to its initial position by action of the jack 127, in the extension of the barrel 10.

Simultaneously, the carriage 135 moves in the opposite direction to the arrow F. At the end of the stroke, the clamp 132 has returned to its initial position aligned with the fixed clamp 131, directly above the wire guide tubes 146-151.

- The conveyor 2 moves in the direction of the arrow Fl (Figure 6) and has two other grippers 3 empty in the loading position. The machine is in condition to start a new cycle.

The clamp 132 is mounted on the pinion 14θ, so that the movement of the carriage 135 causes the winding of the wire 5 on a fictitious cylinder of diameter equal to the pitch diameter of the said pinion, the movement of the clamp taking place in an involute . This concept guarantees that the manipulation of the wire end 5 does not subject it to any tensile or compression stress and eliminates any need for synchronization between this operation and wire unwinding.

The pliers 131. 132 being on a "clearing" path (the path of the jaws 131d. 132d at the time of opening releases them vertically above the wire), the need for an additional actuator to achieve this clearance is eliminated.

The manipulator arm is illustrated in a second embodiment in Figure 14 of the drawing.

The homologous parts of the embodiments of FIGS. 1 and 14 are given the same references and are not described again, so as not to add to the description.

The articulated arm 122 takes the form of a T and is articulated around a substantially horizontal axis 123 and disposed in one of the ends of the support 124, which, as in the arm of FIG. 1, is pivotally mounted around said axis 123. The representation of the manipulator of FIG. 14 is simplified, so that certain members common to the two embodiments are not represented there: for example the jacks 130 which actuate the arm 122 and the lateral tabs 124a between which are mounted the jacks 130. The arm 122 comprises a part 1221 articulated to the support 124 and an arm 1222 fixed perpendicularly to said part 1221 and extending in overhang towards the barrel 10. Said arm 1222 comprises at its free end two fixed clamps 1310, 1320, said to have a clearing path, identical to the clamps 131, 132 of the manipulator arm of FIG. 1 and which have been described in detail above.

These two clamps are actuated by a double-acting pneumatic cylinder 1321 identical to that 132a which actuates said clamps 131, 132. Said clamps 1310, 1320 are mounted in a yoke 1223 transverse to said arm 1222 and to the axis of travel of the wire which is common to the wire guide tubes 146, 147. The cylinder 1321 actuates the two clamps 1310, 1320 simultaneously by means of a common coupling.

The two clamps 1310, 1320 are mutually parallel and of the same length and extend perpendicular to the arm 1222 below the yoke 1223.

In the wire gripping position where the arm 1222 is substantially parallel to the assembly of the wire guide tube 145, as illustrated in FIG. 15, the two clamps 1310, 1320 are side by side and aligned, their respective longitudinal axes being in a plane perpendicular to said guide tubes wire 146, 147 - The pliers 1310 is, in this waiting position for gripping the wire, above the wire guide tube 147 by overlapping it, so that the jaws 1310a of the pliers 1310 frame the wire by hand and other of said tube 147- Said jaws 1310a move in the space left between the tubes 146, 147 and downstream from its anterior end relative to the direction of travel of the wire.

Downstream and in alignment with the wire guide tubes 146, 147, the device comprises a wire guide conduit 16θ, which consists of two wings parallel to one another 16θa, 160b delimiting a conduit 161 which extends said wire guide tubes 146, 1 7- This conduit 160 is open laterally at l6l and comprises substantially in its middle a notch 162 to allow the loop clamp 163 to grasp the wire coming from said tubes 146, 147 and engaged in said conduit 160 awaiting be formed in a loop.

A space is reserved between the wire guide tube 147 and the conduit 160 in which the second pair of jaws 1310a of the clamp 1310 moves.

The loop clamp I63 is articulated below the assembly of wire guide tubes 146, 147 and of the conduit 160 on a support 164 fixed to the manipulator. It consists (Figures 16 and 17) of a clamp body 163 of an irregular hexagonal cross section, in which is formed a housing 163b in which is mounted a piston 163c delimiting a chamber on either side and whose rod 163d carries at its end a movable jaw 163e adopting the shape of a rectangular plate.

Said movable jaw is slidably mounted in a fixed jaw l63 fixed to the upper part of the body 163a, by means of screws l63ai.

The fixed jaw l63f has a jaw 163g extending perpendicular to the axis of the rod l63d, so that said jaw l63g is parallel to the movable jaw l63e for inserting the wire between them. . The fixed jaw 166 also has two side walls. l63h which frame the 163rd movable jaw. Said walls 163h each have a notch I63.

Said jaw l63f comprises on the side where said notches l63j are located, a lateral opening 163k, through which the wire can enter the clamp between the fixed jaws l63f and mobile 163e, when said clamp is placed in the notch 162 of conduit 160 to grab the wire to form the loop. Conduits 1631, 163m are formed in the clamp body for the supply of working fluid and for its exhaust in double-acting operation.

The loop clamp 163 has a generally vertical orientation and is articulated to said support 164 on two crossed rods I65, 166.

Figures 18 and 20 show the clamp 163 in its extreme positions, Figure 19 shows the clamp in an intermediate position.

FIG. 18 shows the clamp 163 in its position for gripping the wire 5 where the jaws of the clamp are in the notch 162 of the conduit 160.

The link I65 comprises a lug 165a to which is articulated around an axis 167, a double-acting pneumatic cylinder 168 itself articulated around an axis 169 to a lug 170 linked to the support 164.

Said link 165 is articulated on the one hand around an axis 171 at a point located at the rear of said support 164 relative to the direction of travel F of the wire 5 and on the other hand, around an axis 172 implanted in the gripper body 163a on the side of the jaws 163e, 166f, slightly to the right of it, as shown in FIG. 17.

The rod 166 is articulated on the one hand around an axis 173 at a point located downstream of the articulation axis 171 of the rod 165 and on the other hand, around an axis 174 implanted in the body of pliers l63a, on the side of said jaws l63e, l63f and to the left thereof (FIG. 17) •

The two links I65, 166 are crossed. The function of the link I65 actuated by the jack 168 is to project the loop clip 163 onto the side of the wire 5 outside the manipulator. The function of the link 166 is, jointly with the link I65 and during rotation, to cause the change of orientation of the clamp and its pivoting to form the loop 5 and put the end of stroke of the jack 168, the two ends 5c of the wire section parallel to one another.

The projection of the clamp 163 occurs by rotation of 90 ° of the link 165 around the axis 171. Jointly, the link 166 causes during this rotation, the pivoting of the clamp 163 on

180 °.

Figure 20 shows the wire loop formed where the two ends 5b are substantially parallel to each other. In the position of the loop clamp 163 shown in FIG. 20, said clamp I63 is positioned below and directly above the second fixed clamp 1320, the jaws 1320a of the jaws of which overlap the jaws 163e, l63f of the clamp hinged loop

163- Figure 14 shows the jaws of the clamps 1310, 1320 when gripping the wire loop. The operation of the device according to FIG. 14 is as follows:

The clamps 1310, 1320 are in position as described with reference to FIG. 14, the manipulator arm 122 is in the gripping position, the clamps 1310, 1320 are ready to grip the wire in the open position.

The wire 5 coming from the barrel 10 is guided by the two wire guide tubes 146, 147 and the conduit 160, their two fixed and movable parts being joined. As in the device described above, the wire 5 is unwound twice.

- A first unwinding brings the wire 5 into position to be grasped by the loop clip 163 in its position in FIG. 18, which closes by enclosing the wire between the fixed jaws 163 and mobile 163e.

- The cylinder 168 is actuated and causes the clamp 163 to pivot 180 °, which stops at the end of the cylinder stroke in the position illustrated in FIG. 20, by forming a loop of wire. - An additional thread is unwound to obtain the final length of thread.

- The fixed clamps 1310, 1320 are actuated, their jaws disengaging path descend and grab the ends c of the loop (Figure 1).

- The wire is cut flush with the nozzle 175 of the barrel 10. At the same time, the opening of the loop clamp 163 is controlled simultaneously with the opening of the wire guide tubes 146, 17, allowing the release of the part of wire they were wrapping.

- The arm 122 is pivoted in the direction of the arrow Fi under the action of the jack 127, to release the clamps 1310, 1320 and the wire 5 from the unwinding zone. At the end of this rotation, the grippers 1310, 1320 are brought above two of the grippers 3 of the conveyor 2, each of the said grippers 1310, 1320 being perpendicular to a gripper 3 of the conveyor 2.

The arm 122 is then pivoted in the direction of the arrow F2 (FIG. 14) under the effect of the jacks 130, to put the ends c of the loop in the grip of two of the grippers 3 of the conveyor.

The clamps 1310, 1320 open, the arm 122 pivots upwards under the effect of the jacks 130 in the opposite direction to the arrow F2 to release the clamps 1310, 1320 above the jaws of the clamps 3 of the conveyor. The arm returns to its initial inclined position. The wire guide tubes 146, 17 close. The first unwinding of the following section of wire is operated, the arm 122 returns to the inclined position to its first position, under the effect of the jack 127, in the extension of the barrel 10.

Simultaneously, the loop clamp 163 returns to its initial position shown in FIG. 18, in alignment with the section of wire, the tube-guide tubes 146, 147 and the conduit 16θ.

The conveyor 2 moves in the direction of the arrow FZj. and has two other empty grippers 3 in the loading position.

The machine is in condition to start a new cycle. The use of this manipulator arm, according to one or the other embodiment, makes it possible to perform actions in masked time, for example moving the conveyor 2 while gripping the wire 5. unwinding the next section of wire during loading the previous wire into the clamps 3 of the conveyor 2.

Claims

 CLAIMS. 1. Device for producing open loops (5b) of sections of electric wire obtained from the wire (5) coming from a coil (6), selected from a set of coils of wire of section and / or of different colors, for placing said parts of wire (5) on a conveyor (2) with clamps (3) of a wiring machine for holding the ends of the wire (5) during the stripping and / or crimping operations of connection pieces on said stripped ends, the wire (5) from said coil (6) is unwound according to different lengths in a direction which cuts the direction of travel of said conveyor (2) and is put into action by means for cutting it into sections , characterized in that it further comprises, a set of coaxial and opening wire guide tubes (146-151), aligned to receive the wire (5) coming from the spool (6) and to guide it in a substantially straight line below a manipulator arm (122) movable according to vertical and lateral directions and comprising at least two grippers (131,132,1310,163) of said sections of wire (5). mutually parallel and located in the initial position of said arm (122) on the path of the wire (5) guided by said set of tubes (146-151) and whose jaws (131j. 132j) are positioned to move from side to side on the other side of the wire (5) according to deflections substantially perpendicular thereto to each grip one end of said sections of wire or to release it: - at least one fixed clamp (131, 1310) secured to the arm (12) and - a loop clamp (132, 163) located downstream of said fixed clamp (131. 1310) relative to the direction of travel of the wire (5 ), which loop clamp (132, I63) is controlled by means to make it execute a change of orientation of 180 ° and bring it next to said fixed clamp (131, 1310) in an alignment substantially parallel to the direction scrolling of said clamp conveyor (2), so as to form a wire loop (5b) and put the ends of said section of wire in a position substantially parallel to each other and in the grip of the clamps (3) of the conveyor (2). 2. Device according to claim 1, characterized in that it comprises two gripping pliers (131,132) of said sections of wire (5), mutually parallel and located in the initial position of said arm (122) on the path of the wire (5) guided by said set of tubes (146-151) and whose jaws (131d. 132d) are articulated on either side of the wire (5) according to deflections substantially perpendicular to the latter to each grasp one end of said sections of wire or to release it: - a first fixed clamp (131.) secured to the arm (12) and - A second movable loop clamp (132,) located downstream of said fixed clamp (131. 1310) relative to the direction of travel of the wire (5), which movable clamp (132, 163) is controlled by means for it execute a change of orientation of 18 ° and bring it next to said fixed clamp (131. 1310) in an alignment substantially parallel to the direction of travel of said clamp conveyor (2), so as to form a loop of wire (5b) and put the ends of said section of wire in a substantially parallel position from one another and in the grip of the clamps (3) of the conveyor (2) and in that, when gripping the wire, the jaws (131j, 132j) of said fixed (131) and mobile (132) clamps move in reserved spaces between said wire guide tubes (146,147 - 147,148 - 149,150 - 150,151). 3. Device according to any one of claims 1 and 2, characterized in that said gripping pliers (131. 132) are carried by an articulated arm (122) according to two degrees of freedom, which arm (122) is mounted articulated on a support (124) pivoting relative to the structure (126) of said device and is actuated by means (130), to rotate it vertically and bring the ends of the grippers (131, 132) to the right the passage of the wire guided by said wire guide tubes (146-151). or move them away from said tubes and means (127). to rotate it horizontally to put said grippers (131. 132) in position, in order to place the ends of the wire section between the jaws of the grippers (3) of the conveyor (2). 4. Device according to claim 3. characterized in that said manipulator (12) consists of a support (124) articulated to said structure (126) around a vertical axis (121) and an arm (122) articulated to said pivoting support (124) about a horizontal axis (123) and on which arm (122) are mounted said grippers (131. 132), which supports (124) and arms (122) are actuated by double-acting cylinders (127, 130). 5. Device according to claim 4, characterized in that said arm (122) on which are mounted said fixed and movable loop clamps (131. 132) is articulated to said support (124) to pivot in the vertical direction, which arm (122) adopts the shape of an L, comprising two parts (122a, 122b) including that (122a) which is articulated to the support (124) comprises at its end a frame-frame (122b) extending 90 ° from said part (122a) above said guide tubes- wire (146-151) and, below which chassis (122b), are mounted said pliers (131. 132), which pliers are parallel to each other and are perpendicular to said frame chassis (122b). 6. Device according to any one of claims 2 to 5. characterized in that said movable loop clamp (132) is offset relative to its axis of rotation (l4l), which axis is rotatably mounted in a carriage (135) movable in the longitudinal direction of the chassis-frame (122b) according to a fixed stroke, on which axis (l4l) is wedged a pinion (l4θ) meshing with a rack (134) fixed to said chassis (122b) and arranged in the longitudinal direction of the latter, so that, during the movement of the carriage (135) and during its travel, the movable loop clamp (132) pivots 180 ° by traversing the trajectory of an involute of a circle, to be placed on the side of the fixed gripper (131) - 7. Device according to any one of claims 1 to 6, characterized in that the fixed gripping pliers (131. 1310, 132o) and movable loop (132) comprise two identical jaws (131j. 132j) adopting the form d 'a two-jaw fork (131jb, 132jb) for gripping the wire (5) at two points. 8. Device according to any one of claims 2 to 7. characterized in that in the gripping position of a section of wire by said fixed clamps (131) and of movable loop (132), said section of wire (5 ) is substantially in the plane passing through the articulation of the jaws (131J. 132j) of said clamps, and the jaws (131jb, 132jb) of each of them frame a wire guide tube (147-150) overlapping said section. 9. Device according to any one of claims 2 to 8, characterized in that said set of wire-guide tubes (146-151) consists of several aligned tubes (146, 147, 148, 149, 150, 151) coaxial, so that a tube (146) of said assembly is located upstream of said fixed clamp (131) and that another (151) of these tubes is located downstream of said movable loop clamp (132). 10. Device according to claim 9. characterized in that said assembly comprises a series of independent wire-guide tubes of the same length (146, 1.7, 1.8, 149, 150, 151) including the tubes (146, 147 - 147.148 - 149, 150 -150,151) are separated from each other by a space reserved for the passage of the jaws (131jb, 132jb) of the fixed gripping pliers (131) and of the movable loop (132). 11. Device according to any one of claims 1 to 10, characterized in that the wire guide tubes (146-151) of said assembly are cylindrical and comprise a fixed part (l46a) and a mobile part (l46b), l 'said parts being assembled in a diametrical plane P, and in that the movable part (146b) is articulated and opening from below and on the side towards which pivots said arm (12) in the phase where it presents the clamps gripping (131, 132) and the ends of the wire section above the clamps (3) of the conveyor (2). 12. Device according to any one of claims 2 to 11, characterized in that said assembly (146-151) comprises six wire guide tubes, of which the second (147) and the fifth (150) are overlapped by said clamps fixed (131) and movable loop (132) when gripping the section of wire, which tubes are actuated by double-acting cylinders (152, 153. 15) whose movable rod (152a) comprises a yoke (152b) to actuate simultaneously, either the first two tubes (146, 147) relative to the direction of travel of the wire, or the last four (148, 149, 150, 151) - 13- Device according to claim 12, characterized in that it comprises three jacks (152, 153. 154), the movable rod of which comprises a yoke (152b) for each actuating a pair of tubes-guide-wire (146,147 - 148,149 - 150.151). 14. Device according to claim 1, characterized in that it comprises: - A first fixed clamp (1310) for gripping said sections of wire, which clamp is located on the path of the wire (5) guided by said set of wire guide tubes (146, 147) and whose jaws are articulated from side and on the other side of the wire according to deflections substantially perpendicular thereto to grip one of the ends of said sections and to release it; - a second articulated loop clamp (163). located downstream of said fixed clamp (1310) relative to the direction of travel of the wire (5). which second clamp (163) is controlled by means (165, 166, 168) to make it execute a change of orientation of 180 ° and bring it next to and below said fixed clamp (1310) in alignment substantially parallel to the direction of travel of said gripper conveyor (2), so as to form a loop of wire (5b) and put the ends (5c) of said section of wire in position substantially parallel to each other and perpendicular to the gripper conveyor (2); - A third fixed clamp (1320) disposed on the side and parallel to said first fixed clamp (1310) and to the right of the end of the wire section (5c) held by said second articulated loop clamp (163) after training of the loop, - and means (1321) for simultaneously actuating said fixed clamps (1310, 1320) to grip the two ends (5c) of the wire loop thus formed and to put them in the grip of the clamps (3) of the conveyor (2). 15- Device according to any one of claims 1 and 14, characterized in that said manipulator (12) consists of a support (124) articulated to said structure (126) around a vertical axis (121) and d 'an arm (122) articulated to said pivoting support (124) about a horizontal axis (123) and at the end of which arms (122) are mounted said fixed clamps (1310, 1320), which support (124) and arms (122) are actuated by double-acting cylinders (127, 130). 16. Device according to claim 15, characterized in that said arm (122) on which are mounted said fixed clamps (1310, 1320) is articulated to said support (124) to pivot in the vertical direction, which arm (122) adopts the shape of a T comprising two parts, one of which (1221) is articulated to the support (124) and the other (1222) extending 90 ° from said part (1221) above the wire guide tubes ( 146, 147), has at its end a yoke (1223) in which are mounted at the same level said fixed clamps (1310, 1320). 17. Device according to claim 16, characterized in that said fixed clamps (1310, 1320) have two jaws identical adopting the form of a two-jaw fork for gripping the wire (5) at two points. 18. Device according to any one of claims 16 and 17, characterized in that the jaws of said fixed clamps (1310, 1320) are articulated about axes parallel to each other and to the axis of the wire guide tubes (1.6, 147). 1. Device according to any one of claims 14 to 18, characterized in that said set of thread guide tubes consists of two aligned tubes (146, 147) separated from one another by a space and that the second tube (147) relative to the direction of travel of the wire (5) is overlapped by one (1310) of said fixed clamps, whose jaws (1310a) frame the wire (5) on either side of said tube (147). 20. Device according to any one of claims 14 to 19, characterized in that it includes downstream and in alignment with said wire guide tubes (146, 147) a conduit (160) for guiding the wire (5) having a lateral opening (16a) to allow the wire to be released and the loop to be formed. 21. Device according to any one of claims 14 to 20, characterized in that one of said fixed clamps (1320) overlaps the jaws (163e, l63f) of the articulated loop clamp (163) momentarily immobilized next to all of the thread guide tubes (146, 147) after loop formation. 22. Device according to any one of claims 11 and 14 to 20, characterized in that the two wire guide tubes (146, 147) are actuated together for their opening and closing, by a double-acting cylinder (152) . 23. Device according to any one of claims 14 and 21, characterized in that said articulated loop clamp (163) comprises a clamp body (l63a) comprising at one of its ends a fixed jaw (l63f) cooperating with a movable jaw (163e) actuated by an integrated double-acting cylinder in said body (163a). 24. Device according to claim 23, characterized in that said clamp body (l63a) is of substantially vertical orientation and that the jaws (l63e, l63f) are at its upper part for gripping the wire (5) downstream and substantially in the axis of the wire guide tubes (146, 147) and said conduit (160). 25. Device according to any one of claims 23 and 24, characterized in that the loop clamp (163) is articulated to said structure of the manipulator (12) by means of two superimposed crossed rods (165, 166). 26. Device according to claim 25, characterized in that the loop clamp (163) is articulated to a support (164) fixed to said manipulator (12), the first link (I65) articulated at a point (171) located at the 'rear of said support (164) relative to the direction of travel of the wire, is actuated by a double-acting cylinder (168) pivotally mounted on said support and has the function, by rotation of 90 °, to project the clamp (I63) on the side of the wire guide tubes (146, 147) and the second link (166) of which is articulated to said support (164) at a point (173) located downstream of the point of articulation (171) of said first link (I65 ) has the function, jointly with it and during this rotation, of causing the twist of the clamp (163) by 180 ° to form the wire loop (5b). 27. Device according to any one of claims 20 and 23 to 26, characterized in that the conduit (160) with lateral opening, includes a notch (162) to allow the movable clamp (163) to grip the wire (5 ) in said conduit. 28. Device according to any one of claims 23 to 26, characterized in that the movable jaw (163e) is slidably mounted in the fixed jaw (l63f) to insert the wire (5) with a jaw (163g) of the jaw fixed, perpendicular to the axis on which the movable jaw (163e) moves, which fixed jaw (l63f) further comprises a lateral opening (163k) and two walls (l63h) parallel to each other, which frame the movable jaw (163e ), which walls (l63h) have a notch (l63j) for the passage of the wire. 29. Device according to any one of claims 1 to 10, 14 to 19 and 21, of which said fixed grippers (13L 1310 132o) and of movable loop (132) comprise a gripper body (132a) constituted by a jack double-acting comprising a piston (132d) moving in a bore (132c), which piston is fixed to a movable rod (132e) whose position of the jaws (131j. 132j) is determined so that when they close they grip a section of wire, characterized in that said movable rod (132e) comprises a coupling (132f) to which said jaws are articulated fork-shaped (131d, 13d) and in that said clamp body (132a) further comprises a yoke (132k) to which are articulated by one of their ends, rods (132mι, 132m2), which are articulated by their other end to said jaws (131. 13) at a point (1321) situated below the point of articulation (132ni, 132n2) of the jaws (131j. 132j) to said coupling (132k), so that said jack causes their jaws (13.132) to move simultaneously towards the clamp body (132a) and, outside of the assembly of the wire guide tubes (146-151) and when they are closed, moving the jaws in the opposite direction to enter said reserved spaces between said tubes (146,147 - 147,148 - 149,150 - 150,151) in order to grasp the section of wire. 30. Device according to claim 29, characterized in that the jaws (131j. 132j) have an extension (132ja) s * extending inside the yoke (132k) and from the middle of their fork-shaped part , which extension (13 ja) is articulated by its free end in a yoke (132fι, 132f2) of said hitch (132f) fixed to the movable rod (132e) of the jack and to two links (132ml, 132m2) located on both sides 'other and articulated on the one hand to a point of articulation (132nι, 132n2) close to said fork-shaped part and to the yoke (132k) of the clamp body (132a).