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EP 0 881 720 B1 |
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EUROPEAN PATENT SPECIFICATION |
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Mention of the grant of the patent: |
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18.09.2002 Bulletin 2002/38 |
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Date of filing: 22.05.1998 |
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International Patent Classification (IPC)7: H01R 43/00 |
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Apparatus for assembling grommet to lead
Gerät zum Anbringen eines Leitungsdurchführungspfropfens
Appareil pour l'assemblage de traversées pour conducteurs électriques
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Designated Contracting States: |
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CH DE FR GB IT LI |
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Priority: |
30.05.1997 EP 97401208
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Date of publication of application: |
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02.12.1998 Bulletin 1998/49 |
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Proprietor: KOMAX HOLDING AG |
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6036 Dierikon (CH) |
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Inventors: |
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- Soriano, Louis
13400 Aubagne (FR)
- Daugy, Bruno
83470 St. Maximin (FR)
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Representative: Blöchle, Hans et al |
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Inventio AG,
Seestrasse 55,
Postfach 6052 Hergiswil 6052 Hergiswil (CH) |
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References cited: :
EP-A- 0 159 006 FR-A- 2 650 126
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EP-A- 0 462 923 US-A- 5 315 757
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Note: Within nine months from the publication of the mention of the grant of the European
patent, any person may give notice to the European Patent Office of opposition to
the European patent
granted. Notice of opposition shall be filed in a written reasoned statement. It shall
not be deemed to
have been filed until the opposition fee has been paid. (Art. 99(1) European Patent
Convention).
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[0001] This invention relates to an apparatus for assembling seal grommets onto wires, for
example electrical or optical leads.
[0002] There are various methods of assembling an elastic seal grommet onto a lead, for
example by: simply pushing the lead through the seal as described in EP 159006; or
projecting the seal with compressed air onto the lead as described US 5007164 and
EP 290721, or by fitting the seal on a hollow tube or sleeve in which the lead is
received, and subsequently pushing the seal off the tube onto the lead. The latter
seal assembly method for example is described in US 5016346 or EP 462923. This method
is particularly reliable because the lead is received safely within the grommet expansion
sleeve prior to mounting of the seal on the lead. The risk of buckling of the lead,
particularly for very thin leads, is thereby eliminated. One of the problems with
the latter assembly device is that the seal expansion pins and sleeves are small parts
moving relative to each other and requiring high precision. The cost and life time
of the machine is adversely effected by relatively delicate movable parts.
[0003] It would also be desirable to provide a particularly flexible seal assembly machine
that can easily adapt to automated assembly of various seals and wires such that complete
cable harnesses can be automatically processed. An important feature of flexible assembly
machines is the ability to modify assembly operations rapidly, with a minimum of tooling
changes.
[0004] It is an object of this invention to provide a grommet assembly apparatus that is
simple, yet reliable and versatile, for automated assembly.
[0005] Objects of this invention have been achieved by providing the grommet assembly apparatus
according to claim 1. Disclosed herein is a grommet assembly apparatus for assembling
grommets on leads, the apparatus comprising a grommet receiving device comprising
a hollow sleeve having a cavity extending therethrough for receiving a lead or wire
therein, an outer surface of the tube for receiving a grommet elastically compressed
thereagainst for assembly onto the lead, the apparatus further comprising a pin insertable
in the wire receiving cavity of the hollow sleeve for assisting assembly of the grommet
onto the outer surface of the hollow sleeve, the pin having a tapered leading end
in order to guide insertion of the pin through the grommet, wherein the pin leading
end is insertable into the sleeve from the wire receiving end thereof.
[0006] Advantageously therefore, a very simple assembly of a grommet onto a sleeve section
with few parts, is achieved.
[0007] In order to assist assembly of the grommet onto the sleeve, air may be blown out
of the sleeve cavity in order to assist pushing of the grommet over the pin until
abutment of the grommet against a stop, and subsequent insertion of the sleeve into
the grommet central cavity causing resilient expansion thereof.
[0008] For a particularly simple assembly apparatus, the pin device may be provided in alignment
with an end of a grommet supply device, such as a grommet supply channel, such that
the pin device can pick the grommet directly from the supply device and insert it
directly onto the grommet expansion sleeve.
[0009] Further advantageous aspects of this invention will be apparent from the claims or
from the following description and drawings.
[0010] An embodiment of this invention will now be described by way of example with reference
to the figures, in which;
figures 1-7 are simplified drawings of a grommet assembly apparatus showing the sequence
of assembly operations of a grommet onto a lead;
figure 8 is a simplified view of the seal assembly apparatus;
figure 8a is a detailed view of grommet receiving abutment profile for removing the
grommet from the hollow expansion sleeve;
figure 9 is a partial cross-sectional detailed view of assembly devices for mounting
the grommet on a seal expansion sleeve;
figure 10 a view similar to that of figure 9 in an assembly stage just prior to that
of figure 9.
[0011] Referring first to figure 8, a grommet assembly apparatus 2 is shown mounted on a
base 4 and upstanding vertically (along the Y axis). The horizontal axis is defined
as the axis X. A conveyor apparatus 6 is also fixed to the base 4 of a harness making
machine via the support 8. The conveyor system 6 has a plurality of grippers 10 for
gripping and conveying leads or wires 12 of electrical or optical cables. The grippers
10 are conveyed in a direction Z perpendicular to the X and Y directions, for transporting
the wires 12 to various wire processing stations of the harness making machine, such
as stations for cutting the wires ends, stations for crimping terminals to the wires
ends, stations for inserting the wires ends into connectors housings etc. One of the
wire processing stations is the grommet assembly apparatus 2 for positioning grommet
seals on the wire ends for the purpose of sealing the wires in corresponding cavities
of a connector housing. In figure 8, a grommet 14 is shown assembled onto an end 15
of the wire 12.
[0012] The grommet assembly apparatus 2 comprises a fixed structure 16 mounted on the base
4. Fixed to the structure 16 is a primary motor 18 that drives a piston or rod 20
in the horizontal direction X. A slide 22 is also mounted in a fixed manner to the
structure 16. A gripper device 24 comprising a support structure 25 and movable jaws
26,27 is fixed to the primary piston 20. The gripper device 24 is therefore movable
in the X direction by means of the motor 18. The movable jaws 26,27 are movable in
a vertical direction towards and away from each other by means of a motor (not shown)
mounted on the gripper support 25. For clarity, the upper jaw 26 is shown separated
from the gripper device, but in fact it is mounted within a portion of the support
25 that forms a single assembled structure movably fixed to the rod 20. In order to
provide stabil support of the device 24, the gripper support 25 is slidably mounted
on a slide 30 extending in the X direction and rigidly fixed to the apparatus support
16.
[0013] A grommet mounting device 32 comprises a mounting device support 34 that is slidably
mounted in the X direction on the fixed slide 22, the device further comprising a
grommet receiving member 36 rotatably mounted about a Z axis to the device support
34 as indicated by the mounting portion 38. A secondary motor 40 is mounted in a fixed
manner to the grommet mounting device support 34, and drives a secondary piston or
rod 42 in the X direction. The secondary rod 42 is secured to the gripper support
25 such that the gripper device 24 and the grommet mounting device 32 are relatively
slidable in the X direction with respect to each other and with respect to the apparatus
fixed structure 16.
[0014] The grommet assembly apparatus further comprises a grommet transport device having
a grommet supply of feed channel 44 that feeds grommets 14 to an end 46 of the channel
44 for mounting on the grommet receiving member 36. The grommets 14 are positioned
vertically in the feed channel 44 proximite the end 46, such that central channels
48 traversing the grommets 14 extend in the Y direction.
[0015] The apparatus further comprises a grommet transfer device 50 for transferring and
loading grommets 14 on to the mounting device 32. The transfer device 50 comprises
a motor 52 that drives a grommet transfer element 54 in the vertical direction Y.
The transfer element 54 is provided in alignment with a grommet 14 at the end portion
46 of the feed channel 44.
[0016] Referring to figures 9 and 10 in conjunction with figure 8, transfer of a grommet
from the feed channel to the mounting device will now be explained. Referring first
to figure 9, the transfer element 54 is shown comprising a pin 56 extending to a free
end 58, and a stop 60 concentrically surrounding the pin 56 at a certain distance
remote from the free end 58 for providing an abutment surface to limit insertion of
the grommet 14 along the pin 56. The free end 58 is pointed and extends towards the
stop 60 in a tapered or conical manner, thereby providing a smooth guide or insertion
tip 62 for smoothly inserting and locating in the central cavity 48 of the grommet
14.
[0017] The rotatable grommet receiving mounting device 36 comprises a chamber 64 positioned
centrally within a housing 66, the device further comprising a grommet expansion sleeve
68 attached to the housing 66 and forming a cavity 70 extending therethrough in communication
with the chamber 64. The cavity 70 is a wire receiving cavity which is also adapted
to receive the transfer pin 56 therein as shown in figures 9 and 10, during mounting
of the grommet 14 on the expansion sleeve 68. The chamber 64 is supplied with compressed
air through a supply channel 72 which is connected to a flexible tube (not shown)
for supplying the compressed air into the chamber 64. The compressed air may be supplied
intermittently during operation by automatically regulated control valves.
[0018] Mounting of the grommet 14 onto the expansion sleeve 68 is achieved as follows. A
grommet 14 in abutment against the end 46 of the feed channel 44 is in alignment with
the transfer element 54. The transfer element 54 is driven in the Y direction towards
to the grommet 14 whereby the tip 58, 62 of the pin 56 is inserted partially into
the grommet central cavity 48. The movement of the pin 56 and partial engagement in
the grommet cavity 48 pushes the grommet 14 through the exit cut-out 78 in the bottom
wall 80 of the feed channel 44. The grommet outer diameter is slightly larger than
the cut-out 78 such that the grommet remains within the feed channel 44 until pushed
by the transfer element. As shown in figure 10, when the grommet 14 is pushed through
the cut-out 78, it is only partly inserted over the transfer pin 56, and enters into
abutment with the free end or tip 82 of the expansion sleeve 68. The expansion sleeve
pushes the grommet 14 further along the pin 56 towards the stop 60. In order to facilitate
pushing of the grommet 14 along the pin 56 , in particular past the concial section
62, compressed air is provided in the chamber and cavity 64,70 such that air pressure
presses against the front end of the grommet 14 at the positions denoted 84 in figure
10. The latter ensures that the front end 83 of the grommet does not get pinched into
the wire receiving cavity 70 of the expansion sleeve 78. The transfer element 54 is
driven along the Y axis until the grommet 14 abuts the stop 60 and the expansion sleeve
68 is subsequently inserted between the grommet and the pin 56. The grommet is thereby
elastically expanded over the outer surface 84 of the expansion sleeve 68. Continued
provision of air pressure in the cavity 70 ensures that the expansion sleeve 68 smoothly
inserts between the grommet and the pin 56. A recess 90 extends into the transfer
element 54 between the pin 56 and a concentric wall 88 that forms the abutment shoulder
60 in order to allow extension of the expansion sleeve 68 therein. The concentric
wall 88 may be provided with a cavity 89 to allow air to escape from the recess or
cavity 90 if necessary. Once the grommet 14 is mounted on the expansion sleeve 68
as shown in figure 9, the transfer element 54 can than be retracted and a new grommet
fed to the end portion 46.
[0019] Referring particularly to figures 1-7, assembly of a grommet to a wire will now be
described. Initially, as shown in figure 1, the primary rod 20 and the secondary rod
42 are both in retracted positions, and the grommet receiving member 36 is in the
vertical position in alignment with the transfer element 54. A grommet 14 is then
mounted on the expansion sleeve 68 as previously described with reference to figure
9 and 10, and as depicted in figure 2. After assembly of the grommet on the expansion
sleeve as shown in figure 3, the grommet receiving member 36 is rotated 90 degrees
to the horizontal position in alignment with a wire 12 carried by the conveying system
to the grommet assembly apparatus. In the position of figure 4, the expansion sleeve
68 is received within a U-shaped recess 92 of a retention wall 94 (see figure 8a)
that serves to retain the seal in an axial position along the X axis with respect
to the gripper device 24. The U-shaped recess 92 of the retention wall 94 has a smaller
radius than the grommet 14, such that when the expansion sleeve 68 is retracted with
respect to the retention wall 94, the grommet slides off the expansion tube.
[0020] As shown in figure 4, the jaws 26,27 are closed towards to each other. The jaws 26,27
are provided with a funnel shaped wire guide surface 96 that serves to guide the end
15 of the wire 12 into the expansion sleeve cavity 70 as shown in figure 5. Insertion
of the wire end 15 into the cavity 70 is effected by activating the motor 18 and driving
the primary road 20 to an extended position. Both the gripper device 24 and the mounting
device 32 slide on their slides 30,22 respectively.
[0021] In the next step, as shown in figure 6, the secondary rod 42 is driven into the extended
position by the secondary motor 40 such that the mounting device 32 is retracted relative
to the gripper device 24, such that the retention wall 94 of the gripper pulls the
grommet 14 off the expansion sleeve and onto the wire 12. The jaws 26,27 are moved
to the open position as shown in figure 6, and the primary motor 18 subsequently driving
the primary rod 20 to the initial retracted position such that the wire end 15 is
freed. The wire end can then be moved by the conveyor system and a new wire presented
before the grommet assembly apparatus. As shown in figure 7 the secondary rod 42 is
also driven to the retracted position by the secondary motor 40, and the grommet receiving
member 36 rotated to the vertical position such a new cycle may commence.
[0022] It is particularly advantageous to move the expansion sleeve towards the wire, rather
than moving the wire such that a simple conveying system may be provided. In other
words, the wire may be held in a fixed relation with respect to grippers 10 of the
conveying system 6 whereas the assembly movements are provided by the grommet assembly
apparatus. A simpler harness making machine and conveying system is thus provided.
Further advantageous is the simple assembly of grommet to the expansion sleeve, and
in particular the relatively simple construction of the expansion sleeve mechanism
which does not require complex internal movable pins and sleeves. The transfer element
is of relatively simple construction and operation. Rotation of the grommet mounting
device and transport of the grommet on the expansion sleeve also provides a relatively
versatile adaptable system that enables picking and transferring a grommet from supply
channel remote from the wire, to the wire.
1. A grommet assembly apparatus (2) for assembling grommets (14) on leads (12), the apparatus
comprising a grommet mounting device (32) comprising a hollow sleeve (68) having a
cavity (70) extending therethrough for receiving a lead (12) therein, an outer surface
(84) of the sleeve for receiving a grommet (14) elastically compressed thereagainst
for assembly onto the lead, the apparatus further comprising a pin (56) insertable
in the wire receiving cavity (70) of the hollow sleeve for assisting assembly of the
grommet onto the outer surface (84) of the sleeve, the pin having a tapered end (62)
in order to guide insertion of the pin through the grommet, characterised in that the pin (56) serves as a transferring element of the grommets from the grommet transport
device onto the mounting device, and is insertable into the hollow sleeve from a wire
receiving end (82) thereof.
2. The assembly apparatus of claim 1 wherein air is blown out of the sleeve (68) in order
to assist pushing of the grommet (14) over the pin (56).
3. The apparatus of claim 1 or 2 wherein the pin (56) is provided on a transfer element
(54) movable in a direction (Y) along an axis aligned with a grommet (14) positioned
in a loading position (46) of a grommet feed channel (44) arranged between the expansion
sleeve and a transfer device (50) that drives the transfer element (54).
4. The apparatus of any one of the preceding claims wherein the expansion sleeve (68)
is provided on a grommet receiving member (36) device rotatably mounted on a grommet
mounting device (32).
5. The apparatus of claim 4 wherein the grommet mounting device (32) is slidably mounted
in a direction (X) parallel to a wire end (15) of a wire end (12) to be processed,
on a slide (22) fixed to a fixed structure (16) of the apparatus.
6. The apparatus of any one of the preceding claims wherein the pin (56) is part of a
movable transfer element (54) that comprises a stop (60) remote from a pointed tip
(58) of the pin for limiting insertion of the grommet (14) on the pin.
7. The apparatus of any one of the preceding claims wherein the expansion sleeve (68)
is fixed on a rotatable grommet receiving member (36) that can rotate from a grommet
receiving position to a loading position for loading the grommet on the wire (12),
the grommet receiving member being rotatable about a Z axis orthogonal to X and Y
axes.
8. The apparatus of any one of the preceding claims wherein the apparatus comprises a
gripper device (24) comprising a gripper device support (25) on which are movably
mounted jaws (26, 27) that provide a funnel shaped guide in the closed position for
guiding an end (15) of the wire (12) into the expansion sleeve (68), and wherein the
gripper device (24) is slidably mounted on a slide (30) fixed to the apparatus fixed
structure (16), the sliding movement in an X direction parallel to the direction of
the wire end (15).
9. The apparatus of any one of the preceding claims wherein the mounting device (32)
is coupled to the gripper device (24) in a movable manner such that the mounting device
(32) can be moved relative to the gripper device (24) in the X direction.
10. The apparatus of claim 8 or 9 wherein the gripper device is movably coupled to a motor
(18) fixed to the fixed structure (16) for driving the gripper device (24) in the
X direction.
1. Tüllenmontagevorrichtung (2) zur Montage von Tüllen (14) auf Leitungen (12), wobei
die Vorrichtung eine Tüllenbefestigungseinrichtung (32) umfaßt, die eine hohle Hülse
(68) mit einem sich dadurch erstreckenden Hohlraum (70) zur Aufnahme einer Leitung
(12) darin aufweist, wobei eine Außenfläche (84) der Hülse zur Aufnahme einer Tülle
(14) elastisch dagegen gedrückt wird, um sie auf die Leitung zu montieren, wobei die
Vorrichtung weiterhin einen Stift (56) umfaßt, der in den Drahtaufnahmehohlraum (70)
der hohlen Hülse eingeführt werden kann, um die Montage der Tülle auf die Außenfläche
(84) der Hülse zu unterstützen, wobei der Stift ein sich verjüngendes Ende (62) aufweist,
um die Einführung des Stifts durch die Tülle zu führen, dadurch gekennzeichnet, daß der Stift (56) als Übertragungselement der Tüllen von der Tüllenbeförderungseinrichtung
auf die Befestigungseinrichtung dient und von einem Drahtaufnahmeende (82) der hohlen
Hülse in diese einführbar ist.
2. Montagevorrichtung nach Anspruch 1, bei der aus der Hülse (68) Luft herausgeblasen
wird, um das Schieben der Tülle (14) über den Stift (56) zu unterstützen.
3. Vorrichtung nach Anspruch 1 oder 2, bei der der Stift (56) an einem Transferelement
(54) vorgesehen ist, das in einer Richtung (Y) entlang einer auf eine Tülle (14) ausgerichteten
Achse beweglich ist, wobei die Tülle (14) in einer Ladestellung (46) eines Tüllenzuführkanals
(44) positioniert ist, der zwischen der Aufweithülse und einer das Transferelement
(54) antreibenden Transfereinrichtung (50) angeordnet ist.
4. Vorrichtung nach einem der vorhergehenden Ansprüche, bei der die Aufweithülse (68)
an einer Tüllenaufnahmegliedeinrichtung (36) vorgesehen ist, welche an einer Tüllenbefestigungseinrichtung
(32) drehbar angebracht ist.
5. Vorrichtung nach Anspruch 4, bei der die Tüllenbefestigungseinrichtung (32) auf einer
an einer festgelegten Konstruktion (16) der Vorrichtung befestigten Gleitschiene (22)
in einer parallel zu einem Drahtende (15) eines zu bearbeitenden Drahtes (12) verlaufenden
Richtung (X) verschiebbar angebracht ist.
6. Vorrichtung nach einem der vorhergehenden Ansprüche, bei der der Stift (56) ein Teil
eines beweglichen Transferelements (54) ist, das zur Begrenzung der Einführung der
Tülle (14) auf den Stift einen von einem spitzen Ende (58) des Stifts entfernt liegenden
Anschlag (60) umfaßt.
7. Vorrichtung nach einem der vorhergehenden Ansprüche, bei der die Aufweithülse (68)
an einem drehbaren Tüllenaufnahmeglied (36) befestigt ist, das sich aus einer Tüllenaufnahmestellung
in eine Ladestellung zum Laden der Tülle auf den Draht (12) drehen kann, wobei das
Tüllenaufnahmeglied um eine orthogonal zur X- und Y-Achse verlaufende Z-Achse drehbar
ist.
8. Vorrichtung nach einem der vorhergehenden Ansprüche, die eine Greifeinrichtung (24)
mit einer Greifeinrichtungsstütze (25) umfaßt, an der beweglich angebrachte Backen
(26, 27) vorgesehen sind, die in der geschlossenen Stellung eine trichterförmige Führung
zum Führen eines Endes (15) des Drahtes (12) in die Aufweithülse (68) bereitstellen,
und bei der die Greifeinrichtung (24) auf einer an der an der Vorrichtung befestigten
Konstruktion (16) befestigten Gleitschiene (30) verschiebbar angebracht ist, wobei
die Gleitbewegung in einer parallel zur Richtung des Drahtendes (15) verlaufenden
X-Richtung erfolgt.
9. Vorrichtung nach einem der vorhergehenden Ansprüche, bei der die Befestigungseinrichtung
(32) auf bewegliche Weise mit der Greifeinrichtung (24) verbunden ist, so daß die
Befestigungseinrichtung (32) bezüglich der Greifeinrichtung (24) in X-Richtung bewegt
werden kann.
10. Vorrichtung nach Anspruch 8 oder 9, bei der die Greifeinrichtung mit einem Motor (18)
beweglich verbunden ist, der zum Antrieb der Greifeinrichtung (24) in X-Richtung an
der festgelegten Konstruktion (16) befestigt ist.
1. Appareil d'assemblage de passe-fils (2) pour assembler des passe-fils (14) sur des
fils (12), comprenant un dispositif de montage de passe-fils (32) avec un manchon
creux (68) qui est traversé par une cavité (70) destinée à recevoir un fil (12) et
qui présente une surface extérieure (84) destinée à recevoir un passe-fil (14) comprimé
élastiquement contre elle en vue de l'assemblage sur le fil, et comprenant une tige
(56) qui est apte à être introduite dans la cavité de réception de fil (70) du manchon
creux pour aider à assembler le passe-fil sur ladite surface extérieure (84) du manchon,
et qui a une extrémité effilée (62) afin de guider l'introduction de la tige dans
le passe-fil,
caractérisé en ce que la tige (56) sert d'élément de transfert pour les passe-fils entre le dispositif
de transport de passe-fils et le dispositif de montage, et est apte à être introduite
dans le manchon creux par une extrémité de réception de fil (82) de celui-ci.
2. Appareil d'assemblage selon la revendication 1, dans lequel de l'air est projeté à
partir du manchon (68) pour aider à pousser le passe-fil (14) sur la tige (56).
3. Appareil selon la revendication 1 ou 2, dans lequel la tige (56) est prévue sur un
élément de transfert (54) mobile dans un sens (Y) le long d'un axe situé dans l'alignement
d'un passe-fil (14) qui se trouve dans une position de chargement (46) d'un conduit
d'alimentation en passe-fils (44) disposé entre le manchon d'expansion et un dispositif
de transfert (50) qui entraîne ledit élément de transfert (54).
4. Appareil selon l'une quelconque des revendications précédentes, dans lequel le manchon
d'expansion (68) est prévu sur un dispositif de réception de passe-fil (36) qui est
monté en rotation sur un dispositif de montage de passe-fils (32).
5. Appareil selon la revendication 4, dans lequel le dispositif de montage de passe-fils
(32) est monté pour pouvoir coulisser dans un sens (X), parallèlement à l'extrémité
(15) d'un fil (12) à traiter, sur une coulisse (22) fixée à une structure fixe (16)
de l'appareil.
6. Appareil selon l'une quelconque des revendications précédentes, dans lequel la tige
(56) fait partie d'un élément de transfert mobile (54) qui comporte une butée (60)
éloignée d'une pointe (58) de la tige, afin de limiter l'engagement du passe-fil (14)
sur la tige.
7. Appareil selon l'une quelconque des revendications précédentes, dans lequel le manchon
d'expansion (68) est fixé sur un élément rotatif de réception de passe-fil (36) qui
peut passer, grâce à une rotation, d'une position de réception de passe-fil à une
position de chargement pour charger le passe-fil sur le fil (12), l'élément de réception
de passe-fil étant apte à tourner autour d'un axe Z orthogonal par rapport aux axes
X et Y.
8. Appareil selon l'une quelconque des revendications précédentes, qui comprend un dispositif
de préhension (24) formé d'un support de dispositif de préhension (25) sur lequel
sont montées des mâchoires (26, 27) définissant un guide en forme d'entonnoir, en
position fermée, pour guider une extrémité (15) du fil (12) dans.le manchon d'expansion
(68), et le dispositif de préhension (24) est monté pour pouvoir coulisser sur une
coulisse (30) fixée à la structure d'appareil fixe (16), le mouvement coulissant se
faisant dans un sens X, parallèlement au sens de l'extrémité de fil (15).
9. Appareil selon l'une quelconque des revendications précédentes, dans lequel le dispositif
de montage (32) est accouplé au dispositif de préhension (24) de manière mobile, pour
pouvoir être déplacé par rapport à celui-ci dans le sens X.
10. Appareil selon la revendication 8 ou 9, dans lequel le dispositif de préhension est
accouplé de manière mobile à un moteur (18) qui est fixé à la structure fixe (16)
pour déplacer le dispositif de préhension (24) dans le sens X.