CABLE PROCESSING MACHINE SYSTEM, METHOD FOR SAMPLING CABLES IN A SAMPLING TRAY OF A CABLE PROCESSING MACHINE, AND CABLE CHANGE DEVICE FOR A CABLE PROCESSING MACHINE

Description

[0001] The present invention relates to a cable processing machine device and a method for removing cables from a removal tray of a cable processing machine.

[0002] A cable processing machine device comprising a cable processing machine for processing a cable is known, for example, from EP 052 983 A2. US 2001 / 032680 A1 discloses a method for removing cables from a cable tray.

[0003] Although cable processing machines can fully automatically produce batches, each comprising several pieces of an identically assembled cable, a machine operator is still required to retool the machine for a different item, refill the material to be processed, and remove the finished batches of cables or the processed cables. The tasks that the machine operator must perform include, in particular, the following: Changing the cable to be processed; changing the crimping tool and / or crimp contact roll; feeding cable samples to measuring devices or quality control devices; removing defective cables; removing finished production batches of cables.

[0004] The number of identical items or processed cables to be produced is usually divided into smaller production batches, which must be individually removed from the cable processing machine. Common cable processing machines have a cable tray into which the finished or processed cables are placed until the quantity for a production batch is reached, and a dispensing tray from which the batch can be removed manually. The cable tray can be tilted, causing the processed cables of a production batch to fall from the tray into the dispensing tray. The removal of each batch must be acknowledged by the machine operator, which means that the cable processing machine stops after each batch has been produced until the batch has been removed and acknowledged by the operator.

[0005] This leads to longer interruptions in the operation of the cable processing machine or a cable processing machine device comprising a cable processing machine.

[0006] Among other things, there may be a need for a cable processing machine device or a process in which at least some of the tasks previously performed manually by the machine operator can be automated, as well as for a cable changing device for the automated changing of the cable processed by the cable processing machine device.

[0007] Such a need can be met by a cable processing machine device according to independent claim 1 or a method according to claim 14. Advantageous embodiments are defined in the dependent claims.

[0008] According to a first aspect of the invention, a cable processing machine device is proposed comprising a cable processing machine for processing a cable, in particular a crimping machine for connecting a cable to a crimp contact by means of a crimp connection, and a handling robot, wherein the handling robot has a gripper arm for gripping a part of the cable or several cables and for moving the cable or cables into and / or out of the cable processing machine.

[0009] One advantage of this is that cables can be easily and automatically removed from and / or fed into the cable processing machine. This allows the cable processing machine to operate smoothly and continuously without manual intervention or operator intervention. This increases the number of cables or batches of cables that can be processed by the cable processing machine per unit of time.

[0010] According to a second aspect of the invention, a method for removing cables from a dispensing tray of a cable processing machine for processing a cable is proposed, wherein the method comprises the following steps: grasping and holding cables processed by the cable processing machine in the dispensing tray with a gripper arm of a cable processing machine device as described above; moving the gripper arm holding the processed cables to move the processed cables out of the dispensing tray; and opening the gripper arm to release the previously held cables.

[0011] The advantage of this method is that batches of processed cables, or the processed cables themselves, are automatically removed from the dispensing tray. This allows the cable processing machine to operate smoothly and continuously without manual intervention or operator intervention. This increases the number of cables, or batches of processed cables, that the cable processing machine can handle per unit of time.

[0012] According to an aspect no longer covered by the invention, a method, in particular a method as described above, is proposed, wherein the method is suitable for changing a cable used by a cable processing machine, comprising the following steps: pulling out a cable used by the cable processing machine with a cable gripper of a gripper arm, in particular with a cable gripper of a gripper arm of a cable processing machine device as described above, and holding the cable with the cable gripper; moving the cable held by the cable gripper into a cable holding device such that the cable is held by the cable holding device; releasing the cable held by the cable gripper; removing another cable from the cable holding device with the cable gripper;and inserting the other cable into the cable processing machine using the cable gripper in such a way that the cable processing machine uses the other cable.

[0013] The advantage of this is that the cable used or processed by the cable processing machine can be easily changed automatically or mechanically, or replaced with another cable.

[0014] According to a further aspect not covered by the invention, a method, in particular a method as described above, is proposed, wherein the method is suitable for changing a cable processing cassette used by a cable processing machine for receiving cable contacts and a cable tool for another cable processing cassette comprising cable contacts and a cable tool, wherein the method comprises the following steps: grasping and holding the cable processing cassette used by the cable processing machine with a gripper arm, in particular with a gripper arm of a cable processing machine device as described above; moving the cable processing cassette held by the gripper arm into a cable processing cassette holder designed to hold several cable processing cassettes; releasing the cable processing cassette by the gripper arm;Grasping another cable processing cassette with the gripper arm; and moving the other cable processing cassette held by the gripper arm to a position on the cable processing machine where the cable processing machine can use the other cable processing cassette.

[0015] One advantage of this is that the cable processing cassette, cable contacts, and cable tool can be easily and automatically changed or replaced by machine. For example, if a cable contact reel is empty, if a cable needs to be connected to a different cable contact, or if the cable tool needs to be changed, the change can be carried out quickly and automatically without manual intervention. The cable processing cassette can be, in particular, a crimping cassette. The cable contacts can be, in particular, crimp contacts. The cable tool can be, in particular, a crimping tool.

[0016] According to a further aspect not covered by the invention, a method, in particular a method as described above, is proposed, wherein the method is suitable for checking the properties of a cable and / or a cable connected to a cable contact of a cable processing machine, wherein the method comprises the following steps: gripping and holding a cable with a cable gripper of a gripper arm, in particular with a cable gripper of a gripper arm of a cable processing machine device as described above; moving the cable by means of the gripper arm to a quality inspection device for checking properties of the cable and / or the connection between the cable contact and the cable; and checking the properties of the cable and / or the connection between the cable contact and the cable by means of the quality inspection device while the cable gripper holds the cable.

[0017] The advantage of this is that the cable's properties and / or the connection between the cable contact / crimp contact and the cable can be easily and quickly automated. This allows inferior cables to be quickly identified as rejects and subsequently reproduced to ensure a predetermined number of cables of a specified quality are produced. Therefore, no manual intervention is required for quality control.

[0018] According to a further aspect not covered by the invention, a method, in particular a method as described above, is proposed, wherein the method is suitable for removing cables that are partially located in a cable tray of a cable processing machine from the cable processing machine, the method comprising the following steps: grasping and holding a cable that is partially located in the cable tray of the cable processing machine with a cable gripper of a gripper arm, in particular with a cable gripper of a gripper arm of a cable processing machine device as described above; moving the cable gripper to remove the cable from the cable processing machine; and releasing the cable held by the cable gripper.

[0019] One advantage of this is that defective cables can be easily and automatically removed from the cable tray. No manual intervention or confirmation from an operator of the cable processing machine is required. This increases the number of cables that can be produced per unit of time using the cable processing machine. This process allows for the simple removal of cables that are already partially in the cable tray. In particular, defective cables can be easily removed from the tray. Specifically, if it is discovered that the first end of the cable has been incorrectly connected to a cable contact, the cable can be removed without further processing, such as connecting a contact to the second end. This saves time and material.

[0020] According to a further aspect not covered by the invention, a method, in particular a method as described above, is proposed, wherein the method is suitable for taking a cable from a swivel unit of a cable processing machine by means of a cable gripper of a gripper arm, wherein the method comprises the following steps: grasping and holding a part of the cable with the swivel unit of the cable processing machine; swiveling the swivel unit out to move the cable out of a cable processing axis in which the cable runs while the cable is being transported in the cable processing machine; and grasping and holding a part of the cable held by the swivel unit with a cable gripper of a gripper arm, in particular with a cable gripper of a gripper arm of a cable processing machine device as described above.

[0021] One advantage of this is that the cable is easily transferred from the swivel unit to the cable gripper or gripping arm. In particular, this allows cables initially arranged along the cable processing axis to be easily grasped and held by the cable gripper or gripping arm. They can then be fed to a quality control device and / or removed from the cable processing machine and moved into a reject tray or similar container.

[0022] According to a further aspect not covered by the invention, a cable changing device for a cable processing machine for processing a cable is proposed, wherein the cable changing device is designed to hold several cables for changing the cable used by the cable processing machine for processing, wherein the cable changing device is designed such that a gripper arm, in particular a gripper arm of a cable processing machine device as described above, can remove cables from the cable changing device and place cables in the cable changing device in such a way that they are held by the cable changing device.

[0023] The advantage of this is that the cable used by the cable processing machine can be changed or replaced automatically. This eliminates the need for manual intervention by a machine operator when changing the cable used by the cable processing machine. This reduces downtime for the cable processing machine. Furthermore, the cables stored in the cable changing device can be easily replaced without interrupting the operation of the cable processing machine. This further reduces the number of downtimes for the cable processing machine.

[0024] Possible features and advantages of embodiments of the invention can be considered, among other things and without limiting the invention, as being based on the ideas and findings described below.

[0025] According to one embodiment of the cable processing machine device, the gripper arm has a cable gripper for grasping individual cables. This allows individual cables to be handled, gripped, and held easily by the gripper arm.

[0026] According to one embodiment of the cable processing machine, the cable gripper has a partially closed position in which it holds the cable and can slide along it, and a fully closed position in which it holds the cable so firmly that it cannot slide along it. This allows the cable to be guided or held by the gripper while it is moved relative to or slides along the gripper. This further increases the number of possible actions of the cable gripper or gripping arm.

[0027] According to one embodiment of the cable processing machine, the gripper arm for removing cables, particularly processed cables, is designed to be positioned in a hopper of the cable processing machine. The advantage of this is that batches of processed cables, or the processed cables themselves, can be automatically removed from the hopper. This allows the cable processing machine to be operated easily and continuously without manual intervention or the need for a machine operator. This increases the number of cables, or batches of processed cables, that can be processed by the cable processing machine per unit of time.

[0028] According to one embodiment of the cable processing machine device, the handling robot is designed to grip cable processing cassettes comprising a cable tool for processing the cable and cable contacts for connecting to the cable, in particular to grip crimp cassettes comprising a crimp tool and crimp contacts, and to exchange the cable processing cassette used by the cable processing machine for another cable processing cassette. This allows the cable processing cassette, i.e., the cable processing tool and the cable contact, to be exchanged or changed automatically, i.e., without manual intervention by a machine operator. This eliminates the need to interrupt the operation of the cable processing machine when the cable processing tool needs to be changed or when the cable contacts of the used cable processing cassette are worn out.

[0029] According to one embodiment of the cable processing machine device, the device is designed such that the gripper arm is movable on two opposite sides of the machine. This results in a multitude of variable application possibilities for the gripper arm. Consequently, even more steps on the cable processing machine can be automated, further reducing downtime.

[0030] According to one embodiment of the cable processing machine device, the gripper arm is height-adjustable relative to the cable processing machine, rotatable about its vertical axis, and pivotable about a second vertical axis. The advantage of this is that the gripper arm is very flexible and can reach many different locations or areas of the cable processing machine to grip and hold loose cables or cable processing cassettes.

[0031] According to the invention, the handling robot has a guide rail for moving the gripper arm along a first axis of the cable processing machine, wherein the first axis is parallel to a cable processing axis along which the cable runs while being transported in the cable processing machine. This allows the gripper arm to be moved along the first axis, or along the longitudinal axis of the cable processing machine, in a particularly simple and quick manner.

[0032] According to one embodiment of the cable processing machine, the device includes a swivel unit. This swivel unit is designed to move a portion of the cable away from the direction of the cable axis while it is being transported in the cable processing machine and to transfer the cable to the gripper arm. The advantage of this design is that the cable can be transferred from the cable processing machine to the gripper arm and from the gripper arm back to the cable processing machine with particular ease.

[0033] According to one embodiment of the cable processing machine device, the device further comprises a cable changing device for holding multiple cables, wherein the cable processing machine device is designed to change the cable used by the cable processing machine by means of the handling robot. The advantage of this is that the cable processed by the cable processing machine can be automatically changed or exchanged. This further reduces the need for manual intervention by a machine operator and interruptions to the operation of the cable processing machine.

[0034] According to one embodiment of the cable processing machine, the machine includes a clamping device for gripping a cable that is fed into the machine. The gripping arm and the clamping device are designed such that the cable can be inserted into the clamping device by means of the gripping arm. An advantage of this is that the cable can be easily and automatically inserted into and removed from the cable processing machine. This simplifies the replacement or exchange of the cable used by the machine. In particular, the cable can be gripped by the arm as follows: first, the cable is partially inserted into the machine, then the clamping device clamps the cable securely.Once the cable is inserted, the gripper of the gripper arm slides along the cable, moving away from the cable processing device. The gripper then firmly grasps the cable again, the clamping device releases the cable, and the gripper feeds another section of the cable into the cable processing machine. This allows for a simple, automated, and reliable way to feed the cable into the machine.

[0035] According to one embodiment of the cable processing machine, the machine further comprises a quality control device for checking the properties of the cable and / or the connection between the cable contact and the cable. The cable processing machine is designed such that the cable is held by the gripper arm during inspection by the quality control device. The advantage of this is that the inspection of the cable quality and / or the cable processing, e.g., the quality of a crimp contact, can be carried out automatically. This means that no human intervention or intervention by a machine operator is necessary. This increases the number of cables or processing steps that the cable processing machine can process or perform per unit of time.

[0036] According to one embodiment of the cable processing machine device, the device further includes a crimp cassette holder for holding multiple crimp cassettes. This allows for the simple storage of several crimp cassettes, making it possible to have a large number of them readily available for changing or replacing the crimp cassette used by the cable processing machine using the handling robot or gripper arm. The crimp cassettes can have different crimp contacts or identical crimp contacts. This allows the cable processing machine to operate even longer without manual intervention.

[0037] According to one embodiment of the cable processing machine, the machine is designed such that the handling robot can remove cables from the machine, even if they are partially located in a cable tray. This eliminates the need for manual intervention by a machine operator, thus preventing any interruption of the machine's operation. This increases the number of cables or processing steps that the machine can handle per unit of time. Furthermore, it enhances safety by eliminating the need for a human hand to enter the machine.

[0038] It should be noted that some of the possible features and advantages of the invention are described herein with reference to different embodiments. A person skilled in the art will recognize that the features can be suitably combined, adapted, or exchanged to arrive at further embodiments of the invention.

[0039] Embodiments of the invention are described below with reference to the accompanying drawings, whereby neither the drawings nor the description are to be interpreted as limiting the invention. Fig. 1 shows a perspective view of an embodiment of the cable processing machine device according to the invention in the form of a crimping system; Fig. 2 shows a partial view of the crimping system. Fig. 1 Fig. 3 shows a detailed view of a gripping unit of the crimping system made of Fig. 1 Fig. 4a shows a detailed view of the gripping unit made of Fig. 3 in the open position of the gripping jaws; Fig. 4b shows a detailed view of the gripping unit. Fig. 3 in the closed position of the gripping jaws; Fig. 5 shows a detailed view of the cable tray and the removal tray of the crimping system. Fig. 1 Fig. 6 shows a detailed view of the cable feeder and the straightening unit of the crimping system. Fig. 1 Fig. 7a shows a first detailed view of the straightening unit of the crimping system. Fig. 1 ; Fig. 7b shows a second detailed view of the straightening unit of the crimping system made of Fig. 1 ; Fig. 7c shows a third detailed view of the straightening unit of the crimping system made of Fig. 1 Fig. 8 shows a detailed view of the crimp cassette holder of the crimping system made of Fig. 1 Fig. 9a shows a first detailed view of the gripping unit of the crimping system made of Fig. 1 when picking up a crimp cassette; Fig. 9b shows a second detailed view of the gripping unit of the crimping system. Fig. 1 when picking up a crimp cassette; Fig. 10 shows another perspective view of the crimping system from Fig. 1 with a crimp cassette in use; Fig. 11 shows a detailed view of the cable gripper of the gripping unit of the crimping system. Fig. 1 Fig. 12 shows a detailed view of the cable gripper of the gripping unit of the crimping system. Fig. 1 during cable quality checks; Fig. 13a shows a first detailed view of the cable gripper of the crimping system's gripping unit. Fig. 1 during cable routing; Fig. 13b shows a second detailed view of the cable gripper of the gripping unit of the crimping system. Fig. 1 during cable routing; Fig. 14 shows a detailed view of the gripping unit of the crimping system. Fig. 1 when holding a cable; Fig. 15 shows a detailed view of the cable tray and the removal tray of the crimping system. Fig. 1 Fig. 16 shows a detailed view of the dispensing tray of the crimping system. Fig. 1 Fig. 17a shows a first detailed view of the dispensing tray of the crimping system. Fig. 1 during cable removal; and Fig. 17b shows a second detailed view of the removal tray of the crimping system. Fig. 1 when removing cables.

[0040] The figures are schematic only and not to scale. Identical reference symbols in the different figures denote identical or equivalent features.

[0041] Fig. 1 Figure 1 shows a perspective view of an embodiment of the cable processing machine device according to the invention in the form of a crimping system 1. The cable processing machine device can be a crimping system 1. Accordingly, the cable processing machine device comprises a cable processing machine 5 in the form of a crimping device 5 or crimping press 8 and a handling robot 30.

[0042] Other cable processing machines for processing cables 15 instead of the crimping device 5 or crimping press 8 are possible.

[0043] The crimping device 5 is designed for connecting a crimp contact to a cable 15 by means of a crimp connection. The processed cables 15, or those connected with the crimp contact, are placed in a cable tray 20 of the cable processing machine 5 or the crimping device 5. The cable tray 20 can be tilted so that the cables 15 in the cable tray 20, e.g., one production batch or several production batches of cables 15, fall into a lower dispensing tray 22. The cable tray 20 and the dispensing tray 22 are parallel to each other and extend along a cable processing axis 6. The cables 15 are moved in the cable processing machine 5 along the direction of the cable tray 20, which is also referred to as the cable processing axis 6.

[0044] The cable processing machine 5 assembles the cable 15, i.e., cuts the cable 15 at a desired point to obtain a cable 15 of a specified cable length with two ends.

[0045] To crimp the cable 15 with a crimp contact, a section of the cable 15 is swung out of the cable processing axis 6 and towards a crimping press 8 (which is in Fig. 1 (shown to the left of cable processing axis 6). Using the first crimping press 8, a crimp contact is connected to a first end of the cable 15. On the other side of cable processing axis 6 (in Fig. 1 On the right) a second crimping press 8 is arranged. Using the second crimping press 8, a second end of the cable 15 opposite the first end is connected to a crimp contact.

[0046] Additional workstations to which cable 15 is moved are possible.

[0047] Fig. 2 shows a partial view of crimping system 1. Fig. 1 The crimping system 1 includes a cable exchange device 110 that can hold several cables 15. The crimping system 1 also includes a straightening unit 115 that aligns the cable 15 currently being used by the crimping device 5. Furthermore, the crimping system 1, or the crimping device 5, includes a cable feeder 100 that feeds the cable 15, i.e., draws more of the cable 15 into the crimping system 1 or feeds the cable 15 out of the crimping device 5.

[0048] Fig. 3 shows a detailed view of a gripping unit 50 of the crimping system 1 from Fig. 1 . Fig. 4a shows a detailed view of the gripping unit 50 from Fig. 3 in the open position of the gripping jaws 60, 61. Fig. 4b shows a detailed view of the gripping unit 50 from Fig. 3 in the closed position of the gripping jaws 60, 61.

[0049] The handling robot 30 of the cable processing machine device can be attached to or connected to the cable processing machine 5, the crimping machine, or the crimping device 5. The handling robot 30 comprises a gripping unit 50 with a gripping arm 55. The gripping unit 50, or the gripping arm 55, is linearly movable parallel to the cable processing axis 6 by means of a carriage 31 of the gripping unit 50. For this purpose, the handling robot 30 has a linear guide 32 along which the carriage 31 is guided. The linear guide 32 runs above the cable processing axis 6, along which the cable 15 is moved in the cable processing machine 5.

[0050] The handling robot 30 allows for the automation of a large number of processes that were previously performed manually.

[0051] The gripper arm 55 of the handling robot 30 is positioned on both sides of the cable processing machine 5 or crimping machine or crimping device 5, i.e., the left side and the right side. Fig. 1 , movable. For this purpose, the crimping device 5 has a corresponding recess or shape on the part in Fig. 1 The non-visible end of the crimping device 5 points towards the cable processing axis 6. The gripper arm 55 can, so to speak, be moved around one end of the crimping device 5. Thus, the gripper arm 55 can be moved on one side of the linear guide 32 and on a second side of the linear guide 32 opposite the first side.

[0052] The gripping unit 50 is movable back and forth along the linear guide 32 in direction a. For this purpose, the crimping system 1 has a toothed belt drive 33 for the linear guide 32. A gripping arm 55 of the gripping unit 50 is attached to a rod 37. By means of a rotary and linear unit 34, the gripping arm 55 can be rotated about a vertical axis (indicated by the double arrow c in the figure). Fig. 3 (indicated). The vertical axis runs through the center of the rod 37. The gripper arm 55, together with the rod 37, can also be moved up and down (by the double arrow d in Fig. 3 (indicated). In this way, the height of the gripper arm 55 can be changed relative to the crimping device 5. For this purpose, the rotary and linear unit 34 has two further toothed belt drives 35, 36.

[0053] The distance between the gripper arm 55 and the linear guide 32 can be changed by means of the swivel arm 39 of the gripping unit 50. By rotating the gripper arm 55 along the double arrow b, the distance to the linear guide 32 can be increased or decreased. This also allows the gripper arm 55 to be moved to the other side of the linear guide 32 or the crimping device 5. The rotation along the double arrow b can be performed by a third toothed belt drive 38.

[0054] The gripper arm 55 can pick up the cables 15 from the cable exchange device 110 and place them back in place or hook them up. This allows the cable 15 used by the crimping device 5 to be automatically exchanged or changed.

[0055] The gripper arm 55 is pneumatically operated. The gripper arm 55 comprises two jaw carriers 63, 64, which close symmetrically. The gripper jaws 60, 61 attached to the jaw carriers 63, 64 have, in the open position, which is Fig. 4a The gripping jaws 60, 61 are designed to grip multiple cables 15 or batches of cables 15. Each gripping jaw 60, 61 has a recess designed to pick up and hold production batches from the dispensing tray 22. Each gripping jaw 60, 61 comprises two elements that are spaced apart from each other in the open position.

[0056] In the closed position of the gripping jaws 60, 61, which are in Fig. 4b As shown, there are two openings at the location of the recesses of the gripping jaws 60, 61, in which the lots of processed cables 15 can be received and held.

[0057] Both jaw carriers 63, 64 each have a flange element 65, 66 with bores. In the open position of the gripping jaws 60, 61, one of the flange elements 65, 66 is located, so to speak, on the back of a jaw. The flange elements 65, 66 are designed for gripping and holding a crimping cassette 80.

[0058] In the closed position of the gripping jaws 60, 61, the flange elements 65, 66 are also in a closed position.

[0059] On one of the flange elements 65, 66 (in Fig. 4a or Fig. 4b A two-part cable gripper 70 is arranged on the right flange element 65) of the gripping unit 50 or the gripping arm 55, which is designed for gripping and holding individual cables 15. Fig. 4a and in Fig. 4b The cable gripper 70 is in the open position. The cable gripper 70 can grasp and hold a single cable 15, preventing the cable 15 from sliding relative to the cable gripper 70. The cable gripper 70 also has a semi-closed position, in which the cable 15 is held by the cable gripper 70 in such a way that the cable 15 can slide relative to the cable gripper 70. The cable 15 can thus slide through the cable gripper 70. This allows the cable gripper 70 to move along the cable 15.

[0060] The gripper arm 55 is designed to remove loose pieces of finished cables 15 or several finished cables 15 that have been transported from the cable tray 20 into the dispensing tray 22 from the dispensing tray 22.

[0061] Fig. 5 shows a detailed view of the cable tray 20 and the removal tray 22 of the crimping system 1. Fig. 1 The processed or crimped cables 15 are placed in the cable tray 20. When the cables 15 of a production batch, i.e., a certain number of cables 15, are present in the cable tray 20, the cable tray 20 is tilted (this is in Fig. 5 (indicated by a curved arrow), e.g. by a pneumatic device, and the cables 15 in the cable tray 20 fall into the dispensing tray 22 below.

[0062] The gripper arm 55 can use the gripper jaws 60, 61 to remove the cables 15 from the removal tray 22 and transport them, for example, into a holding device, boxes or similar.

[0063] The removal tray 22 can be pneumatically moved in the direction of the double arrow opposite the cable tray 20. Fig. 5 be moved so that the removal tray 22 is completely removed from the area of ​​a hood that covers part of the cable processing machine 5 or the crimping device 5.

[0064] The extraction tray 22 can be designed as a non-smooth channel and have several cutouts or recesses which facilitate grasping the cable 15 lying in the extraction tray 22 by means of the gripping arm 55. The in Fig. 5 The illustrated dispensing tray 22 is composed of individual segments. Other variants, such as a pressed sheet metal part, deep-drawn plastic, etc., are also possible to achieve a comparable design.

[0065] The gripping jaws 60, 61 of the gripping unit 50 or the gripping arm 55 can be divided so that they can grip in more than one recess of the removal tray and grip the cables 15 or the batch at several points simultaneously. The large number of recesses in the removal tray 22 also allows production batches of longer cables 15 to be gripped and held over a wide length range or, if necessary, with several grippers or gripping arms 55.

[0066] The following examples illustrate what the handling robot 30, the gripping unit 50, or the gripper arm 55 can automatically perform on the crimping system 1 or the crimping device 5.

[0067] Fig. 6 shows a detailed view of the cable conveyor 100 and the straightening unit 115 of the crimping system 1. Fig. 1 The crimping system 1 comprises a straightening unit 115 for aligning the cable 15. The crimping system 1 also includes a cable conveyor 100 with two transport belts 102, 103 for conveying the cable 15 after it has been inserted into the cable conveyor 100 through a guide tube 106 by means of the straightening unit 115. A clamping device 105 is arranged between the cable conveyor 100 and the straightening unit 115, in which the cable 15 can be clamped. On the side of the straightening unit 115 facing away from the cable conveyor 100, the cable exchange device 110 is arranged for holding several cables 15.

[0068] One process that can be carried out using the handling robot 30 or the gripper arm 55 is a cable change, i.e. the replacement of the cable 15 used by the crimping device 5.

[0069] A cable change becomes necessary when the cable bundle is empty or when an item with a different cable 15 is to be processed. In the first case, a second cable of the same type is prepared in one of the three cable receptacles 111-113 of the cable holding device 110, while in the second case, an additional empty space must be available there to accommodate the old cable.

[0070] The insertion of the cable 15 to be replaced, or threading into the cable processing machine 5, is carried out as follows: The cable conveyor 100 and the straightening unit 115 are open, and the cable gripper 70 of the gripping unit 50 takes the cable 15 from the correct gripper or holder of the cable receiving device 110 in a program-controlled or computer-controlled manner. This is in Fig. 6 shown.

[0071] Fig. 7a shows a first detailed view of the straightening unit 115 of the crimping system 1. Fig. 1 . Fig. 7b shows a second detailed view of the straightening unit 115 of the crimping system 1. Fig. 1 . Fig. 7c shows a third detailed view of the straightening unit 115 of the crimping system 1. Fig. 1 .

[0072] The gripping unit 50 is moved so that the cable 15 is inserted into the guide tube 106. The cable 15 is then clamped in the clamping device 105 so that the cable gripper 70 can "re-grip" by being moved into the semi-closed position, away from the guide tube 106 (with the cable 15 sliding along the cable gripper 70 within the cable gripper 70), and then back into the fully closed position so that the cable 15 cannot slide relative to the cable gripper 70.

[0073] The clamping device 105 is then opened so that the cable 15 is no longer clamped, and the cable 15 is pushed further into the cable conveyor 100 by the gripping unit 50. This is repeated several times until the cable 15 can be securely gripped by the transport belts 102, 103 when the cable conveyor 100 is closed. This process is described in Fig. 7a-7c shown.

[0074] Once the transport belts 102, 103 securely clamp the cable 15, the cable 15 can be tensioned. For this, the clamping device is closed and the gripping unit 50 moves back until the cable gripper 70 is positioned in front of the alignment unit 115 (see Fig. 7c ). In this process, the gripping unit 50 also moves vertically up and down to avoid collisions, and the clamping force of the cable gripper 70 is reduced (e.g. by means of a pressure regulating valve) so that it assumes the so-called semi-closed position, allowing the cable 15 to slide in the gripping arm 55.

[0075] The alignment unit 115 is then closed, thus completing the actual threading process.

[0076] To remove the cable 15, the cable 15 is transported backwards through the cable conveyor 100 until the conveyor belts 102, 103 lose contact with the cable 15. The cable conveyor 100 and the straightening unit 115 are then opened, and the gripping unit 50 grasps the cable 15 near the clamping unit. With a single re-grip, again in conjunction with the clamping device 105, it pulls the cable 15 out of the guide tube 106. The gripping unit 50 is then moved to the cable exchange device 110 and transfers the cable 15 to one of the cable grippers 70 or cable holders.

[0077] Another example of an automated process using the handling robot 30 is the changing of the crimp cassette 80 or the cassette change, which is described below.

[0078] Similar to changing a cable, the crimp cassette 80 must be changed when the crimp roll inserted into the crimp cassette 80 is empty or when the item to be produced has a different crimp contact. If continuous production is to be possible without manual intervention by the machine operator, the necessary crimp cassettes 80 must be provided in the crimp cassette holder 82.

[0079] Since the gripping unit 50 can be moved to both crimping presses 8, a single crimping cassette holder 82 on one side of the crimping device 5 is sufficient to supply both crimping presses 8 or to replace the crimping cassette 80 in both crimping presses 8. If a large number of crimping cassettes 80 are provided, the crimping cassette holder 82 can be designed so that the crimping cassettes 80 are actively moved from a crimping cassette storage to a transfer position for transferring the crimping cassette 80 to the gripping arm 55.

[0080] Fig. 8 shows a detailed view of the crimp cassette holder 82 of the crimping system 1 from Fig. 1 .

[0081] In the simplest case, as in Fig. 8 As shown, the crimp cassette holder 82 has several adjacent spaces for crimp cassettes 80, all of which are located within the movement range of the handling robot 30.

[0082] Fig. 9a shows a first detailed view of the gripping unit 50 of the crimping system 1. Fig. 1 when picking up a crimp cassette 80. Fig. 9b shows a second detailed view of the gripping unit 50 of the crimping system 1. Fig. 1 when picking up a crimp cassette 80.

[0083] The cassette change is carried out by placing the old crimp cassette 80 in the crimp cassette holder 82, if necessary, and gripping the new crimp cassette 80 with the gripper arm 55. Fig. 9a und Fig. 9b Figure 1 shows the interaction between the gripping unit 50 and the holder on the crimp cassette 80. Due to the centering function of the four retaining bolts 57, the position of the crimp cassette 80 can vary slightly, yet the gripping unit 50 can still securely grasp the crimp cassette 80. The flange elements 65 and 66 of the gripping arm 55 each have corresponding openings for the retaining bolts 57. By engaging the retaining bolts 57 in these openings, the gripping arm 55 grasps and holds the crimp cassette 80.

[0084] The crimp cassette 80 is then moved to or into the crimping press 8 and clamped or clamped there. The crimp cassette 80 has a base plate 85 on which the crimp connection is made.

[0085] The state after this step is in Fig. 10 shown. Fig. 10 shows another perspective view of crimping system 1 from Fig. 1 with a used crimp cassette 80.

[0086] Fig. 11 shows a detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1. Fig. 1 .

[0087] Another example of an automated process using the handling robot 30 is the inspection of processed cables 15 or cable samples, which is described below.

[0088] The cables 15 can be moved to quality control devices by means of the gripping unit 50. These can be directly transferred by the gripping unit 50 from the swiveled swivel unit 10 of the cable processing machine 5 or crimping machine or crimping device 5. Fig. 11 The transfer from the swivel unit 10 of the cable processing machine 5 to the gripping unit 50 or the cable gripper 70 of the gripping unit 50 is currently taking place.

[0089] The handling robot 30 then brings the cable 15 to the quality control device 90 or to a test station. Fig. 12 shows a detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1. Fig. 1 when checking the quality of the cable 15. Fig. 12 This shows an example of the optical measurement of the crimp height. Here, the crimp height can be easily measured at several points on the crimp contact, since the cable 15 can be positioned freely in space in different positions relative to the quality inspection device 90 using the gripping arm 55 or the gripping unit 50.

[0090] Fig. 13a shows a first detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1. Fig. 1 when guiding the cable 15. Fig. 13b shows a second detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1. Fig. 1 when guiding the cable 15.

[0091] Another example of an automated process using the handling robot 30 is the removal of defective cables 15 (so-called bad cables) from the crimping device 5, which is described below.

[0092] The easiest way to remove the defective cables 15 from the machine is to grip both ends of the cable 15. To facilitate this, the cable tray gripper, which is already present on some machines, can be used to simplify cable tray placement 20.

[0093] The defective cable 15 is first transferred from the swivel unit of the crimping device 5 to the deposit gripper, which grasps it at the trailing end of the cable 15. The leading end of the cable 15 is already in the cable tray 20 and is to be removed from it. For this purpose, the cable gripper 70 of the gripping unit 50 grasps the defective cable immediately behind the deposit gripper and moves with reduced gripper pressure (half-closed position) towards the leading end of the cable, whereby the cable 15 slides in the cable gripper 70. Fig. 13a The diagram shows the situation when this step is completed. It depicts a variant of the gripping unit 50 in which the cable gripper 70 can be rotated to improve accessibility.

[0094] The trailing cable end is then transferred back to the swivel unit 10. This is in Fig. 13b shown.

[0095] Then the swivel unit 10 is fully swivelled out and the gripping unit 50 is rotated and moved until both cable ends are parallel and outside the cable tray 20. This is in Fig. 14 shown. Fig. 14 shows a detailed view of the gripping unit 50 of the crimping system 1. Fig. 1 when holding a cable 15. Now the faulty cable or cable 15 can be disposed of outside the cable tray 20, for example by dropping it into a container.

[0096] Fig. 15 shows a detailed view of the cable tray 20 and the removal tray 22 of the crimping system 1. Fig. 1

[0097] Another example of an automated process using the handling robot 30 is the removal of production batches or processed cables 15 from the removal tray 22, which is described below.

[0098] Once the desired number of cables 15 for a production batch is reached in the cable tray 20, the cable tray 20 is swivelled or tilted so that the batch or the cables 15 fall into the dispensing tray 22.

[0099] Fig. 16 shows a detailed view of the dispensing tray 22 of the crimping system 1. Fig. 1 .

[0100] The removal tray 22 is then moved longitudinally to bring it into an area reachable by the handling robot 30, and the gripping unit 50 is positioned above the removal tray 22 so that the gripping jaws 60, 61 are positioned over the desired recess or depression of the removal tray 22. This is in Fig. 16 shown.

[0101] Fig. 17a shows a first detailed view of the dispensing tray 22 of the crimping system 1. Fig. 1 when removing cables 15. Fig. 17b shows a second detailed view of the dispensing tray 22 of the crimping system 1. Fig. 1 when removing cables 15.

[0102] The gripping unit 50 is then lowered (see Fig. 17a ) and the gripping jaws 60, 61 are closed (see Fig. 17b ), to grasp and hold the production batch or the cables 15. Now the gripper arm 55 or the gripping unit 50 can be raised to remove the cables 15 from the removal tray 22.

[0103] Once the production batches have been removed from the dispensing tray 22, they can be transferred to a suitable device, such as transport racks on which the batches or cables 15 are suspended and / or transport containers into which the batches or cables 15 are placed.

[0104] The cable processing machine 5 can be used in addition to the one in Fig. 11The swivel unit 10 shown may include a further swivel unit. The further swivel unit can move a cable 15 out of the cable processing axis 6 by swiveling or pivoting the swivel unit with a part of the cable 15 out of the cable processing axis 6.

[0105] Finally, it should be noted that terms such as "comprising," "encompassing," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality. Reference numerals in the claims are not to be considered as limitations. Reference symbol list

[0106] 1 Cable processing machine device (crimp system) 5 Cable processing machine (crimp device) 6 Cable processing axis 8 Crimp press 10 Swivel unit 15 Cable 20 Cable tray 22 Pick-up tray 30 Handling robot 31 Cart 32 Linear guide 33 Toothed belt drive of the linear guide 34 Rotary and linear unit 35, 36 Toothed belt drives for rotary and linear unit 37 Rod 38 Third toothed belt drive 39 Swivel arm 50 Gripping unit 55 Gripping arm 57 Retaining bolt 58 Crimp cassette holder 60, 61 Gripping jaws 63, 64 Jaw carrier 65, 66 Flange elements 70 Cable gripper 80 Crimp cassette 82 Crimp cassette holder 85 Base plate 90 Quality inspection device 100 Cable conveyor 102 103 Transport belt 105 Clamping device 106 Guide tube 110 Cable changing device 111-113 Cable holder 115 Alignment unit

Claims

1. Cable processing machine apparatus (1), comprising a cable processing machine (5) for processing a cable (15) - in particular, a crimping machine for connecting a cable (15) to a crimp contact by means of a crimped connection - the cable processing machine apparatus (1) further comprising: a handling robot (30), wherein the handling robot (30) has a gripping arm (55) for gripping a part of the cable (15) or several cables (15) and for moving the cable (15) or the cables (15) into and / or out of the cable processing machine (5), wherein the cable processing machine apparatus is characterized in that the handling robot (30) has a guide rail for moving the gripping arm (55) along a first axis of the cable processing machine apparatus (1), wherein the first axis is parallel to a cable processing axis (6) in which the cable (15) runs, while the cable (15) is transported in the cable processing machine (5).

2. Cable processing machine apparatus (1) according to claim 1, wherein the gripping arm (55) has a cable gripper (70) for gripping individual cables.

3. Cable processing machine apparatus (1) according to claim 2, wherein the cable gripper (70) has a partially closed position in which the cable gripper (70) holds the cable (15) and can slide along the cable (15), and the cable gripper has a fully closed position in which the cable gripper (70) holds the cable (15) so firmly that the cable gripper (70) cannot slide along the cable (15).

4. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the gripping arm (55) is designed for removing cables (15) - in particular, processed cables (15) - from a removal trough (22) of the cable processing machine (5).

5. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the handling robot (30) is designed for gripping cable processing cassettes comprising a cable tool for processing the cable (15) and cable contacts for connecting to the cable (15) - in particular, for gripping crimp cassettes (80) comprising a crimping tool and crimp contacts - and for replacing the cable processing cassette used by the cable processing machine (5) with another cable processing cassette.

6. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the cable processing machine apparatus (1) is designed in such a way that the gripping arm (55) can be moved on two opposite sides of the cable processing machine (5).

7. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the gripping arm (55) is adjustable in height relative to the cable processing machine (5), is rotatable about its vertically-extending axis, and is mounted pivotably about a second, vertically-extending axis.

8. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the cable processing machine apparatus (1) has a pivot unit (10), wherein the pivot unit (10) is designed to move a part of the cable (15) out of a cable processing axis (6) in which the cable (15) runs, while the cable (15) is being transported in the cable processing machine (5), and to transfer the cable (15) to the gripping arm (55).

9. Cable processing machine apparatus (1) according to one of the preceding claims, further comprising a cable replacement device (110) for holding several cables (15), wherein the cable processing machine apparatus (1) is designed to replace the cable (15) used by the cable processing machine (5) by means of the handling robot (30).

10. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the cable processing machine (5) has a clamping device (105) for clamping a cable (15) that is fed to the cable processing machine (5), wherein the gripping arm (55) and the clamping device (105) are designed in such a way that the cable (15) can be inserted into the clamping device (105) by means of the gripping arm (55).

11. Cable processing machine apparatus (1) according to one of the preceding claims, further comprising a quality control device (90) for checking properties of the cable (15) and / or the connection between the cable contact and the cable (15), wherein the cable processing machine apparatus (1) is designed in such a way that the cable (15) is held by the gripping arm (55) during the checking by the quality control device (90).

12. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the cable processing machine apparatus (1) further comprises a crimping cassette holder (58) for holding several crimping cassettes (80).

13. Cable processing machine apparatus (1) according to one of the preceding claims, wherein the cable processing machine apparatus (1) is designed in such a way that the handling robot (30) can remove cables (15) that are partially located in a cable tray (20) of the cable processing machine (5) from the cable processing machine (5).

14. Method for removing cables (15) from a removal trough (22) of a cable processing machine (5) for processing a cable (15), the method comprising the steps of: gripping and holding cables (15), processed by the cable processing machine (5), in the removal trough (22) with a gripping arm (55) of a cable processing machine apparatus (1) according to one of claims 1 through 13; moving the gripping arm (55) holding the processed cables (15) in order to move the processed cables (15) out of the removal trough (22); and opening the gripping arm (55) to release the previously held cables (15).