Assembly head and method for automatically winding cable strands

Abstract

The invention relates to an assembly head (2) and to a method for fully automatically binding a cable strand (10) extending in a transverse direction (Q), in particular by means of a tape (14). The assembly head (2) has a winding module (16) with a winding head (18) which can be rotated about an axis of rotation extending in a transverse direction (Q), and a strapping unit (20) for feeding and guiding the tape (14), the winding head (18) being open in particular in the longitudinal direction (L) in such a way that the cable strand (10) can be introduced from the side into the interior of the winding head (18).

Description

Field of the Invention

[0001] The present invention relates to an assembly head and a method for automatically, in particular fully automatically, bundling cable strands. Background Art

[0002] Herein, a cable strand is generally understood as a strand-shaped, preferably bendable and flexible formation, in particular preferably an electrical cable harness, which structure consists of one or more (electrical) (conductive) elements (single cables). When manufacturing a cable bundle having a plurality of single cables and usually also having a branched structure, the individual elements are usually combined by bundling. During bundling, a tape, such as a tape and / or a fabric tape, is wound around the cable strand.

[0003] Such bundling is usually still carried out manually or with hand-held devices and thus requires a large amount of assembly work. Summary of the Invention

[0004] Starting from this, the object of the present invention is to achieve automated bundling.

[0005] According to the present invention, this object is solved by the assembly head according to claim 1 and by the method of using such an assembly head according to claim 24.

[0006] Preferred embodiments are included in the dependent claims.

[0007] The assembly head is generally used for automatically, especially fully automatically, bundling cable strands extending in the transverse direction with a tape. In addition to the transverse direction, the assembly head itself can also extend in the longitudinal direction and the vertical direction. The assembly head has a winding module with a winding head that is rotatable about a rotation axis extending in the transverse direction. For this purpose, the winding module preferably has a drive, and the winding head can be set to a rotational movement by this drive.

[0008] The winding head itself preferably includes an annular section having a central winding cavity. The annular section has a lateral introduction opening for laterally (transverse to the transverse direction) introducing the cable strand into the winding cavity. In order to drive the winding head, the drive is particularly designed as a belt drive, wherein the drive belt meshes particularly with the external tooth portion of the winding head and thereby rotates the winding head.

[0009] The assembly head further includes a bundling unit for providing and guiding the tape.

[0010] In order to bundle the cable strand, the cable strand and the assembly head are moved relative to each other in the longitudinal direction so that the cable strand can be introduced laterally into the winding head. Subsequently, with the aid of the bundling unit, the tape is attached to the cable strand, and then the tape is wound around the cable strand. At the end of the bundling process, the tape is finally separated and cut. Preferably, a movement is then also carried out to ensure that the tape end is firmly attached to the cable strand.

[0011] To control the movement process of the assembly head, a control unit with appropriate design is usually provided, by means of which each step and movement in the strapping process are initiated, and these steps and movements will be described in detail below.

[0012] The cable strands usually consist of a plurality of individual cables. These cables are preferably single-core or multi-core electrical sheathed cables. Optionally, the conductor element can also be a busbar wound with a tape. In principle, other types of individual cables or different types of individual cables can also be combined in the cable strand. In one embodiment, at least some of the individual cables are designed as fluid lines, such as hoses. Preferably, the cable strand is a pure electrical cable strand.

[0013] Overall, in this way, the fully automatic strapping of the cable strands is particularly achieved.

[0014] Preferred further improvements are included in the dependent claims.

[0015] The first preferred aspect lies in the design and control of the cutting element, especially in combination with (another) pressing element, as described in claims 2-10. With this design, at the end of the strapping process, the full-automatic separation of the strap is achieved, and preferably, the pressing of the end of the strap on the cable strand is further achieved.

[0016] The cutting element is especially mounted on the strapping unit and is thus part of the strapping unit.

[0017] The cutting element is preferably designed in the form of a blade especially oriented in the transverse direction.

[0018] The strapping unit is usually, and regardless of the setting of the cutting element on the strapping unit, mounted on the winding head. To apply the strap, the winding head rotates about the axis of rotation, and thus the strapping unit mounted on the winding head also rotates accordingly. In the design where the cutting element is fixed on the strapping unit and is thus part of the strapping unit, the cutting element also rotates during the strapping process.

[0019] During operation, the strapping unit is preferably designed to move to the cutting position especially against the longitudinal direction at the end of the strapping process. Through this movement, the cutting element is brought to the defined cutting position. By retracting the strapping unit, it is moved away from the cable strand. During this process, the strap is especially also tightened so that it can be cut better. Therefore, the strapping unit is usually designed to be movable and adjustable, especially on or with the winding head. Therefore, an adjustment mechanism with an adjustment drive is designed, through which the required adjustment movements of the strapping unit can be performed.

[0020] Typically, the strapping unit has a tape unwinder, and a tape, especially a tape reel, is mounted on the tape unwinder. The stored tape is usually designed to be sufficient for multiple strapping operations. When the stored tape on the tape reel is exhausted, a new tape reel is installed on the tape unwinder. Optionally, the tape can also be directly wound on the tape unwinder.

[0021] According to a further preferred embodiment, the cutting element moves towards the tape to cut the tape. For this purpose, the cutting element is movably mounted on the strapping unit, for example. However, the movement of the cutting element is preferably achieved by the movement of the strapping unit, especially also by the movement of the winding head on which the strapping unit is mounted, especially without relative movement relative to the strapping unit.

[0022] In a preferred embodiment, the cutting element moves towards the tape by a pivoting movement. This is in turn achieved especially by the pivoting of the strapping unit and thus a rotational movement, and thus especially by the pivoting of the winding head and thus a rotational movement. The special advantage in this regard is that the rotational drive device for the rotational movement of the winding head is also used to cut the tape by the cutting element.

[0023] After cutting the tape, a tape end is formed on the separated part of the tape that winds the cable strands. In a preferred embodiment, a pressing element is provided which can move in the direction of the cable strands in order to press the tape end against the cable strands during the strapping process of the operation. This pressing element is also referred to hereinafter as an additional or second pressing element.

[0024] Preferably, this additional pressing element is also mounted on the strapping unit.

[0025] The movement of the additional pressing element is preferably achieved by a rotational movement. In a preferred embodiment, this movement is again achieved by the rotational movement of the strapping unit, especially the winding head.

[0026] In a preferred embodiment, both the cutting element and the additional pressing element are mounted on the strapping unit. Since the pressing element is rigidly connected to the rotatable winding head / strapping unit, at least one appropriate pivoting action is performed by the winding head at the end of the strapping process, so that the cutting of the tape and the pressing of the tape end against the cable strands can be achieved simultaneously. Preferably, a single common pivoting movement is sufficient to perform the two functions of cutting the tape and pressing the tape end against the cable strands, so that the tape is first cut by the cutting element and then the tape end is pressed against the cable strands by the additional pressing element.

[0027] Therefore, in a preferred embodiment, the cutting element and the additional pressing element are arranged in sequence against the pivoting direction. Thus, they are offset relative to each other in the pivoting direction.

[0028] In order to achieve as gentle a pressing of the tape end as possible, in a preferred embodiment, the additional pressing element is designed in the form of a sheet or brush with bending elasticity.

[0029] The other, i.e., the second tape end, which remains on the storage tape provided by the tape unwinder and thus forms the starting part of the tape for the next bundling process, also forms a tape end. In a further advantageous embodiment, a holding element for the second tape end is provided, which acts in particular as a support and / or fixing element for the tape end. The holding element is arranged adjacent to the cutting element, preferably directly adjacent to the cutting element. By means of the holding element, the second tape end is held in a defined position, for example supported and / or fixed, so that it can be controllably guided back to the cable strand and attached to the cable strand during the subsequent winding process. Depending on the properties of the tape, there is a problem when cutting the tape that the second tape end may deviate to an undefined position, a position that cannot reliably ensure reliable fixation during the subsequent bundling process.

[0030] The holding element is further preferably formed by a plurality of individual pins, in particular needle-shaped pins, which preferably extend upwards from the base in the direction of the central winding cavity and thus towards the tape. In a preferred embodiment, these pins pierce the tape so that the tape is perforated by the pins and the tape is fixed at the penetration points of the pins in the desired position.

[0031] Generally speaking, the bundling unit preferably has a tape unwinder on which the tape is stored. The bundling unit together with the tape unwinder is fixed to the winding head as described above, so that the bundling unit rotates together with the winding head during the bundling process.

[0032] According to a preferred embodiment, a balancing weight is mounted on the winding head and in particular on the bundling unit. Here, it is an additional mass element that does not have any additional functions other than this. The mass element is in particular composed of a solid body of material, for example in the shape of a cylinder or a cuboid. By means of the additional balancing weight, a proper mass distribution is achieved, thereby avoiding imbalance during the rotation of the winding head.

[0033] The assembly head generally has a support frame to which the individual elements of the assembly head are mounted.

[0034] According to an expedient embodiment, the winding module is movable relative to the support frame in the longitudinal direction, in particular together with the bundling unit. For this purpose, suitable drive and adjustment elements are provided, for example a suitable tape-driven linear guide.

[0035] Thus, in a preferred embodiment, during the bundling process, the winding head and the bundling unit associated therewith move longitudinally relative to the support frame and thereby feed towards the cable strands and then move back again. In this way, an efficient bundling process can be achieved because it is not necessary to move the entire assembly head. This is also used to avoid collisions with other components used to fix the cable strands.

[0036] In a preferred embodiment, the cable strands are typically routed to a fixing device, such as a so-called cable board, i.e., laid and held according to a predetermined routing geometry, for example, using suitable support elements. Then, with the help of the assembly head, bundling is performed on this fixing device.

[0037] In a preferred embodiment, it is generally possible to completely automatically fix the initial starting end of the tape to the cable strands with the help of the bundling unit. Thus, there is no need for manual fixing of the starting end of the tape. The subsequent bundling is also carried out completely automatically. This completely automatic fixing is achieved in particular by the approach of the bundling unit towards the cable strands. For this purpose, in particular, the relative movement of the winding module described above relative to the support frame is provided.

[0038] For this purpose, in a preferred embodiment, the bundling unit has a (first) pressing element that can move in the direction of the cable strands. For this purpose, the pressing element is, for example, movably and in particular pivotally held on the bundling unit. Optionally, the pressing element is immovably fixed to the bundling unit, and its approach towards the cable strands is achieved by the feeding movement of the bundling unit, which feeding movement particularly includes a pivoting movement. The first pressing element is designed, for example, in the form of a strip element or optionally in the form of a pressing roller, which is moved towards the cable strands and at the same time presses the starting end of the tape against the cable strands.

[0039] A further preferred aspect lies in the design and control of the grasping unit. The clamping unit has grasping elements that are used to compress the cable strands composed of multiple single cables or individual cable bundles. For example, two grasping units are provided on both sides of the winding head. However, according to a preferred embodiment, only one grasping unit is provided on one side so that the assembly head can be designed to be as compact as possible. The grasping unit is particularly provided on the side next to the winding module and opposite to the bundling unit. Generally, the grasping unit is preferably arranged "ahead" relative to the bundling unit so that the loose single cables are compressed by the grasping unit in the section to be bundled. The grasping elements completely circumferentially surround the cable strands in the closed terminal position, and at least complete surrounding can be achieved when cooperating with one additional grasping bracket. These grasping elements are preferably pivotally mounted on this grasping bracket.

[0040] In a preferred embodiment, the individual single cables of the cable strands, in particular the loose single cables, are first pressed against each other at the terminal position and are compressed together at the first compressed terminal position. Preferably, the single cables are subsequently held in the compressed state during the bundling process by means of another auxiliary element, in particular by means of guide rollers which will be described in detail later.

[0041] For the bundling process, the gripping unit is preferably transferred to another, i.e. the second terminal position or gripping position, in which the gripping elements again slightly release the cable strands, i.e. the cable strands are preferably only loosely held in this gripping position. It is understood here that the cable strands can pass transversely through the gripping unit, or that the assembly head can move along the preferably stationary cable strands during the bundling process.

[0042] In a preferred embodiment, the gripping elements are designed in an arc shape. The desired compression of the individual single cables of the cable strands designed as a cable harness is achieved by a pivoting movement. During this process, the cable strands are in particular pressed between two arc-shaped gripping elements and the previously mentioned gripping bracket. A suitable drive is designed to perform the pivoting movement. Specifically, a drive element is designed to act on the foot region of the gripping element and pivot the gripping element about the axis of rotation.

[0043] Preferably, the gripping unit is also arranged to be linearly movable relative to the winding module in the longitudinal direction and against the longitudinal direction. The gripping unit is in particular mounted directly adjacent to the winding module. Specifically, the gripping unit is mounted on the winding module, for example by means of linear guides, so that it can be adjusted in position longitudinally relative to the winding module. A suitable drive is designed for this adjustment movement.

[0044] During the bundling process, the cable strands are generally held and in particular held taut on at least one side, preferably on two opposite sides, and the assembly head is located between the two opposite sides. During the bundling process, the assembly head in particular moves along the cable strands in the transverse direction.

[0045] A further preferred aspect lies in the arrangement and control of the guide rollers, which are preferably arranged in pairs on each side of the winding head. The guide rollers in each pair of guide rollers can each be adjusted in the direction of the cable strands, in particular can be moved in the longitudinal direction, and additionally can also be pivoted, i.e. in such a way that they can press against the cable strands during operation and in particular at least slightly press the cable strands together, for example in such a way as to deform the cable strands. Preferably in such a way that the cable strands exhibit a flat cross-sectional geometry in the region of the guide rollers. Overall, this prevents the cable strands from twisting (twining) about their own axes. Thus, during the bundling process, the cable strands are fixed between the two guide rollers of each pair of guide rollers.

[0046] The guide rollers preferably do not have their own drive means overall and are mounted loosely so that they can pivot about the roller axis. During the bundling process, as described above, the assembly head preferably moves along the cable strands in the transverse direction. This can be achieved by guide rollers that can roll against the cable strands so that the cable strands can pass through two guide rollers.

[0047] Each pair of guide rollers is preferably adjustable in the longitudinal direction. Preferably, at least one pair of guide rollers is fixed to the gripping unit and is adjustable together with the gripping unit in the longitudinal direction.

[0048] At least one pair of guide rollers is preferably arranged in the free space of the winding module. Preferably, this pair of guide rollers can be moved into the interior of the free space, especially in the transverse direction. During the bundling process, i.e. when the band is wound around the cable strands, this pair of guide rollers is located in the free space. Thereby, an overall most compact design of the assembly head is achieved. For this purpose, this pair of guide rollers is preferably movable relative to the winding module in the transverse direction. In a preferred embodiment variant, in which the pair is attached to the clamping unit, the clamping unit as a whole is movable relative to the winding module in the transverse direction.

[0049] In a preferred embodiment, the winding head generally has a carrier plate that extends in the longitudinal direction, and the winding head is rotatably fixed at a lateral position on the side of the carrier plate. The front end of the carrier plate is simultaneously open similar to the side of the winding head, for example formed as an annular segment, and thus has an open space that forms the aforementioned free space into which the guide rollers can move.

[0050] The entire assembly head is in particular designed to be fixed to a robot, especially to a multi-axis industrial robot. For this purpose, the assembly head in particular has a mechanical interface, especially a flange, through which the assembly head can be fixed to the robot, especially to the robotic arm of an industrial robot. Description of the Drawings

[0051] The exemplary embodiments of the assembly head and the method for automatically winding cable strands according to the invention are explained in more detail below with the aid of the drawings. These drawings show:

[0052] Figure 1 is a perspective view of the first side of the assembly head;

[0053] Figure 2 is a partially enlarged perspective view of the opposite side of the assembly head in the transverse direction;

[0054] Figure 3 is a partially enlarged view of the front side of the assembly head;

[0055] Figure 4 is a side view of the bundling unit with the tape winding module fixed;

[0056] Figure 5 is a perspective view of an alternative variant embodiment of an assembly head; and

[0057] Figure 6 is Figure 5 an enlarged view of the assembly head shown in

[0058] In the drawings, components having the same function are denoted by the same reference numerals. DETAILED DESCRIPTION

[0059] Figure 1 and Figure 2 The assembly head 2 shown generally has a support frame 4, on which several units to be described in detail below are fixed. The support frame 4 has a flange 6, and the support frame 4 is fixed to an industrial robot 8 through the flange 6, which is only represented by a dashed line of the manipulator fixing flange. Thus, the assembly head 2 is generally widely and freely movable in space, so that the assembly head 2 can be positioned at any position and any angle (0 - 360°) as needed. In an alternative embodiment, there is also the possibility that the assembly head 2 is only linearly movable, for example, on a fixed bracket. In another alternative embodiment, the assembly head itself is fixed, while the cable strands 10 are movable relative to the assembly head 2.

[0060] The assembly head 2 is generally used for bundling the cable strands 10 with a belt 14. Here, the belt 14 is preferably placed fixedly, while the assembly head moves in the direction towards the cable strands 10.

[0061] The assembly head 2 extends in a longitudinal direction L, a transverse direction Q perpendicular thereto, and a further vertical direction V. During the bundling process, the cable strands 10 extend in the transverse direction Q.

[0062] As an important component, the assembly head 2 has a winding module 16, and the winding module 16 has a winding head 18 preferably in a C - shape or an annular - segment shape. A bundling unit 20 is also fixed to the winding head 18, and thus the bundling unit 20 is part of the winding module 16. Due to the design of the winding head 18, the winding head 18 has an insertion opening and a central internal space, into which the cable strands 10 can be inserted. For winding the belt 14, the winding head 18 rotates around a rotation axis not shown in detail here, and this rotation axis is simultaneously the central axis of the internal space defined by the winding head 18. During the bundling process, this rotation axis extends along the cable strands 10.

[0063] To drive the winding head 18, a suitable drive device is provided. Specifically, in this exemplary embodiment, teeth 19A are formed on the outer circumference of the winding head, and a plurality of drive belts or toothed belts 19B, which are generally distributed around the circumference, engage with the teeth 19A (see especially Figure 4)。At least one of the toothed belts is driven by a suitable drive. Here, the entire belt drive is part of the winding module 16.

[0064] The winding module 16 and thus the winding head 18 are preferably adjustable relative to the support frame 4 in the longitudinal direction L and against the longitudinal direction L, so as to achieve a feed movement in the direction of the cable strand 10. In particular, the winding head 18 can be linearly moved by a linear drive device. For this purpose, a suitable drive is provided.

[0065] In particular, it can be seen from Figure 2 that the winding module 16 has a carrier plate 16A, which is open at its front end facing forward, thus defining a free space 16B. At this front end, the winding head 18 is rotatably mounted to the carrier plate 16A. By means of the belt drive device described above, the annular-segment-shaped plate of the winding head is driven to rotate as a whole around the axis of rotation. The belt drive device is in particular also fixed to the carrier plate 16A and is located behind the winding head in the longitudinal direction.

[0066] The strapping unit 20 has a tape unwind reel 22 on which the tape 14 is stored. The tape unwind reel 22 rotates together with the winding head 18 during operation. For this purpose, the strapping unit 20 is non-rotatably fixed to the winding head 18 and in particular to the aforementioned annular-segment-shaped, rotatable plate. Thus, in this case, the strapping unit 20 is a component of the rotatable winding head 18.

[0067] In particular, it can be seen from Figure 3 that in this exemplary embodiment, the tape unwind reel 22 has a reel support 40 to which the tape roll 42 (reel) is fixed. The tape roll is fixed to the reel support 40 by a central reel holder 44. In particular, a non-rotatable fixed connection with the reel support 40 is achieved through the reel holder 44 (preferably).

[0068] Preferably, the tape roll 42 is held by friction, preferably only by friction. The reel holder 44 preferably has an adjustment mechanism for setting the friction value.

[0069] Tape rolls 42 of different widths can be accommodated on the reel support 40. In particular, at least one adapter ring 46 is provided, which can in particular be mounted to the reel holder 44. In particular, two adapter rings 46 are provided, and a free space is formed between them, in which the narrow tape roll 42 is held. By means of the two adapter rings 46, the narrow tape roll 42 is also held centered.

[0070] Furthermore, the strapping unit 20 has a plurality of guiding elements and / or deflecting elements by means of which the tape 14 is reliably guided and deflected.

[0071] The strapping unit 20 preferably has a first pressing element 24. The first pressing element 24 is movable in the direction towards the cable strands 10 and is used to guide and press the starting tape end against the cable strands 10 at the beginning of the strapping process. The first pressing element 24 is, for example, pivotally mounted on the strapping unit 20. The first pressing element is in particular formed in the manner of a pressing roller.

[0072] Furthermore, the strapping unit 20 has an additional second pressing element 25, which is also adjustable in the direction towards the cable strands 10. The additional pressing element 25 is preferably designed as an elastic element, for example as an elastic sheet, and is designed in the form of a brush in this exemplary embodiment. The additional pressing element 25 is used to press the tape end against the cable strands 10 at the end of the strapping process, as will be described in detail below.

[0073] Finally, the strapping unit 20 also has a cutting element 23, which is in particular arranged directly adjacent to the additional pressing element 25 and is adjustable together with the additional pressing element 25. When cutting the strap 14, the cutting element 23 and the additional pressing element 25 preferably perform a common (pivoting) movement.

[0074] Adjacent to the cutting element 23 and on the side facing the tape 14 or the tape unwinder 22, thus in particular relative to the additional pressing element 25, a fixing element 27 is also mounted, which is used to support or hold the tape end of the part of the tape remaining on the tape unwinder 22. For this purpose, the holding element 27 has, for example, a plurality of pins, three pins in the exemplary embodiment, which are oriented in the direction of the tape 14 and in particular in the direction of the tape unwinder 22. In the drawing, the pins are shown oversized and too long relative to the actual embodiment. In Figure 3 and Figure 4 the situation shown (after a previous strapping process, in which the tape 14 was cut), the pins pierce the tape 14.

[0075] In particular, it can be seen from Figure 4 that the balance weight 34 is fixed to the winding head 18, in particular to the strapping unit 20.

[0076] As another important component, at least and preferably suitably a gripping unit 26 is provided. The gripping unit 26 is arranged on the side opposite to the strapping unit 20, next to the winding module 16. In an alternative embodiment, two gripping units 26 can be arranged on both sides of the winding module 16.

[0077] Each gripping unit 26 has a gripping bracket 28 and two arcuate gripping elements 30. These arcuate gripping elements 30 are in particular pivotally mounted on the gripping bracket 28. In Figure 2Therein, a controllable drive element 31 is shown, which preferably has two actuating elements 31a, 31b, each of which is connected to a gripping element 30 in the foot region. The actuating elements 31a, 31b can perform a pivoting movement, and the arcuate gripping element 30 also performs a pivoting movement by means of the actuating elements 31a, 31b.

[0078] The entire gripping unit 26 is preferably again adjustable in the longitudinal direction L towards the cable strand 10. For this purpose, the gripping unit is linearly and movably mounted, for example, on the winding module 16, in particular on the carrier plate 16A, by means of an independent drive for linear adjustment.

[0079] In Figures 1 to 3 therein, the gripping element 30 is shown in a partially closed position, in which the gripping element 30 together with the gripping bracket 28 completely surrounds the cable strand 10. Thus, the cable strand 10 is located between the gripping element 30 and the gripping bracket 28. When the gripping element 30 closes, the loose individual cables of the cable strand 10 are gathered, so that the cable strand 10 as a whole is compressed. Overall, during the bundling process, the cable strand 10 is guided loosely in the gripping unit 26. Preferably, the cable strand 10 is first firmly gripped, especially until the starting tape end is fixed to the cable strand 10 and the tape 14 may also have been wound around the cable strand 10 several times. Subsequently, the gripping unit 26 (the gripping element 30) is slightly opened and switched to a gripping position so that the cable strand 10 is guided loosely and the cable strand 10 is guided through the gripping unit 26 during the bundling process.

[0080] In addition, the assembly head 2 has two pairs of guide rollers 32. They are each mounted on both sides of the winding head 18 or the bundling unit 20. The pair of guide rollers on the side of the gripping unit 26 is mounted, for example, on the gripping unit 26, in particular on the gripping bracket 28, and is in particular adjustable along the longitudinal direction L together with the gripping unit.

[0081] As an additional or alternative embodiment, the pair of guide rollers is adjustable along the longitudinal direction L independently of the gripping bracket. Thus, the guide rollers 32 are in particular assigned an independent adjustment mechanism for longitudinal direction adjustment so that they can be adjusted independently of the gripping bracket. The pair of guide rollers on the opposite side, i.e., the pair of guide rollers next to the bundling unit 20, is preferably also adjustable along the longitudinal direction L and has a suitable linear drive for this purpose.

[0082] The guide rollers 32 are each arranged opposite to each other on both sides of the cable strand 10 and are adjustable in the direction towards the cable strand 10. For this purpose, a pivoting movement is especially designed. In their closed end positions, their roller shafts are preferably arranged parallel to each other or substantially parallel to each other. The cable strand 10 is guided and held between the guide rollers 32. The distance between the guide rollers 32 is preferably adjusted such that the cable strand 10 is slightly compressed as a whole, so that the cable strand 10 presents a substantially flat cross-sectional profile there, for example. The distance between the guide rollers 32 during the bundling process is preferably adjustable, for example by parameterization or alternatively also manually, especially depending on the diameter of the cable strand 10.

[0083] In the same or a similar manner, the gripping diameter of the gripping element 28 in its closed state can also preferably be adjusted. In the subsequent strapping process, in this way, the twisting of the cable strand 10 is reliably avoided. During the entire bundling process, the guide rollers 32 preferably press against the cable strand 10.

[0084] The guide rollers 32 are rotatable about their roller shafts, but preferably they do not have their own drive means. The surface of the guide rollers 32 preferably has good adhesion and is, for example, a rubber layer or formed in the manner of a rubber layer. In addition, in this way, the risk of damage to the cable strand 10 is at least largely avoided during the entire bundling process. At the same time, in this way, the twisting of the cable strand during the bundling process is also counteracted and avoided.

[0085] Regarding the compact design of the assembly head 2, it is worth emphasizing that the pair of guide rollers 32 located on the side opposite to the winding module 16 with respect to the bundling unit 20 can be positioned in the lateral direction such that they are at least within the free space 16B in the previously described carrier plate 16A during the bundling process and preferably permanently.

[0086] The bundling process is preferably as described below:

[0087] The assembly head 2 is moved towards the cable strand 10 by means of the robot 6. At the same time, the cable strand 10 is especially fixed on both sides. However, the feeding movement of the assembly head 2 is not necessarily mandatory and depends on the positioning of the assembly head 2 with respect to the cable strand 10. Alternatively or additionally, the gripping unit 26 and the winding module 16 are adjusted in the longitudinal direction L by the movement of the winding module 16 with respect to the support frame 4. Preferably, the assembly head is positioned beside the cable strand 10 at the start of the bundling process, specifically in such a way that the lateral opening of the winding head 18 faces the direction of the cable strand 10.

[0088] Preferably, the grasping unit 26 is first adjusted in position towards the cable strand 10 and for this purpose is moved relative to the support frame 4. Subsequently, the grasping element 30 is pivoted so that the cable strand 10 is surrounded. The grasping element 30 together with the grasping bracket 28 defines a grasping diameter. At the same time, the individual wires are especially brought together and, if necessary, also pressed. Preferably, the cable strand 10 is first clamped and firmly held in this step.

[0089] Especially simultaneously or with a time difference, the guide rollers 32 are first moved forward in the longitudinal direction towards the cable strand 10, also relative to the support frame. Subsequently, the guide rollers are brought into their end position, especially by a pivoting movement, so that they press against the cable strand 10 and especially also flatten and compress the cable strand into a flattened cross-sectional shape. By this pressure, a certain holding force is exerted on the cable strand 10.

[0090] Subsequently, the grasping element 30 is slightly loosened so that it continues to completely surround the cable strand but only loosely holds the cable strand, thus allowing the cable strand 14 to be guided transversely through the grasping unit 16.

[0091] Furthermore, if necessary, the cable strand 14 can be tensioned transversely by means of two pairs of guide rollers 32. For this purpose, the two pairs of guide rollers are pulled apart in opposite directions, one along the transverse direction Q and the other against the transverse direction Q, so that the cable strand 10 is tensioned in the region of the winding head 16. During this process, at least one pair of guide rollers performs a movement along the transverse direction Q.

[0092] For example, the pair of guide rollers on one side of the grasping unit 16 is moved along the transverse direction Q together with the grasping unit and thus relative to the winding module. For this purpose, a suitable drive device is also installed.

[0093] In the next step, the winding module 16 is moved in the longitudinal direction L towards the cable strand 10 relative to the support frame 4 so that the cable strand is received inside the winding head 18 during this process.

[0094] The starting end of the tape 14, which may hang loose, is preferably pressed against the cable strand 10 during this feeding movement. This is especially achieved by the first pressing element 24, which presses the tape 14 against the cable strand 10 from above so that the tape 14 is fixed between the pressing element 24 and the cable strand 10 (see Figure 3 ). In an alternative embodiment, there is also the possibility that the pressing element 24 is pivoted towards the cable strand 10 from below so that the starting end of the tape is pressed against the cable strand 10. In either case, the starting end of the tape is automatically fixed to the cable strand 10. The tape 14 is especially a self-adhesive tape.

[0095] After this fixing, the actual bundling operation is carried out. For this purpose, the winding head 18 and the bundling unit 20 together with it rotate about the axis of rotation, so that the tape 14 is unwound from the tape unwinder 22 and wound around the cable strand 10. Preferably, the tape 14 is wound around the cable strand 10 several times at the starting position first, so that the starting tape end is reliably fixed.

[0096] Subsequently, for example, a helical winding of the cable strand 10 with the tape 14 is carried out.

[0097] The gripping unit 26 preferably holds the cable strand 10 firmly surrounded until the start of this helical winding. Generally, before the start of the helical winding, the gripping element 30 is opened slightly again, so that the cable strand 10 is still completely surrounded but only held loosely.

[0098] To carry out the helical winding, the entire assembly head 2 is moved along or against the transverse direction Q, in particular by means of an industrial robot 8, so that the tape 14 is gradually wound around the cable strand 10 to form a helical winding or a full-coverage winding. In principle, the assembly head 2 can also achieve point bundling, that is, the tape 14 is only wound around the cable strand 10 at one position.

[0099] At the end of the bundling process, the tape is automatically cut. Preferably, the bundling unit 20 (together with the winding head 18) first retreats a short distance in the opposite direction to the longitudinal direction L. As a result, a part of the tape is peeled off from the cable strand 10 in the radial direction. During this process, the tape 14 is tensioned and thus in a tensioned state. In this position, the tape 14 is cut by the cutting element 23. For this purpose, in particular, a pivoting movement of the bundling unit 20, for example, around the axis of rotation of the winding module 16, is provided. Thus, the cutting element 23 is guided from below against the tensioned tape 14. Thereby, the cutting element 23 cuts the tape 14.

[0100] In an alternative variant, especially for an elastic tape 14, the bundling unit 20 (together with the winding head 18) first retreats a short distance in the opposite direction to the longitudinal direction L to tension the tape 14. Subsequently, the bundling unit 20 moves forward a short distance again in the longitudinal direction, so that the tape 14 is relaxed and no longer in an elastically tensioned state, but there is still enough space for the cutting element 23 to cut. In this way, the tape 14 is prevented from recoiling / retracting after being cut due to elasticity, and thus the situation where there is no loose starting tape end available in the subsequent tying process is avoided.

[0101] In a further movement process, for example, in the same pivoting movement, the loose tape end generated in this process is preferably also pressed against the cable strand 10 by an additional pressing element 25 at the same time.

[0102] In principle, alternative movement processes for pressing the tape end are also possible. For example, it is conceivable to perform the cutting during an upward pivoting movement and the pressing during a subsequent downward pivoting movement. As an alternative to the pivoting movement, a linear movement can also be performed. Through the elastic design of the additional pressing element 25, a gentle pressing of the tape end onto the cable strand 10 is achieved.

[0103] After the cutting, an end tape end remains on the tape 14 located on the tape uncoiler 22, which defines the starting tape end for the next bundling process. Through the arrangement of the holding element 27, this tape end is clearly held. For example, the tape end is located on the holding element 27 from above. In a preferred embodiment, the holding element 27 - especially as can be seen in Figure 3 - is formed by a plurality of especially needle-shaped pins, which even pierce the tape. This piercing especially occurs during the cutting, i.e., when the cutting element 23 is pivoted from below against the tape 14. The holding element 27 preferably pivots together with the cutting element 23.

[0104] During the cutting process, the needle-shaped pins thus pierce the tape end. Thereby, the pins firmly fix the tape end in position for the next bundling. The pins only slightly protrude from the surface of the tape 14 (exaggeratedly shown in the figure).

[0105] During the next bundling, when the winding module 18 approaches the cable strand 10, the tape end is held in place by the pins. The first pressing element 24 guides the tape 14 to the cable strand 10 through a pivoting movement, so that the tape 14 is pressed against the cable strand 10 and can adhere there. During the subsequent rotation of the bundling unit 20, the tape end is automatically released from the pins.

[0106] The tape 14 is generally held in place by the first pressing element 24. The tape end is especially fixed downward after being cut until the start of the next bundling process.

[0107] The holding element 27 is directly arranged in the vicinity of the cutting element 23 during this process. Here, it is especially understood that the holding element 27 and thus the formed tape end support point are at most a few centimeters away from the cutting element 23, for example at most 2 centimeters or at most 1 centimeter.

[0108] Subsequently, the guide roller 32 and the gripping unit 26 return to their initial positions again and release the bundled cable strand 10.

[0109] Subsequently, either another cable strand 10 is brought to the desired bundling position and held there, and / or the assembly head 2 is moved to the next cable strand 10.

[0110] In Figure 5 and Figure 6In the figure, an alternative variant of the assembly head 2 is shown. The above description applies at least to a large extent equally to this alternative. Different from the first solution, this solution omits the holding element 27. Additionally, two gripping units 26 are arranged on both sides of the winding head 18. A pair of corresponding guide rollers 32 are preferably mounted to the respective gripping units 26.

[0111] List of reference numerals

[0112] 2 Assembly head

[0113] 4 Support frame

[0114] 6 Flange

[0115] 8 Industrial robot

[0116] 10 Cable strands

[0117] 14 Belt

[0118] 16 Winding module

[0119] 16A Carrier plate

[0120] 16B Free space

[0121] 18 Winding head

[0122] 19A Tooth part

[0123] 19B Toothed belt

[0124] 20 Strapping unit

[0125] 22 Tape unwinder

[0126] 23 Cutting element

[0127] 24 First pressing element

[0128] 25 Second pressing element

[0129] 26 Gripping unit

[0130] 27 Holding element

[0131] 28 Gripping bracket

[0132] 30 Gripping element

[0133] 31 Driving element

[0134] 31a, b Actuating element

[0135] 32 Guide roller

[0136] 33 Counterweight

[0137] 40 Reel bracket

[0138] 42 Tape reel

[0139] 44 Reel holder

[0140] 46 Adaptation ring

[0141] L Longitudinal direction

[0142] Q Transverse direction

[0143] V Vertical direction

Claims

1. An assembly head (2) that can extend in a longitudinal direction (L), a transverse direction (Q), and a vertical direction (V) and is configured to automatically bundle cable strands (10) extending in the transverse direction (Q) using a strap (14), wherein the cable strands (10) include a plurality of individual cables, and the assembly head (2) has a winding module (16) that includes a winding head (18) that can rotate about a rotation axis extending in the transverse direction (Q), and a bundling unit (20) for supplying and guiding the strap (14), and the winding head (18) is especially open forward in the longitudinal direction (L) such that the cable strands (10) can be introduced into the inner space of the winding head (18) from the side.

2. The assembly head (2) according to any one of the preceding claims, wherein the assembly head has a cutting element (23) that is configured to automatically cut the strap (14) at the end of the bundling process.

3. The assembly head (2) according to the preceding claim, wherein, the cutting element (23) is mounted to the bundling unit (20).

4. The assembly head (2) according to the preceding claim, wherein, the bundling unit (20) is mounted to the winding head (18) in such a way that it rotates around the cable strands together with the winding head (18) during the winding process.

5. The assembly head (2) according to any one of the two preceding claims, wherein, the bundling unit (20) is movably mounted and is controlled during operation such that at the end of the bundling process, the bundling unit (20) especially moves in the opposite direction of the longitudinal direction (L) into a cutting position, wherein the strap (14) is preferably tensioned in this way.

6. The assembly head according to any one of claims 3 to 5, wherein, at the cutting position, the cutting element (23) can pivot in the direction of the strap (14), especially the bundling unit (20) pivots together with the cutting element (23) mounted thereon.

7. The assembly head (2) according to any one of claims 2 to 6, wherein, a pressing element (25), referred to as an additional pressing element, is provided, and the pressing element is designed to press the strap end against the cable strands (10) after the strap (14) is cut, and for this purpose the additional pressing element is especially adjustable in the direction of the cable strands (10).

8. The assembly head (2) according to the preceding claim, wherein, the additional pressing element (25) is part of the bundling unit (20), and the adjustment of the additional pressing element (25) in the direction of the cable strands (10) is achieved by the rotational movement of the bundling unit (20).

9. The assembly head (2) according to any one of the two preceding claims, wherein, the additional pressing element (25) is configured as a bending elastic sheet or brush.

10. The assembly head (2) according to any one of claims 2 to 9, wherein, A holding element (27) is arranged near the cutting element, the holding element (27) being designed to hold the end of the tape (14), wherein the holding element (27) is in particular formed by a plurality of pins which preferably pierce the tape after the tape has been cut.

11. The assembly head (2) according to any one of the preceding claims, wherein, the strapping unit (20) has a tape unwinder (22), and the strapping unit (20) is part of the winding module (16) and rotates about the axis of rotation together with the winding head (18) during strapping.

12. The assembly head (2) according to any one of the preceding claims, wherein, a balancing weight (34) is mounted on the winding head (18), in particular on the strapping unit (20).

13. The assembly head (2) according to any one of the preceding claims, wherein, the assembly head (2) has a support frame (4), and the winding module (16), in particular together with the strapping unit (20), is movable relative to the support frame (4) in the longitudinal direction (L), wherein during strapping, the tape (14), in particular the starting end of the tape (14), can be guided onto the cable strand (10) for automatic fixing of the starting end of the tape onto the cable strand (10).

14. The assembly head (2) according to any one of the preceding claims, wherein, the strapping unit (20) has an adjustable (first) pressing element (24) which can be oriented towards the cable strand (10), wherein during operation, the pressing element (24) moves towards the cable strand (10) at the start of strapping, whereby the starting end of the tape (14) is pressed against the cable strand (10).

15. The assembly head (2) according to any one of the preceding claims, wherein, the assembly head has a gripping unit (26) which is located on the side in the transverse direction (Q) of the winding module (16), the gripping unit having an adjustable gripping element (30) which is designed to compress and surround the cable strand (10) consisting of a plurality of individual cables, wherein during strapping, the cable strand (10) is held loosely in the gripping position such that the cable strand (10) can pass through the gripping unit (26) in the transverse direction (Q).

16. The assembly head (2) according to the preceding claim, wherein, the gripping element (30) is formed in an arcuate shape at least on the side facing the cable strand (10).

17. The assembly head (2) according to any one of the preceding two claims, wherein, the gripping unit (26) also has a fixed gripping bracket (28) which, together with the gripping element (30), surrounds the cable strand (10), wherein the gripping element (30) is preferably movably mounted on the gripping bracket (28).

18. The assembly head (2) according to any one of the preceding two claims, wherein, The gripping unit (26) is adjustable relative to the winding module in the longitudinal direction (L) and is in particular adjustably mounted on the winding module (16).

19. The assembly head (2) according to any one of the preceding claims, wherein, the assembly head has at least a pair of guide rollers (32) which guide the single cable therebetween, in particular in such a way as to prevent the single cable from twisting about the axis of rotation.

20. The assembly head (2) according to the preceding claim, wherein, the guide rollers (32) are designed to be controllable during operation and are controlled so that the guide rollers are pressed against the cable strands (10), in particular in such a way that the cable strands (10) exhibit a flat cross-sectional profile in the region of the guide rollers (32).

21. The assembly head (2) according to any one of the two preceding claims, wherein, a pair of guide rollers (32) are provided on each side of the winding module (16), and at least one pair of the guide rollers is adjustable in the transverse direction (Q), and at least one pair of the guide rollers is preferably controlled during operation so that the two pairs of guide rollers are pulled apart relative to each other during operation, in particular at the start of the bundling process, so that the single cable is tensioned.

22. The assembly head (2) according to any one of claims 19 to 21, wherein, at least one pair of the guide rollers (32) is at least temporarily located within the free space (16B) of the winding module (16) during the bundling process, in particular within the carrier plate (16A) on which the winding head (18) is rotatably mounted.

23. A method for automatically bundling cable strands (10) with a tape (14) using an assembly head (2) according to any one of the preceding claims.

24. The method according to the preceding claim, wherein, at least partially, preferably fully, the following steps are carried out, and in particular in the order listed below: a. The assembly head (2) and the cable strands (10) are moved relative to each other in the longitudinal direction (L) such that the cable strands (10) are received inside the winding head (16), b. The gripping elements (30) of the gripping unit (26) are transferred from the open position, in particular by a pivoting movement, to the end position, wherein the single cable is preferably first compressed and then held loosely in the gripping unit (26), c. A pair of guide rollers are each moved towards the cable strands (10) and press the cable strands between the guide rollers such that the cable strands (10) are flattened in the region of the guide rollers and are reliably prevented from twisting, and subsequently preferably the two pairs of guide rollers are slightly pulled apart in the transverse direction to tension the cable strands (10), d. The bundling unit (20) is fed in the direction of the cable strands (10), in particular linearly, in particular together with the winding head (16), e. The starting end of the tape (14), which is in a hanging state in particular, is pressed against the cable strands by means of a pressing element (24). For this purpose, the pressing element (24) is adjusted, in particular pivoted, relative to the rest of the bundling unit (20) such that the starting end of the tape is fixed to the cable strands (10). f. Subsequently, the bundling unit (20) rotates around the cable strands (10), in particular together with the tape unwinder (22) and more preferably together with the winding head (18). g. Wherein, especially in the case of spiral winding or full coverage winding, the assembly head (2) moves in the transverse direction (Q) along the stationary cable strands (10) while the winding head (16) rotates around the cable strands (10). h. After the bundling process, the tape (14) is cut by means of a cutting element (23). For this purpose, the cutting element (23) is preferably fixed to the bundling unit (20) and is moved towards the tape (14) by a pivoting movement together with the bundling unit to cut the tape. i. After cutting, the loose end of the tape is pressed against the cable strands (14) by means of the additional pressing element (25), in particular by means of a pivoting movement.

Images