Method and apparatus for shaping conduits

Abstract

The invention relates to a method for shaping cables (L1 to L5), wherein at least one cable (L1 to L5) is gripped by means of grippers (3.1 to 3.n) that can be arranged in relatively different positions relative to each other. The cable (L1 to L5) is gripped at cable points by means of grippers (3.1 to 3.n) and laid in loops according to a final shape of the cable (L1 to L5) to be achieved in the shaping process and the segment lengths of cable segments present in this final shape. The invention further relates to a device (1) for shaping conduits (L1 to L5).

Description

[0001] The invention relates to a method for shaping lines.

[0002] The invention further relates to a device for shaping lines.

[0003] From DE 10 2016 105 967 B3, a method for manufacturing a wiring harness of a vehicle with a robot unit having a plurality of holders movable relative to one another is known. - an individual cable is stretched automatically by gripping the end sections of the individual cable and pulling them apart, - the individual cable is transferred from the grippers to the holders, - the brackets are arranged in a straight line, - the individual cable is held by the brackets, - the supports are then moved according to a predetermined topology to transform the single line into a mounting structure, and - the formed individual cable is automatically transferred to a construction board.

[0004] Furthermore, DE 10 2022 120 059 A1 discloses a device for producing a cable harness having a first rail and a second rail provided in parallel on a device plate. A first holding portion is provided that holds a first connector. Additionally, a second holding portion is provided that holds a second connector. An electric cable holding portion holds a first electric cable and a second electric cable. Furthermore, an end-face connecting portion that connects an end face of the first electric cable and the second electric cable to the first connector and the second connector, respectively, and a cutting portion that cuts the first electric cable and the second electric cable are provided.In addition, a connecting portion for another end face which connects the cut first electric wire and the cut second electric wire to a third connector and a fourth connector, respectively, and a binding portion which binds the first electric wire and the second electric wire whose tension force is adjusted together are provided.

[0005] JP H10-12 061 A describes an assembly method and a device for manufacturing a wiring harness.

[0006] JP S63-19 781 A describes a device for attaching an electrical connector to a cable end.

[0007] The invention is based on the object of providing a novel method for shaping lines and a novel device for shaping lines.

[0008] The object is achieved according to the invention by a method which has the features specified in claim 1 and by a device which has the features specified in claim 9.

[0009] Advantageous embodiments of the invention are the subject of the subclaims.

[0010] In the method according to the invention for shaping lines, at least one line is gripped by means of grippers that can be arranged in different positions relative to one another. In a first step, the at least one line is gripped at a line point by means of a gripper, and in a second step the gripper with the gripped line point is moved away from a further gripper by a predetermined distance. The predetermined distance is predetermined according to a final shape of the line to be achieved in the shaping of the line and a segment length of a line segment present in this final shape. In a third step, the line is gripped at a further line point by means of the further gripper, wherein a length of the line between the gripped line points corresponds to the segment length.If a further line segment is to be picked up, in a fourth step the further gripper with the gripped line point is moved a predetermined further distance in a longitudinal direction in the direction of the gripper moved immediately before, whereby the predetermined further distance is predetermined according to a segment length of the further line segment present in the final shape of the line. If no further line segment is to be picked up, in a fifth step the further gripper with the gripped line point is moved in the longitudinal direction in the direction of the gripper moved immediately before in such a way that a predetermined minimum distance in the longitudinal direction is set between the grippers.In a sixth step, the cable is transported to at least one further processing location by means of the grippers while maintaining a relative position of the grippers to one another created in the previous steps, or a further processing device is moved to the cable.

[0011] The method allows the cable to sag between the grippers by moving each gripper longitudinally in the direction of the gripper moved immediately before. Due to this sagging, the arrangement of the grippers with the specified minimum distance from each other, and the maintenance of the resulting relative positions of the grippers during cable transport, the arrangement of grippers and cable is characterized by a particularly compact design, so that a device for shaping and / or processing cables and / or producing cable bundles can also be implemented with a compact design and cost-effectively.Furthermore, gripping the cable depending on its final shape while simultaneously adjusting the segment length enables the formation of the cable segments during gripping, thus reducing the effort required for subsequent processing steps. This results in a reduction in the cycle time for the cable forming process. Furthermore, this early shaping of the cable, or the creation of the cable segments during gripping, enables a separation of the "forming" and "electrical contacting" processes. A further reduction in cycle time results from the fact that the method allows for parallel execution of processes at both cable ends.Furthermore, by transporting the cable while maintaining the arrangement of the grippers with the specified minimum distance from one another and maintaining the relative positions of the grippers to one another created thereby, it is possible for the grippers to always be arranged in the same way, at least in their relative position in the longitudinal direction, regardless of the final shape of the cable, so that further processing stations located at the further processing locations can also be operated with the same layout regardless of the final shape of the cable.

[0012] In one possible embodiment of the method, depending on a given number of line segments, the third and fourth steps are repeated once or multiple times before the fifth step is executed. This allows lines with almost any number of line segments to be handled.

[0013] In a further possible embodiment of the method, the segment length of a respective line segment is determined depending on a course of the line segment and its length between - two deflection points, - a deflection point and an electrical coupling point or - two electrical coupling points are specified in the final shape of the cable. This allows for precise shaping of the cable at an early stage and adaptation of the cable segments to the final shape of the cable.

[0014] In another possible embodiment of the method, the grippers are also moved relative to each other in a transverse direction, depending on the final shape of the cable. This allows the cable to be brought into its final shape using the grippers and, for example, pre-formed and placed on a cable laying board. This significantly reduces the effort required to shape the cable.

[0015] In another possible embodiment of the method, the transverse movement is performed at the processing location after transport to the at least one further processing location. This allows the cable and grippers to be moved with a particularly compact design during transport, and the shaping can be carried out in a simple and automated manner at the processing location before the cable is transferred to further processing.

[0016] In a further possible embodiment of the method, the cable is deposited at at least one further processing location, for example, a deposit station, an intermediate processing station, a transfer station, or a buffer station, by means of the grippers, while maintaining the relative position of the grippers to one another, in holding and / or gripping receptacles positioned analogously to the grippers at the predetermined minimum distance from one another. This enables simple and reliable pickup of the cable at the further processing location.

[0017] In another possible embodiment of the method, the grippers with the gripped cable are positioned relative to each other at at least one further processing location, for example, a cable laying board, according to the final shape of the cable, and the cable is deposited in its final shape at the further processing location. Thus, the cable can be brought into its final shape by means of the grippers and, for example, pre-formed, placed on a cable laying board. This significantly reduces the effort required to shape the cable and the cycle time.

[0018] In another possible embodiment of the method, the cable is unwound from a cable drum at least during the second, fourth, and fifth steps. This allows for easy processing of cables sold by the meter or in continuous lengths. However, it is also possible to process or shape pre-assembled cables, which, for example, include pre-installed electrical contacts.

[0019] The device according to the invention for shaping lines comprises a plurality of grippers that can be arranged in different positions relative to one another on a transport holder and are designed to grip at least one line. Furthermore, the device comprises a control device that is designed - to control a gripper, to grip at least one cable at a cable point, - to control a drive of the gripper, to move the gripper with the gripped line point on the transport holder by a predetermined distance away from another gripper, wherein the control device specifies the predetermined distance according to a final shape of the line to be achieved in the shape of the line and a segment length of a line segment present in this final shape, - to control another gripper to grip the cable at another cable point, whereby a length of the cable between the gripped cable points corresponds to the segment length, - if a further line segment is to be picked up, to control a drive of the further gripper, to move the further gripper with the gripped line point on the transport holder by a predetermined further path in a longitudinal direction in the direction of the gripper moved immediately before, wherein the control device specifies the predetermined further path according to a segment length of the further line segment present in the final form of the line, and - if no further cable segment is to be picked up, to control the drive of the further gripper, to move the further gripper with the gripped cable point on the transport holder in the longitudinal direction in the direction of the gripper moved immediately before in such a way that a predetermined minimum distance in the longitudinal direction is set between the grippers, and - to control the drives of the grippers or a drive of the transport receptacle, to transport the cable to at least one further processing location while maintaining a relative position of the grippers to one another created in the previous steps, or to move a further processing device to the cable.

[0020] The device allows the cable to sag between the grippers by moving each gripper longitudinally in the direction of the gripper moved immediately before. Due to this sagging, the arrangement of the grippers with the specified minimum distance from each other, and the maintenance of the resulting relative positions of the grippers during cable transport, the arrangement of grippers and cable is characterized by a particularly compact design, so that the device and, consequently, an overall device for processing cables and / or producing cable bundles can also be implemented with a compact design and cost-effectively.Furthermore, gripping the cable depending on its final shape while simultaneously adjusting the segment length enables the formation of the cable segments during gripping, thus reducing the effort required for subsequent processing steps. This results in a reduction in the cycle time for the cable forming process. Furthermore, this early shaping of the cable, or the creation of the cable segments during gripping, enables a separation of the "forming" and "electrical contacting" processes. A further reduction in cycle time results from the fact that the device enables parallel execution of processes at both cable ends.Furthermore, by transporting the cable while maintaining the arrangement of the grippers with the specified minimum distance from one another and maintaining the relative positions of the grippers to one another generated thereby, it is possible for the grippers to always be arranged in the same way, at least in their relative position in the longitudinal direction, regardless of the final shape of the cable, so that further processing stations located at the further processing locations can also be operated with the same layout regardless of the final shape of the cable.

[0021] In one possible embodiment of the device, the transport receiver and the gripper drives are designed to move the grippers relative to each other in a transverse direction, depending on the final shape of the cable. This allows the cable to be brought into its final shape using the grippers and, for example, pre-formed, placed on a cable laying board. This significantly reduces the effort required to shape the cable and the cycle time.

[0022] Embodiments of the invention are explained in more detail below with reference to drawings.

[0023] Showing: Fig. 1 schematically shows a perspective view of a device for forming lines and a line during a step of a method for forming lines, Fig. 2 schematically shows a perspective view of the device and the line according to Fig. 1 during a further step of the procedure, Fig. 3 schematically shows a perspective view of the device and the line according to Fig. 2 during a further step of the procedure, Fig. 4 schematically shows a perspective view of the device and the line according to Fig. 3 during a further step of the procedure, Fig. 5 schematically shows a perspective view of the device and the line according to Fig. 4 during a further step of the procedure, Fig. 6 schematically shows a perspective view of the device and the line according to Fig. 5 during a further step of the procedure, Fig. 7 schematically shows a perspective view of the device and the line according to Fig. 6 during a further step of the procedure, Fig. 8 schematically shows a perspective view of the device and the line according to Fig. 7 and a storage station, Fig. 9 schematically shows a perspective view of a gripper of the device according to Fig. 8 and a holding and / or gripping receptacle of the storage station according to Fig. 8, Fig. 10 schematically shows a perspective view of the device and the storage station according to Fig. 8 after a line laydown, Fig. 11 schematically shows a perspective view of a device for shaping lines and a line, Fig. 12 schematically shows a perspective view of the device and the line according to Fig. 11 during a step of a process for forming lines, Fig. 13 schematically shows a perspective view of the device and the line according to Fig. 12 and a cable laying board with another cable during a further step of the method, Fig. 14 schematically shows a perspective view of the device, the cable laying board and the cables according to Fig. 13 during a further step of the procedure, Fig. 15 schematically shows a perspective view of the device, the cable laying board and the cables according to Fig. 14 after carrying out the step of the procedure according to Fig. 14, Fig. 16 schematic perspective views of a holding and / or gripping receptacle, Fig. 17 schematically shows a perspective view of another holding and / or gripping receptacle, Fig. 18 schematically show plan views of a device for forming lines and a line during various steps of a method for forming lines and Fig. 19 schematically shows a plan view of a supply device for lines.

[0024] Corresponding parts are provided with the same reference numerals in all figures.

[0025] In Fig. 1 is a perspective view of a possible embodiment of a part of a device 1 for forming lines L1 and a line L1 during a step of a method for forming lines L1.

[0026] The device 1 comprises a plurality of grippers 3.1 to 3.n arranged on a transport support 2 so as to be movable in the longitudinal direction R1. The transport support 2 is designed, for example, as a beam or in the form of a crossbeam. The grippers 3.1 to 3.n are coupled to drives 4.1 to 4.n, by means of which the movement of the grippers 3.1 to 3.n on the transport support 2 is carried out. The drives 4.1 to 4.n are controlled by a control device (not shown in detail).

[0027] The cable L1 is, for example, rolled up by the meter on a cable reel T1. Alternatively, the cable L1 can also be supplied as a pre-assembled cable L1, which, for example, can be installed in Fig. 13 comprises electrical contact elements K1 to K3 such as plugs or sockets, shown in more detail.

[0028] To shape the cable L1, in a first step it is gripped at a cable point using a gripper 3.1.

[0029] Subsequently, in a further step, the gripper 3.1 with the gripped line point is moved away from another following gripper 3.2 in the longitudinal direction R1 by a predetermined distance on the transport holder 2, so that it is in a position as shown in Fig. 2. The specified path is determined according to a final shape of the cable L1 to be achieved in the design of the cable L1, for example to form a cable bundle, and a segment length of a cable segment present in this final shape. A cable segment is understood to be a section of the cable L1 that runs between two deflection points of the cable L1, between a deflection point and an electrical coupling point of the cable L1, or between two electrical coupling points of the cable L1 in the final shape of the cable L1. During the movement of the gripper 3.1, the cable L1 is unwound from the cable drum T1. This means the first gripper 3.1 grips the cable L1 and moves on the transport holder 2 until either the distance to the next node point of a cable set to be created is reached or a certain distance has been covered in order to divide the cable L1 into the most optimal cable segments by means of loops.

[0030] In a further step, the line L1 is also connected as shown in Fig. 2 is gripped at a further line point by means of the further gripper 3.2, whereby a length of the line L1 between the gripped line points corresponds to the segment length.

[0031] Subsequently, in a further step according to Fig. 2 then, when a further line segment is to be picked up by means of the further gripper 3.3, the gripper 3.2 with the gripped line point is moved by a predetermined further path in the longitudinal direction R1 in the direction of the immediately previously moved gripper 3.1, wherein the predetermined further path is predetermined according to a segment length of the further line segment present in the final shape of the line L1.

[0032] To grab additional line points to create additional line segments, the steps described above are carried out analogously using the additional grippers 3.3 to 3.n according to the Fig. 3 to 7 carried out.

[0033] The grippers 3.1 to 3.n located directly one behind the other are moved in a further step in the longitudinal direction R1 in the direction of the gripper 3.1 to 3.n-1 moved immediately before, at the latest after the last line point has been picked up by the gripper 3.n, i.e. when no further line segment is to be picked up, so that a predetermined minimum distance in the longitudinal direction is set between the grippers and the line segments sag in loops between the grippers 3.1 to 3.n.

[0034] After gripping the last cable point with gripper 3.n, the cable L1, if sold by the meter, is separated from the rest of the cable L1 on the cable reel T1 behind gripper 3.n. For a pre-assembled cable L1, the cable L1 is gripped by gripper 3.n before the end of the cable L1.

[0035] Subsequently, the transport holder 2 with the grippers 3.1 to 3.n positioned thereon and the cable segments hanging in loops is transported to at least one further processing location while maintaining the relative position of the grippers 3.1 to 3.n to one another created in the previous steps.

[0036] Fig. Figure 8 shows a perspective view of the device 1 and the line L1 according to Fig. 7 after the aforementioned transport at the further processing location, where a deposit station 5 is located. The deposit station 5 comprises a number of holding and / or gripping receptacles 5.1 to 5.m, which in the illustrated embodiment corresponds to a number of gripping elements 3.1 to 3.n. The distance between the holding and / or gripping receptacles 5.1 to 5.m is designed analogously to the predetermined minimum distance.

[0037] As in the Fig. 9 and Fig. 10, the transport receptacle 2 is positioned relative to the depositing station 5 in such a way that the grippers 3.1 to 3.n are arranged offset from the holding and / or gripping receptacles 5.1 to 5.m.

[0038] Once a depicted target position is reached, grippers 3.1 to 3.n are opened, and the cable L1 is picked up in its current shape, including the loops formed, by the holding and / or gripping receptacles 5.1 to 5.m of the storage station 5. One possible embodiment provides for grippers 3.1 to 3.n and the holding and / or gripping receptacles 5.1 to 5.m to be opened and / or closed simultaneously. Alternatively, passive storage of the cable L1 in the holding and / or gripping receptacles 5.1 to 5.m is also possible.

[0039] Alternatively or additionally, the further transport and storage of the L1 line can also take place at intermediate, transfer and / or buffer stations. The L1 line can also be stored on a Fig. 13 cable laying board 6 shown in more detail.

[0040] Fig. 10 shows a perspective view of the device 1 and the line L1 deposited in the deposit station 5 according to Fig. 8. In the depositing station 5, for example, further processing steps can be carried out on the cable L1, such as stripping of cable ends, crimping of stripped cable ends or arranging in Fig. 13 electrical contact elements K1 to K3, for example plugs or sockets, are shown in more detail.

[0041] The storage station 5 can also be used to transfer the line L1 to further transport devices.

[0042] In Fig. 11 shows a further perspective view of another possible embodiment of a part of a device 1 for shaping lines L1 and a line L1.

[0043] In contrast to the Fig. In the embodiments shown in Fig. 1, the transport receptacle 2 comprises a longitudinal beam 7 and a plurality of cross beams 8.1 to 8.n running perpendicular to the longitudinal beam 7. The cross beams 8.1 to 8.n are movably attached to the longitudinal beam 7 by means of drives 9.1 to 9.n, so that they can be moved on the longitudinal beam 7 in the longitudinal direction R1.

[0044] The grippers 3.1 to 3.n are each attached to the cross members 8.1 to 8.n by means of the drives 4.1 to 4.n so that they can be moved on the cross members 8.1 to 8.n in a transverse direction R2 which runs in particular perpendicular to the longitudinal direction R1.

[0045] By means of the grippers 3.1 to 3.n, the cable L1 arranged with loops can be removed, for example, from the deposit station 5 according to Fig. 10, whereby the grippers 3.1 to 3.n and the holding and / or gripping receptacles 5.1 to 5.m are opened and / or closed simultaneously. In one possible embodiment, the grippers 3.1 to 3.n are arranged offset from the holding and / or gripping receptacles 5.1 to 5.m to receive the cable L1.

[0046] In a possible embodiment, the line L1 can also be supplied from the device 1 according to Fig. 7 can be adopted.

[0047] After the cable L1 has been picked up, the grippers 3.1 to 3.n can then be moved by means of the drives 4.1 to 4.n in the transverse direction R2 on the cross beams 8.1 to 8.n in such a way that the cable L1 is already brought into its final shape by means of the grippers 3.1 to 3.n and, for example, pre-formed on the cable laying board 6 according to a representation in Fig. 16 is arranged.

[0048] Alternatively, the device 1 shown can also take up the cable L1 directly as a meter from the cable reel T1 or as a pre-assembled cable L. This is shown in Fig. 12. The gripping of the cable L1 is carried out by means of the grippers 3.1 to 3.n and the movement of the grippers 3.1 to 3.n with the gripped cable points is analogous to the description of the Fig. 1 to 7 with the difference that the movement of the grippers 3.1 to 3.n in the longitudinal direction R1 is carried out by means of the movement of the cross members 8.1 to 8.n in the longitudinal direction R1 on the longitudinal member 7 by corresponding control of the drives 9.1 to 9.n.

[0049] Subsequently, the entire transport holder 2 with the grippers 3.1 to 3.n positioned thereon and the cable segments hanging in loops can be transported to at least one further processing location, for example a cable laying board 6, while maintaining the generated relative position of the grippers 3.1 to 3.n to one another.

[0050] Before or after this transport, the movement of the grippers 3.1 to 3.n can be carried out by means of the drives 4.1 to 4.n in the transverse direction R2 on the cross beams 8.1 to 8.n in such a way that the cable L1 is already brought into its final shape by means of the grippers 3.1 to 3.n.

[0051] In this position, the device 1 with the gripped cable L1 is in Fig. 13, wherein the device 1 with the cable L1 already formed according to its final shape is arranged above a cable laying board 6. Two further cables L2, L3 and electrical contact elements K1 to K3 are already arranged on the cable laying board 6, wherein the cables L2, L3 are electrically connected to the contact elements K1, K2, in particular pinned into them.

[0052] The cable L1 is designed in its final form according to the Fig. 14 and Fig. 15 is arranged on the cable laying board 6, wherein when the cable L1 is laid down the grippers 3.1 to 3.n are opened, in particular opened simultaneously, and then the transport holder 2 is moved upwards.

[0053] After the cable L1 has been laid, it is electrically connected to the contact elements K2, K3, in particular pinned into them. In particular, the cables L2, L3 were also arranged or laid in their final form on the cable laying board 6 by means of the device 1.

[0054] If the lines L1 to L3 are pinned into the contact elements K1 to K3, a Fig. The plug-in robots 14 and 15 shown in Figure 18 take over the cable ends and plug or pin them into the contact elements K1 to K3. This separates the forming and plugging processes.

[0055] Before contacting, the insulation of the cable ends of cables L1 to L3 can be stripped and / or crimped.

[0056] The Fig. 16 and Fig. Figure 17 shows perspective views of different embodiments of holding and / or gripping receptacles 5.1. Here, the holding and / or gripping receptacles 5.1 are designed as rollers, so that the holding and / or gripping receptacles 5.1 can be closed and opened passively by a driver. This eliminates the need for complex locking technology.

[0057] In a possible embodiment, the grippers 3.1 to 3.n are also roller-shaped, analogous to the design of the holding and / or gripping receptacles 5.1.

[0058] In Fig. 18 shows plan views of a device 1 for shaping lines L1 to L5 and a line L1 during various method steps VS1 to VS7 of a possible embodiment of a method for shaping lines L1 to L5. Fig. 19 shows a plan view of a supply device 10 for cables L1 to L5 with several cable reels T1 to T5.

[0059] In a process step VS1, at least one cable L1 is gripped as described above by means of the grippers 3.1 to 3.n, unwound from the cable reel T1, laid into loops in the longitudinal direction R1 by moving the grippers 3.1 to 3.n, and then, after being picked up in the last gripper 3.n, severed from the remainder of the cable L1 located on the cable reel T1. A so-called handler can approach several cable reels T1 to T5 and feed one or more cables L1 to L5 to the grippers 3.1 to 3.n. For this purpose, the cables L1 to L5 are available on the cable reels T1 to T5 in predefined gripping positions. For special cables, for example, as shown in Fig. 19 Several cable reels T1 to T5 are positioned side by side in tapping positions. In a process step VS2 designed as an intermediate step, transfer stations can be provided for decoupling, for example, whereby a transfer of the cables L1 to L5 (only cable L1 is shown as an example) can also be carried out using a so-called shake-hand process.

[0060] Subsequently, in a process step VS3, the cable L1 is processed in at least one processing station with processing tools 12, 13, for example, stripped, provided with crimps, etc. The processing is carried out in particular on both sides at both cable ends. One-sided processing is also possible, for example if the cables L1 to L5 are fed back in a loop so that their cable ends are available on one side. The respective cable L1 to L5 can be moved to the processing stations using the transport holder 2. However, it is also possible to move the respective processing station to the corresponding cable L1 to L5 in order to enable parallel processing. For example, a crimp can be applied simultaneously at both ends.

[0061] In a further process step VS4, the lines L1 to L5 can be stored in the transport receptacles 2, for example to form a buffer for the further process steps VS5 to VS7.

[0062] The bearing forms an interface for the subsequent laying of the respective lines L1 to L5, in which the respective lines L1 to L5 are measured in the process step VS5, then according to the description to Fig. 11 in the process step VS6 the shape of the cable L1 to L5 is formed by moving the grippers 3.1 to 3.n in the transverse direction R2 and then the cable L1 to L5 is placed, for example, on the cable laying board 6.

[0063] In process step VS7, for example, the pinning of the cable L1 to L5 takes place, whereby the cable ends are transferred to plug-in robots 14, 15, which plug or pin them into the contact elements K1 to K3.

Claims

[1] Method for shaping lines (L1 to L5), wherein at least one line (L1 to L5) is gripped by means of grippers (3.1 to 3.n) which can be arranged in different positions relative to one another, wherein - in a first step, the at least one line (L1 to L5) is gripped at a line point by means of a gripper (3.1 to 3.n) and - in a second step, the gripper (3.1 to 3.n) with the gripped line point is moved away from another gripper (3.1 to 3.n) by a predetermined distance, wherein the predetermined distance is predetermined according to a final shape of the at least one line (L1 to L5) to be achieved in the shaping of the at least one line (L1 to L5) and a segment length of a line segment present in this final shape, and - in a third step, the at least one line (L1 to L5) is gripped at a further line point by means of the further gripper (3.1 to 3.n), wherein a length of the at least one line (L1 to L5) between the gripped line points corresponds to the segment length, and - if a further line segment is to be picked up, in a fourth step the further gripper (3.1 to 3.n) with the gripped line point is moved by a predetermined further path in a longitudinal direction (R1) in the direction of the immediately previously moved gripper (3.1 to 3.n), wherein the predetermined further path is predetermined in accordance with a segment length of the further line segment present in the final form of the at least one line (L1 to L5), and - if no further line segment is to be picked up, in a fifth step the further gripper (3.1 to 3.n) with the gripped line point is moved in the longitudinal direction (R1) in the direction of the immediately previously moved gripper (3.1 to 3.n) in such a way that a predetermined minimum distance in the longitudinal direction (R1) is set between the grippers (3.1 to 3.n), and - in a sixth step, the at least one line (L1 to L5) is transported to at least one further processing location by means of the grippers (3.1 to 3.n) while maintaining a relative position of the grippers (3.1 to 3.n) to one another generated in the previous steps, or a further processing device is moved to the at least one line (L1 to L5). [2] Method according to claim 1, where Depending on a given number of line segments, the third step and the fourth step can be repeated once or several times before the fifth step is executed. [3] Method according to claim 1 or 2, where the segment length of a respective line segment depending on the course of the line segment and its length between - two deflection points, - a deflection point and an electrical coupling point or - two electrical coupling points are specified in the end form of at least one line (L1 to L5). [4] Method according to one of the preceding claims, where the grippers (3.1 to 3.n) are additionally moved relative to one another in a transverse direction (R2) depending on the final shape of the at least one line (L1 to L5). [5] Method according to claim 4, where the movement in the transverse direction (R2) is carried out at the further processing location after the transport to the at least one further processing location. [6] Method according to one of the preceding claims, where the at least one line (L1 to L5) is deposited at the at least one further processing location by means of the grippers (3.1 to 3.n) while maintaining the relative position of the grippers (3.1 to 3.n) to one another in holding and / or gripping receptacles (5.1 to 5.m) positioned analogously to the grippers (3.1 to 3.n) at the predetermined minimum distance from one another. [7] Method according to one of the preceding claims, where the grippers (3.1 to 3.n) with the gripped at least one cable (L1 to L5) are positioned relative to one another at the at least one further processing location in accordance with the final shape of the at least one cable (L1 to L5) and the at least one cable (L1 to L5) is deposited at the further processing location in its final shape. [8] Method according to one of the preceding claims, where the at least one cable (L1 to L5) is unwound from a cable drum (T1 to T5) at least during the execution of the second step, the fourth step and the fifth step. [9] Device (1) for shaping lines (L1 to L5) with a plurality of grippers (3.1 to 3.n) which can be arranged in different positions relative to one another on a transport holder (2) and are designed to grip at least one line (L1 to L5) and a control device which is designed - to control a gripper (3.1 to 3.n) to grip at least one line (L1 to L5) at a line point, - to control a drive (4.1 to 4.n, 9.1 to 9.n) of the gripper (3.1 to 3.n), to move the gripper (3.1 to 3.n) with the gripped line point on the transport holder (2) by a predetermined distance away from another gripper (3.1 to 3.n), wherein the control device specifies the predetermined distance according to a final shape of the at least one line (L1 to L5) to be achieved in the shaping of the at least one line (L1 to L5) and a segment length of a line segment present in this final shape, - to control a further gripper (3.1 to 3.n) to grip the at least one line (L1 to L5) at a further line point, wherein a length of the at least one line (L1 to L5) between the gripped line points corresponds to the segment length, - if a further line segment is to be picked up, to control a drive (4.1 to 4.n, 9.1 to 9.n) of the further gripper (3.1 to 3.n), to move the further gripper (3.1 to 3.n) with the gripped line point on the transport holder (2) by a predetermined further path in a longitudinal direction (R1) in the direction of the immediately previously moved gripper (3.1 to 3.n), wherein the control device predetermines the predetermined further path in accordance with a segment length of the further line segment present in the final form of the at least one line (L1 to L5), and - if no further line segment is to be picked up, to control the drive (4.1 to 4.n, 9.1 to 9.n) of the further gripper (3.1 to 3.n), to move the further gripper (3.1 to 3.n) with the gripped line point on the transport holder (2) in the longitudinal direction (R1) in the direction of the immediately previously moved gripper (3.1 to 3.n) in such a way that a predetermined minimum distance in the longitudinal direction (R1) is set between the grippers (3.1 to 3.n), and - to control the drives (4.1 to 4.n, 9.1 to 9.n) of the grippers (3.1 to 3.n) or a drive of the transport receptacle (2), to transport the at least one line (L1 to L5) to at least one further processing location while maintaining a relative position of the grippers (3.1 to 3.n) to one another generated in the previous steps, or to move a further processing device to the at least one line (L1 to L5). [10] Device (1) according to claim 9, where the transport receptacle (2) and the drives (4.1 to 4.n, 9.1 to 9.n) of the grippers (3.1 to 3.n) are designed to additionally move the grippers (3.1 to 3.n) relative to one another in a transverse direction (R2) depending on the final shape of the at least one line (L1 to L5).

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