DEVICE, PLANT AND METHOD FOR PROVIDING AN ELECTRICAL CONDITION

Description

[0001] The present invention relates to a device, a system and a method for supplying an electrical conductor from a withdrawal station to at least one destination station, wherein a movable robot with a tool for receiving the electrical conductor is provided and wherein the electrical conductor can be transported to the destination station by means of the robot.

[0002] Cables, wires, strands, coaxial cables, and EMC cables are metallic electrical conductors and are assembled for various applications using electrical components such as connectors, pins, alligator clips, and ferrules. Before assembly, the electrical conductors are stripped, and a permanent mechanical and electrical connection is created between the electrical component and the stripped conductor—usually in a dedicated crimping station. The conductor is also cut to length as required.

[0003] German patent application DE 102021101497 A1 discloses a cable processing center that enables largely automated cable assembly. For this purpose, several separately controllable work modules are arranged on a single rotary table. A stationary, but also mobile, robot retrieves a cable blank from a storage area and delivers it to the respective workstation. The design of the robot, also referred to as a handling device, remains undisclosed. The robot is intended to be able to remove and transfer components, but design features for implementing these functional requirements are not disclosed in DE 102021101497 A1. It can be assumed that a conventional gripper with the usual limitations of gripper fingers in positioning relative to the workstations is used.

[0004] A robot with a repair tool for electrical wires is described, for example, in publication CN 108767736 B.

[0005] A cable transport unit with rollers or belts is known from publication EP 0864524 B1. It is intended to enable precise cable feeding using spring-elastic means.

[0006] Based on the prior art defined in DE 102021101497 A1, the invention is based on the objective of providing a device, a system, and a method of the type in question, wherein the electrical conductor is precisely supplied to the selected target stations. With regard to the system, the extraction process is also to be optimized in the relevant application.

[0007] The aforementioned problem is solved with regard to the device by the features of claim 1. According to this claim, a device of the type in question is designed and further developed such that the tool comprises a holding and transport device and a centering device for the electrical conductor.

[0008] The aforementioned problem is solved with regard to the system by the features of claim 10. According to this claim, a system of the type in question is designed and further developed such that at least the target station is adapted to the robot's tool and interacts with it.

[0009] The aforementioned further problem is solved with regard to the method by the features of claim 16. According to this claim, the method of the type in question is designed and further developed such that the electrical conductor is held, transported and centered in the tool in such a way that the electrical conductor hits the target station with precise positioning and is transferred to it.

[0010] Based on the cable processing center described in DE 10 2021 101 497 A1, it was initially noted positively that the mobile robot there can travel to different work modules. However, it is essential that all work modules are arranged on a single rotary table. A disadvantage identified was that, although the robot has a tool capable of performing removal and transfer operations, the description only provides a concise description of a gripping device. The generic publication in question does not specify how the robot's tool might be designed.

[0011] According to the invention, the device is equipped with a holding and transport device and a centering device for the electrical conductor. The method is also designed to hold, transport, and center the electrical conductor within the tool in such a way that it reaches the target station with precise positioning and is transferred there. The supply of the electrical conductor via the robot to the target station begins with a conductor coming from a pickup station, which can be a cutting station or a storage unit for pre-processed, particularly cut, conductors. The invention further provides that the holding and transport device facilitates the conveyance of the electrical conductor within the robot's tool. This allows for precise control over how the conductor approaches the target station.Furthermore, it has been recognized according to the invention that the precision of the supply of the electrical line, which is particularly necessary with regard to the transfer to the target stations, can be achieved by providing a centering device.

[0012] According to the invention, it has been recognized that, with regard to the system, the target station—and, in the corresponding application, also the removal station—can be coordinated with the robot's tool and that interaction with it can be implemented. The concept of incorporating the various stations arranged as desired and coordinating the system components with one another, whether with regard to synchronizing transport speeds or optimizing the position relative to the target station through coordination and interaction, ensures the precision of the electrical line supply to the target station and represents a fundamentally alternative solution to the problem. The implementation of the system features according to the invention can further utilize the features of the device according to the invention and the features of the method according to the invention.

[0013] The removal from the removal station, the insertion into the destination station, and the return from the destination station could be achieved via the holding and transport device, in which the line is selected according to the required transport direction. Forward and reverse movements could be accomplished via at least one drive unit of the holding and transport device.

[0014] The holding and transport device could comprise at least one pair of conveyor belts, with the belts of the pair arranged opposite each other and the electrical cable being transportable between the belts. Each conveyor belt could be assigned a drive, which could be controlled according to specifications by means of a control system. For a stable transport path, two pairs of conveyor belts could also be connected in series.

[0015] According to a particularly preferred embodiment, which enables the handling of both ends of the electrical cable in a short time, the tool, including the holding and transport device and the centering device, could be rotatable about at least one axis to successively position both the first end of a pre-cut electrical cable and its second end at the target station. The angle of rotation could be 180°, especially if the conveyor belt pairs are arranged axially consecutively. The rotation could be achieved by a boom on the robot, at the free end of which the tool is located. The rotation of the tool by the robot and the transport of the cable within the tool avoids the need to reposition or re-grip the cable.It remains in the tool, is centered, held and transported there, and can be flexibly positioned by the robot and its boom.

[0016] Once the electrical cable is connected to contact components at the target station, whether at one end or both, the assembly is complete, and the robot could move to the next target station, such as a plug-in battery, and perform the assembly there. Here, too, the tool could be rotated on-site according to the assembly direction. The assembled electrical cable could be released by allowing the holding and transport device and the centering device to be reversibly moved from an operating position to an open position. The open / operating position could be achieved using a split holding and transport device and a split centering device. It is preferred that the parts of the holding and transport device and the centering device are moved apart together.Typically, the conveyor belt pairs, as well as the centering device and its guide sections, are separated exactly in half on both sides along a longitudinal axis that coincides with the center axis of the electrical conductor. A pneumatic or electric drive could be provided for opening and closing the tool.

[0017] Particularly advantageous with regard to adapting the tool, or the holding and transport device and the centering device to different conductor cross-sections, could be the reversible arrangement of the centering device on the tool. For particularly quick and easy connection and disconnection, a magnetic connection between the centering device and the tool is preferred. This significantly increases the speed of changing the centering device. The system could include a storage unit containing a multitude of different centering devices. The various centering devices could also adhere magnetically to a magnetic storage carrier plate or otherwise engage in recesses of a storage carrier plate, or vice versa.

[0018] According to a preferred embodiment, the centering device could have at least one guide section that is adapted to the cross-section of the electrical conductor and can be moved, together with the centering device, into an open and operating position. Particularly advantageous with regard to the desired change of the centering device is that it could be detachably connected to the tool as long as the current conductor cross-section does not change. The design of a preferred two-part centering device could comprise a plate-shaped component on which half of a guide section is arranged, the parts of the guide section joining to form a complete guide section in the operating position. The centering device could be mounted in the open position of the tool.

[0019] If the holding and transport device comprises several conveyor belt pairs connected in series, multiple guide sections could be provided. With one conveyor belt pair, a guide section could be positioned upstream and one downstream. With two conveyor belt pairs, it has been found advantageous to provide a centering device with three guide sections. The end guide sections could have smaller axial dimensions than the middle guide section. The middle guide section could advantageously extend over the entire distance between the two conveyor belt pairs. Designing a closed guide extending over the entire tool is advantageous with regard to preventing any deviation of the guide. Depending on the design and the guide cross-section, further configurations of the guide sections may be relevant.The guide section could be made of plastic and have a groove-shaped recess in which the electrical conductor is transported. It is important to note that the recess in each half of the guide section corresponds to the total cross-section of the conductor being guided. Depending on the direction of transport of the electrical conductor, this embodiment ensures that the conductor always exits the guide section of the centering device, thus arriving centered, for example, at the stripping station or the crimping station. The enclosed guide in the guide sections and in the conveyor belt pairs stabilizes and secures the transport.

[0020] The centering device could advantageously be further developed by including at least one guide finger, which preferably projects from the tool and is located downstream of the end-side guide section. The guide finger could be used when the target station is somewhat more complex. For example, a crimping station might not have a guide funnel into which the wire is inserted in a self-centering manner. This guiding and centering function could then be performed by the guide finger, which could be reversibly arranged on the tool as a separate component, depending on the application. Further applications of the advantageous guide finger include feeding the electrical wire, already connected to contact elements, to assembly locations such as a connector socket or cable harness.The guide finger could also be designed in two parts, allowing it to be moved into an open position and an operating position, so that the electrical connection can be released in the open position after assembly. Here too, the opening of the guide finger could preferably be achieved pneumatically or electrically.

[0021] According to an embodiment essential to the execution of the invention, the centering device, specifically its guide finger, could use a camera to determine the axial deviation of the guide finger's position from the central axis of the target station's opening, in order to automatically correct this deviation during insertion. High accuracy is particularly important in applications involving connector pins, which are often not perfectly aligned. Here, the use of a camera is very advantageous for achieving axial alignment.

[0022] A further advantageous embodiment of the device according to the invention provides a marking device that marks the cable during transport or when the holding and transport device is stationary. A suitable marking location could, for example, be in the area of ​​a guide section. In the case of two conveyor belt pairs connected in series, the middle guide section is a suitable location, which is then provided with a corresponding access point for the marking device, in particular a laser-based marking device.

[0023] The described device according to the invention could be part of an entire system, within which the components, such as the at least one target station and, if applicable, the extraction station, are coordinated and interact with each other.

[0024] According to a preferred embodiment, where the removal station is a cutting station, it could be adapted to and interact with the robot's tool. Specifically, the robot's tool could include a holding and transport device whose feed rate corresponds to the feed rate achieved by the cutting station. This same feed rate enables smooth transport of the electrical conductor without fluctuations.

[0025] Another preferred embodiment of the system according to the invention could implement coordination and interaction between the robot's tool and a target station such that the target station has position markers and the robot's tool has detectors for recognizing these position markers. The robot could then position the tool appropriately and align it with the target station. This position marker configuration can also be applied to the removal station. Furthermore, data processing and signal generation for the movement sequences could be advantageous in this case.

[0026] Particularly when the device according to the invention is used as a component within the system, the robot tool could include a centering device equipped with guide sections. At least the end of the electrical cable intended for use at the target station could remain within the centering device in the operating position and not protrude, but rather be flush, until the tool is positioned before being transferred to the target station. Only then is the cable advanced further towards the target station and the transfer carried out. In this way, positioning is not hindered until the transfer to the target station, and any loss of quality at the cable end is prevented. When the tool approaches the target station, interactions between position markers and detectors are also advantageous with regard to the precision of the cable feed to the target station.

[0027] According to a preferred embodiment of the system according to the invention, it is intended to react flexibly to different electrical conductors. The essential solution of the invention was found to provide a storage unit for centering devices that are reversibly or detachably connected to the tool and adapted to different cross-sections of electrical conductors when using a device according to the invention as a component in the system according to the invention. The plate-shaped components of the centering devices carry guide sections that are adapted to the type of conductor and the cross-sectional dimensions of the conductor coming from the dispensing station. Changing the centering device should be quick. Magnetic connections to the tool and the storage unit are suitable for this purpose. Projections on the plate-shaped component that engage in grooves or bayonet openings on the storage unit would also be conceivable.The storage unit with the centering devices could be another component of the system according to the invention.

[0028] For the automated execution of processes in the system according to the invention, it is particularly advantageous if a control system is provided as a further system component. This control system operates the dispensing station, the destination station, the tool, the robot, and—if present—the storage unit with the centering devices. Furthermore, the control system is also intended to coordinate the work processes. For example, the desired conductor cross-section and the centering device to be used with the appropriate guide sections must be coordinated, as well as all robot movements with regard to the process, the tool movements, and the feed and retract movements of the conductor within the tool itself, or with regard to cutting the conductor to length, stripping, assembling with a contact component, and mounting the conductor at application points such as sockets, control cabinets, cable harnesses, etc.

[0029] Controlling all target stations could also include exceptions. With appropriate equipment, the "crimp station" component could independently execute a crimping program without requiring the "control" component. The "control" component would then become active again when the crimped wire end is inserted into the tool, followed by subsequent steps such as crimping the second wire end after tool rotation, connector-wire assembly, and / or dropping the crimped wire into a storage area after opening the tool. In this context, it is particularly advantageous if the "control" component had a receiver unit that interacts with a transmitter unit of the crimp station, which operates according to its own program.This refers to crimping stations that measure, monitor, and record crimping forces for quality assurance. This data would then be advantageously processed by the system's control component. If the crimping station sends a signal indicating a defective crimp resulting in a reject, the control component would activate the robot to eject the rejected wire into a reject bin.

[0030] The at least one target station of the system according to the invention could be a wire stripping station and / or a crimping station and / or an electrical component and / or a connector socket and / or a connector bank and / or a control cabinet and / or a cable harness and / or a storage area for cut and / or stripped and / or contact-assembled electrical cables. The target station "electrical component" is intended to include all possible device connections or connection technologies, including those where the connection is made via contact components connected to the electrical cable in the form of terminal blocks. The target station "crimping station" could be in the form of existing or purchased semi-automatic crimping machines that crimp wire ferrules / cable lugs / connector pins. Alternatively, a target station could also be in the form of a combined wire stripping and crimping station.Furthermore, the destination station could be at least a plug-in battery whose plugs are connected to the corresponding cable. Alternatively, the destination station could be a control cabinet connected to the corresponding electrical cable. Another possibility for a destination station could be at least a cable harness to which the electrical conductors are transported, and where assembly is then carried out on the cable harness itself using a connection-bending technique. Finally, a soldering station could be designated as the destination station, into whose contacts the stripped wire is inserted in a centered position.

[0031] The system component, in the form of a cable harness, could include retaining devices for holding the electrical conductors on a cable harness plate. These retaining devices could be rotatable and lockable in the desired position achieved by rotation on the cable harness plate.

[0032] The holding devices could, on the one hand, accommodate stripped wires supplied by the tool at least at one end, or on the other hand, they could be designed as connector receptacles and accommodate wires fitted with connectors, also supplied by the robot's tool. In both cases, the wires can be routed in a cable harness-specific manner due to the coordination and interaction between the tool and the target station (cable harness), and thanks to the robot's mobility.

[0033] Advantageously, the cable harness plate could be provided with through-holes for the preferably magnetic positioning of the retaining devices. These through-holes could contain recesses at 45° intervals, allowing the engagement of cams on the retaining device and thus enabling the device to be rotated to accommodate the desired routing direction of the cable. A thin steel plate could be mounted behind the cable harness plate, allowing the retaining devices, which carry a magnet in the base, to be magnetically positioned and fixed in place.

[0034] The retaining device for the electrical cables could have an upward-opening U-shape, with the opening of the U-shape blocked by rotatable and spring-loaded, pivoting retaining levers. The purpose of these retaining levers is to secure the cables, which are stripped at least at one end, inserted into the retaining device, preventing them from falling out while further cables are being laid. According to a preferred embodiment, the cable is moved to the retaining device by means of a guide finger. The guide finger is stable enough to pivot the retaining levers and release the cable in the space below, where it then remains securely held between the arms of the U-shaped retaining device. This process is then repeated as many times as necessary for the wiring harness.

[0035] The holding device, designed as a connector receptacle for cables fitted with plugs, could also be magnetically attached to the cable plate. The end of the electrical cable, fitted with the plug, could then be inserted into the receptacle using the robot's tool. The holding device, designed as a connector receptacle, could be configured to form one or more plug connections. The design of the holding device with connector receptacle could also utilize a U-shape, the legs of which would need to be temporarily expandable to clip the connector receptacle into place. Furthermore, engagement elements at the ends of the U-legs and recesses on the connector receptacle could ensure its captive fixation.The "U-holder" would maintain the magnetic attachment to the cable harness plate and also the alignment in the specified routing direction according to the 45° recess grid in the passage opening.

[0036] Regarding the system according to the invention, it is emphasized that the removal station and the at least one target station are spatially separated from one another, and that the position-changing robot reaches all stations and interacts with them. This provides maximum possible freedom in the system layout, which could be adapted to any given space. Furthermore, system components can be easily modified, renewed, or replaced.

[0037] The inventive method for supplying an electrical conductor from a dispensing station to at least one target station utilizes the mobility of a robot carrying a tool in which the electrical conductor is transported from a dispensing station to a target station. The conductor is held, transported, and centered to ensure the precision of the conductor transfer.

[0038] Typically, the electrical cable, in its cut-to-length state, could be routed from the dispensing station to a holding and transport device for the tool and to a centering device for the tool. In this case, the device according to the invention could be used in the system according to the invention to carry out the method according to the invention.

[0039] According to one possible process design, in which changes are made to the first end of the electrical conductor at the destination station, which could involve stripping or fitting it with a contact component, the following process steps would be carried out: The electrical cable is transported to the target station by the robot. Within the tool, the cable is guided in a direction pointing towards the target station. The centering device centers the cable so that its first end aligns precisely with the target station. The tool's holding and transport unit then moves the cable, with its first end pointing towards the target station, into the target station (feed). At the target station, particularly a stripping or crimping station, a modification is made to the cable's first end, specifically stripping or attaching a contact component. Finally, the tool's holding and transport unit moves the cable, with its first end pointing away from the target station, back out of the target station (return).

[0040] If the second end of the electrical conductor also needs to be stripped, this could be achieved using the robot's tool, namely by rotating the tool around an axis so that the second end of the electrical conductor reaches the target station and by subjecting the second end of the electrical conductor to the same process steps as the first end of the conductor.

[0041] At target stations in the form of a storage unit, the cut-to-length cable, or the cable stripped at one or both ends, or the electrical cable fitted with a contact component, is released by the robot's tool and falls into a storage unit, which could be a container.

[0042] If the target station is an assembly location, such as a plug socket, the electrical cable, which is fitted with a contact component at one or both ends, is inserted into the plug socket by the robot using the contact component in the form of a plug.

[0043] If the destination station is an assembly location, such as a cable harness, the robot can assemble the cable there, either stripped at one or both ends or fitted with a contact component at one or both ends.

[0044] There are now various ways to advantageously elaborate and further develop the teaching of the present invention. For this purpose, reference should be made, on the one hand, to the claims subordinate to claim 1, and on the other hand, to the following explanation of four exemplary embodiments of the invention with reference to the drawing. In conjunction with the explanation of the cited exemplary embodiments of the invention, generally preferred embodiments and further developments of the teaching are also explained. The drawing shows Fig. 1 in a schematic perspective view, the device according to the invention on the robot in operating position as a first embodiment, Fig. 2 in a schematic perspective view, the object made of Fig. 1 In open position, Fig. 3 in a cutaway, schematic perspective view from a bottom angle, the rear half of the object from Fig. 1 on the robot in the open position, Fig. 4A a centering device of the device according to the invention according to a second embodiment relating to the outer side pointing away from the tool in the imagined mounted state, Fig. 4B the centering device made of Fig. 4A , concerning the inside facing the tool in the imagined assembled state, Fig. 5 a bottom view of the object from the Figs. 4A and 4B , assembled and in operating position, Fig. 6 a schematic perspective view of the object from Fig. 1During the removal of the cable from the removal station, Fig. 7 shows a schematic sketch of the system according to a third embodiment, Fig. 8 shows a schematic perspective view of a target station of the system according to a fourth embodiment relating to a cable harness panel, and Fig. 9 shows a schematic perspective view of a holding device for electrical cables for laying on the cable harness panel. Fig. 8 .

[0045] The Fig. 1 and 7 Figures 3-6 and 33 show a device for supplying an electrical conductor 1 from a supply station 2 to at least one destination station 3-6. A specific supply station 2 in the form of a cutting device is the Fig. 6 to be removed. A position-variable robot 7 with a tool 8 is provided for receiving the electrical line 1, 30 and for transporting it to a target station 3 - 6, 33.

[0046] According to the invention, the tool 8 has a holding and transport device 9 and a centering device 10 for the electrical line 1, 30.

[0047] The holding and transport device 9 is equipped with four drives 11 for the realization of the advance and retraction of the electrical line 1, 30, which in Fig. 2 is shown. The holding and transport device 9 of the in the Figures 1 to 6 The first two embodiments shown comprise two pairs of conveyor belts 12 arranged on a longitudinal axis L, wherein the conveyor belts 13 of each pair 12 are arranged opposite each other. The electrical conductor 1 is transported and held between the conveyor belts 13.

[0048] The Fig. 1shows that the tool 8 can be rotated about at least one of the two axes A, B belonging to the robot 7, as indicated by the unspecified arrows, in order to bring both the first end of the already cut electrical conductor 1 and its second end into position at the target station 3 - 6, 33. While in Fig. 1 The operating position C of tool 8 is shown, which results from Fig. 2The open position D of the split holding and transport device 9 and the split centering device 10. The unspecified arrows indicate the parallel displacement of the parts of the tool 8 relative to each other to achieve the open position D and relative to each other to achieve the operating position C. In the first and second embodiments, the displacement is perpendicular to the longitudinal axis L. In the first embodiment, the part of the tool 8 adjacent to the robot 7 is rigidly connected to a holding plate 21 of the robot 7, so that the displacement is carried out via the front part of the tool 8, which points away from the holding plate 21. In the first embodiment, the centering device 10 is fixed in the tool 8 via the split plate-shaped component 20.

[0049] Regarding the centering device 10, the first and second embodiments have in common that three divided guide sections 14 with grooves 15 are provided, which in operating position C are adapted to the cross-section of the electrical conductor 1. The guide sections 14 are arranged between and after the two conveyor belt pairs 12. The end guide sections 14 have smaller dimensions in the direction of the longitudinal axis L than the middle guide section 14, which extends over the entire distance between the two conveyor belt pairs 12. All guide sections 14 have inlet and outlet areas with a funnel shape 22, which assist in centering the conductor 1. The funnel shape 22 widens towards the respective free end of each guide section 14. Furthermore, both plate-shaped components 17 and 20 have two recesses 25 per part, which are adapted to the two conveyor belt pairs 12.

[0050] The second embodiment is described in the Fig. 4A, 4B and 5 shown. There, the centering device 10 can be detachably connected to the tool 8 via magnets 19. The Fig. 4B shows the side of the plate-shaped component 17 with the magnets 19 facing the tool 8 in the imagined assembled state, which is in Fig. 5 They are only shown as dashed lines because they are hidden. Fig 4A Figure 1 shows the side of the plate-shaped component 17 pointing away from the tool 8 in the imagined assembled state, with engagement means 16 for attachment to a storage device (not shown) with recesses / recesses for receiving the engagement means 16. Furthermore, connecting means 18 for attaching the guide sections 14 to the plate-shaped component 17 are shown.

[0051] Out of Fig. 5It follows that, according to the second embodiment, the centering device 10 additionally comprises a guide finger 23, which projects from the tool 8 and is aligned with the longitudinal axis L. The longitudinal axis L coincides with the central axis of the electrical conductor 1. The guide finger 23 is designed here as a separate component and is located downstream of the guide section 14 pointing away from the removal station 2. The guide finger 23 is also designed in two parts and, to achieve an open position D, is analogous to... Fig. 2The guide finger 23 can be moved apart to allow access to the electrical line 1 after assembly. This movement is achieved via a pneumatically operated mechanism 24, which moves the guide finger 23 apart and together. In the second embodiment, the holding and transport device 9 and the centering device 10, insofar as they relate to the plate-shaped components 17, 20 and the guide sections 14, are moved apart and together by a different pneumatic drive, not shown here.

[0052] The third example relates to a plant which, in summary, is Fig. 7 shown and serves to supply the electrical conductor 1, 30 from the extraction station 2 to at least one destination station 3 - 6, 33. The destination stations 3 - 6, 33 comprise a stripping station 4, a crimping station 5 and a connector battery 6. According to a diagram in the Figures 8 and 9In the fourth embodiment shown, a target station 3 in the form of a cable harness plate 33 is provided. A position-variable robot 7 with a tool 8 is used for feeding. The tool 8 serves to hold the electrical conductor 1, 30, which is transported to the respective target station 3 by the robot 7. Additionally, in Fig. 7 Three sorting containers 32 are shown, in which the assembled cables 1, 30 are collected according to various criteria, such as plug type, length, two-end assembly.

[0053] According to the invention, at least the target station 3-6, 33 is aligned with and interacts with the tool 8 of the robot 7. The removal station 2, which is shown here according to Fig. 6The cutting station is designed to be compatible with and interacts with the tool 8 of the robot 7. Specifically, the holding and transport device 31 of the removal station 2 and the holding and transport device 9 of the robot 7 have the same feed rate with regard to transporting the electrical cable 1. The removal station 2 further comprises a frame 27, a guide component 26 for the cable 1, a guide component 29 for the cable 30, and a cutting device 28, which performs the cutting to length.

[0054] The in Fig. 1 The device shown depicts an opening 42 formed by the grooves 15 of the guide section 14 of the centering device 10 in operating position C. The line 1 projects beyond this opening. In the application with respect to the target station 3-6, 33, the line 1 is flush with the opening 42. Fig. 1 , which is formed by the grooves 15, and flush with the opening 43 of the guide finger 23 Fig. 5 .

[0055] The in the Figs. 8 and 9 The fourth embodiment shown depicts a target station 3 in the form of a cable harness plate 33. The interaction between the tool 8 of the robot 7 and the cable harness plate 33 consists of U-shaped holding devices 37 with retaining levers 40 for holding the electrical conductors 1, 30 on the cable harness plate 33. The cable harness plate 33 has through-openings 34, at the edge of which 45° grid recesses 35 are arranged. A magnetic base plate 36 is located below the cable harness plate 33.

[0056] To enable the holding device 37 to be rotated and fixed in a desired position, the holding device 37 has a cam 38 for engaging in the desired 45° grid recess 35 and a magnet that interacts with the magnetic base plate 36. With 41, in Fig. 9A screw hole is designated that receives the magnet. The connection of the line 1, 30 is achieved by the guide finger 23 being made of Fig. 5 The movable retaining levers 40 are displaced, and the conductor 1, 30 is laid down in the space below, which is laterally separated by the U-shaped arms of the retaining device 37. The emptied guide finger 23 is then removed from the cable harness plate 33 along with the tool 8. The spring slots 39 in the U-shaped arms of the retaining device 7 and in the retaining levers 40, which accommodate springs for generating the restoring force, are designated 39.

[0057] The inventive method for supplying the electrical conductor 1, 30 from a pickup station 2 to a target station 3-6, 33 employs a robot 7 with a tool 8. Essential to the invention are the transport steps in combination with the centering of the conductor, which ensures precise positioning and partial insertion into the target station 3-6, 33.

[0058] Based on the Figure 6 , 1 , 5 and 8, 9 The following process steps are explained, which are carried out using the device with guide finger 23 and end at a plug-in battery 6 as the last target station 3. The electrical conductor 1 is inserted into the tool 8 via the extraction station 2 (here, the cutting station) to the desired length, with the same transport speed prevailing in the holding and transport devices 31 and 9. The electrical conductor 1 is cut to length by means of the cutting device 28. The electrical conductor 1 protrudes from the opening 41 and is transported back within the holding and transport device 9 of the tool 8 so that the beginning of the conductor is flush with the opening 41. The electrical conductor 1 is then moved by the robot 7 to the stripping station 4 (target station 3). Alignment, precise centering, insertion (feed), stripping, and removal (return) from the stripping station 4 take place; the stripped end is not returned to the tool 8.The electrical conductor 1 is placed in a crimping station 5, where it is aligned, precisely centered, inserted (fed), fitted with the connector, and transported (returned) out of the crimping station 5. The fitted end of the conductor 1 remains in front of the guide finger 23. The robot moves the conductor 1 with the connector end to the connector battery 6 as the target station 3, where it is aligned, precisely centered, inserted (fed) into the socket of the connector battery 6, and the conductor 1 is released.

[0059] If both ends of the electrical cable 1 are to be fitted with connectors, after stripping the insulation from the first cable end, the tool 8 is rotated 180° around axis B so that the insulation from the second cable end can be stripped. The second cable end can then be crimped first, after which the tool is rotated 180° again and the first cable end is crimped. Finally, in this case, two sockets of the connector assembly 6 are fitted, and the assembled electrical cable 1, 30 is only released after the second fitting.

[0060] Regarding further features not shown in the figures, please refer to the general part of the description.

[0061] Finally, it should be noted that the teaching according to the invention is not limited to the embodiments discussed above. Rather, various process flows are conceivable; the division of the holding and transport device and the centering device could, for example, be realized using tilting techniques instead of sliding techniques. With regard to the system, further target stations, such as a soldering station, could be added. Reference symbol list 1 Electrical line 23 guide finger 2 sampling station 24 Mechanism (Open / Operating) 3 Destination station 25 Exclusion 4 wire stripping station 26 Guide component 5 Crimping station 27 frame 6 Plug-in battery 28 Cutting device 7 robot 29 Alternative guide component 8 Tool 30 Alternative line 9 Holding and transport equipment 31 Holding and transport equipment 10 Centering device 32 Sorting container 11 drive 33 Wiring harness plate 12 conveyor belt pair 34 Passage opening 13 conveyor belt 35 45° grid recess 14 Guided section 36 Magnetic base plate 15 Nut 37 Holding device 16 Interventional tools 38 cam 17 Plate-shaped component 39 spring slots 18 Fastener 40 Swivel lever 19 magnet 41 Screw hole for magnet 20 Plate-shaped component 42 opening 21 Mounting plate 43 opening 22 funnel shape A axis of rotation B axis of rotation C Operating position D Disclosure E axis of rotation

Claims

1. Device for feeding an electric line (1, 30) from a removal station (2) to at least one target station (3 - 6, 33), wherein a position-adjustable robot (7) with a tool (8) for picking up the electric line (1, 30) is provided and wherein the electric line (1, 30) can be transported to the target station (3 - 6, 33) by means of the robot (7), characterized In that the tool (8) comprises a holding and transport device (9) and a centering device (10) for the electric line (1, 30).

2. Device according to claim 1, characterized in that the holding and transport device (9) for feeding and retracting the electric line (1, 30) is equipped with at least one drive (11).

3. Device according to claims 1 or 2, characterized in that the holding and transport device (9) comprises at least one pair of conveyor belts (12), wherein the conveyor belts (13) of the pair of conveyor belts (12) are arranged opposite each other and wherein the electric line (1, 30) can be transported between the conveyor belts (13).

4. Device according to one of claims 1 to 3, characterized in that the tool (8) with the holding and transport device (9) and the centering device (10) can be rotated about at least one axis (A, B) in order to bring both the first end of an electric line (1, 30) that has already been cut to length and its second end into position relative to the target station (3 - 6, 33).

5. Device according to one of claims 1 to 4, characterized in that the holding and transport device (9) and the centering device (10) can be moved into an open position (D) and into an operating position (C).

6. Device according to one of claims 1 to 5, characterized in that the centering device (10) is reversibly assigned to the tool (8) and can be detachably connected to the tool (8).

7. Device according to one of claims 1 to 6, wherein the centering device (10) has at least one guide section (14) that is matched to the cross-section of the electric line (1, 30).

8. Device according to claim 7 in conjunction with claim 3, characterized in that the guide section (14) is arranged before and / or after the pair of conveyor belts (12).

9. Device according to one of claims 1 to 7, characterized in that the centering device (10) comprises at least one guide finger (23) which preferably protrudes from the tool (8).

10. System with a device according to claim 1, characterized In that at least the target station (3-6, 33) is coordinated with the tool (8) of the robot (7) and interacts with it.

11. System according to claim 10, characterized in that the removal station (2) is a cutting-to-length station that is coordinated with the tool (8) of the robot (7) and interacts with it, wherein the tool (8) of the robot (7) and the removal station (2) each comprise a holding and transport device (9, 31) which have the same feed speed for transporting the electric line (1, 30).

12. System according to claim 10 or 11, characterized in that the end of the centering device (10) facing the target station (3-6, 33) contains the electric line (1, 30) flush at least before it is transferred to the target station (3-6, 33).

13. System according to one of claims 10 to 12, characterized in that a control system is provided which controls and, if necessary, coordinates the removal station and the target station, the tool, and the robot.

14. System according to one of claims 10 to 13, characterized in that the at least one target station (3-6, 33) comprises a stripping station (4) and / or a crimping station (5) and / or an electrical component and / or a plug socket and / or a plug battery (6) and / or a switch cabinet and / or a cable harness plate (33) and / or a storage facility for electric lines (1, 30) that have been cut to length and / or stripped or fitted with contact components.

15. System according to claim 14, wherein a target station (3) is provided in the form of a cable harness plate (33), characterized in that retaining devices (37) with retaining levers (40) for retaining the electric lines (1, 30) on the cable harness plate (33) are arranged, preferably rotatably and fixable in the desired position brought about by rotation.

16. Method for feeding an electric line from a removal station to at least one target station, wherein a position-adjustable robot with a tool for picking up the electric line is provided and wherein the electric line is transported to the target station by means of the robot, characterized In that the electric line is held, transported, and centered in the tool in such a way that the electric line arrives at the target station in a precisely positioned manner and is partially inserted into it.

17. Method according to claim 16, characterized in that the electric line, when cut to length, is transferred from the removal station to a holding and transport device of the tool and to a centering device of the tool.

18. Method according to claim 17, characterized in that • the electric line is moved with the robot to the target station, • the electric line is transported within the tool in a direction pointing toward the target station, • the electric line is centered in the centering device so that the first end of the electric line points precisely toward the target station, • the holding and transport device of the tool then transports the electric line with the first end into the target station in a direction pointing towards the target station (feed), • a change is made to the first end of the line in the target station, in particular a stripping station or a crimping station, in particular stripping or assembly with a contact component, and • that the holding and transport device of the tool then transports the electric line with the first end back from the target station in a direction away from the target station (return transport).

19. Method according to claim 18, characterized in that, in order to make a change at the second end of the electric line, the tool is rotated about an axis so that the second end of the electric line reaches the target station and is subjected to the same process steps as the first end of the line.