Method for the automated wrapping of a wrapper part onto a workpiece and automated winding machine
Patent Information
- Application Number
- EP2023720863
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-05-02
- Filing Date
- 2023-04-20
- Publication Date
- 2025-03-12
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The manual winding process of cable sets with wrapping tape is time-consuming and inefficient, requiring separate systems for wrapping and attaching holding parts, which increases production costs and cycle times.
An automated winding machine with a pivoting winding head and angularly movable tape roll allows for simultaneous wrapping of cable sets and holding parts using adhesive tape, creating a spiral wrap without prior cutting, integrating winding and attachment processes for increased efficiency.
This automated solution reduces production costs, cycle times, and system complexity by integrating wrapping and attachment processes, enabling faster and more efficient manufacturing with reduced manual intervention and space requirements.
Smart Images
Figure 1.1
Abstract
Description
[0001] METHOD FOR AUTOMATED WINDING OF A WINDING PART TO A WORKPIECE AND WINDING MACHINE
[0002] Technical area
[0003] The present invention relates to a method for the automated winding of a winding part onto a workpiece and to an automatic winding machine.
[0004] State of the art
[0005] The present invention will be described below mainly in connection with cable harnesses for vehicles.
[0006] A vehicle's wiring harness can be protected by wrapping it with wrapping tape. The wrapping tape can be wrapped around the wires of the wiring harness using an automatic winding machine. The wrapping tape is stored on a tape reel. The automatic winding machine guides the tape reel in a circular motion around the wires to be wrapped. The wrapping tape is unwound from the tape reel and wrapped around the wires. To wrap a section of the wiring harness, the automatic winding machine and the wiring harness are moved relative to each other along the section, while the tape reel circles the wires in the section. This creates a spiral wrapping of the section.
[0007] For example, DE 102017 108 819 B4 describes wrapping a wiring harness with tape. Retaining elements can be used to secure the wiring harness to the vehicle. Using these retaining elements, the wiring harness can be attached to holes, sheet metal edges, or protruding pins on the vehicle body. The retaining elements can be attached to the wiring harness using cable ties, for example. The retaining elements can also be attached manually to the wiring harness using wrapping tape.
[0008] Description of the invention
[0009] An object of the invention is therefore to provide an improved method for the automated winding of a wound part onto a workpiece and an improved winding machine using the simplest possible design means. An improvement in this case may, for example, relate to the automation of a cable harness manufacturing process and, consequently, to time savings in the production of the cable harness.
[0010] The object is achieved by the subject matter of the independent claims. Advantageous developments of the invention are specified in the dependent claims, the description, and the accompanying figures.
[0011] The approach presented here uses an automatic winding machine that has a winding head that can be pivoted about at least one axis in order to wind winding parts onto a cable set using a winding tape.
[0012] The approach presented here automates a wrapping process that was previously performed manually. During the wrapping process, two objects to be joined together are wrapped together by a single wrapping process.
[0013] According to a first aspect of the invention, a method for the automated winding of a wound part onto a workpiece is presented, wherein a first wound-on wing and a second wound-on wing of the wound part are applied to the workpiece, and a winding tape is wound around the workpiece and the first wing using a winding head of an automatic winding machine that is movable relative to the workpiece. The winding head is moved along the first wing in the direction of a center piece of the wound part arranged between the wings and is pivoted from an initial position into a first inclined position oblique to the first wing. The winding is interrupted, and the winding head is pivoted from the first inclined position over the center piece into an opposite second inclined position oblique to the second wing. The winding is continued and the winding tape is wound around the workpiece and the second wing.wherein the winding head is moved away from the center piece along the second wing and is pivoted from the second inclined position back to the starting position.,
[0014] According to a second aspect of the invention, an automatic winding machine for the automated winding of a workpiece with a winding tape is presented, wherein the automatic winding machine is designed to carry out the method of the first aspect of the invention.
[0015] A winding tape can be an adhesive tape. The winding tape can be, for example, a PVC adhesive tape, a fabric tape, or a nonwoven adhesive tape. The winding tape can be wound up and stored on a tape roll. The tape roll can be moved around a workpiece by an automatic winding machine, whereby the winding tape is wound onto the workpiece. The automatic winding machine can have a winding head that is motor-driven and movable relative to a workpiece and has a recess for the workpiece to pass through. The automatic winding machine can further have a rotor for the tape roll that is motor-driven and rotatable around the recess. The winding head can be pivoted about at least one axis. The winding head can, for example, be attached to a robot arm and moved freely by the robot arm. The workpiece can, in particular, be a cable harness for a vehicle.
[0016] A wound part can be suitable for being connected to the workpiece using the winding tape. The wound part can, in particular, form a fastening point for securing the workpiece to an installation location. The fastening point can be arranged at a center piece of the wound part. The wound part can then be referred to as a holding part. The wound part can have at least one wing or extensions that can be applied to the workpiece essentially parallel to the workpiece. The winding tape can then be wound onto the applied wings. The center piece can be arranged between the wings.
[0017] The workpiece and the first vane can be arranged in the area of a pivot point of the rotor. The pivot point of the rotor can be referred to as the winding center. The rotor with the tape roll can be moved with a winding movement in the circumferential direction and / or radially around the winding center. The winding movement can unwind the winding tape from the tape roll and wind it onto the workpiece and the vane. The winding head can be guided axially along the workpiece and the vane towards the center piece to create a spiral winding on the workpiece and the vane. The winding head can be positioned at an angle to the workpiece and the vane. Guiding and positioning can take place independently of one another or simultaneously. When the winding reaches the center piece, the winding movement can be interrupted and the winding head swiveled over the center piece.The winding head can be moved away from the center piece along the second wing and the workpiece. The winding head can be straightened again. The movement and straightening can occur independently or simultaneously.
[0018] By tilting and moving the rotor along the blade, several webs of winding tape are wound on top of each other in layers on the blade, while on a side of the workpiece facing away from the starting winding part, the webs are wound essentially side by side or with a predetermined overlap. The winding tape can also be wound onto areas in the center section facing away from the starting winding part. By pivoting from the first blade to the second blade, the center section is kept clear. This creates a recess in the winding in the center section.
[0019] The tape reel with stored winding tape can be mounted so that it can move at an angle relative to the winding head. The tape reel can be mounted so that it can move at an angle and can rotate about at least one axis. The winding tape can be unwound from the tape reel, which is angularly movable relative to the winding head. The tape reel can be aligned by a tensile force on the winding tape. Due to the angular mobility, the tape reel can move independently into an angular position in which the winding tape is just unwound from the tape reel. Due to the angular mobility, the winding can be wound with a variable pitch. Due to the angular mobility, the winding can be wound in both directions along the workpiece. The tape reel can also be mounted on a gimbal. The gimbal mounting allows angular mobility about two axes. The tape reel can be mounted using a ball joint. The ball joint can be arranged at a center of gravity of the tape reel.The ball joint offers degrees of freedom around multiple axes. The ball joint can also be used as a bearing for the rotary movement of the tape roll. The ball joint eliminates the need for a separate bearing for angular mobility.
[0020] The winding head can be moved along the first wing and pivoted at an angle to the first wing until the center piece is positioned in the winding center of the winding head. Once the center piece is positioned in the winding center, the winding tape can be guided behind the center piece over the workpiece to the second wing.
[0021] The winding head can be pivoted around the winding center by pivoting over the center piece. By pivoting around the winding center, only a minimal amount of winding tape is unwound from the tape roll during the pivoting movement. This prevents the winding tape from slackening during the pivoting movement.
[0022] The pre-winding part can be temporarily secured during the pre-winding process using a holder connected to the center piece. The holder can be guided through the recess in the winding head as the winding head pivots over the center piece. A holder can be connected to a frame for holding the workpiece. The frame can be referred to as a construction board. The holder allows the pre-winding part to be positioned on the workpiece without pre-fixing.
[0023] The pre-winding part can be automatically positioned on the holder before winding. The pre-winding part can be inserted onto or into the holder using a robot gripper, for example. Multiple holders can also be automatically loaded with holding parts. The build board can therefore be loaded automatically. The holder can be loaded immediately before winding. Alternatively, the holder can be loaded when the workpiece is prepared for the winding process.
[0024] The rotor of the winding head can be stopped in a pivoting position before pivoting the winding head over the center piece. A position of the rotor recess in the pivoting position can essentially correspond to a position of the winding head recess. The bracket can be guided through both recesses.
[0025] The winding tape can be wound onto the workpiece before the winding part is wound and guided from the workpiece directly onto the first wing. Alternatively or additionally, the winding tape can be guided directly onto the workpiece by the second wing after the winding part is wound and then further wound onto the workpiece. The winding of the winding part can be seamlessly integrated into the winding of the workpiece before and / or after the winding part. In particular, the winding of the winding part can take place without prior and / or subsequent cutting of the winding tape.
[0026] Short character description
[0027] An advantageous embodiment of the invention is explained below with reference to the accompanying figures. They show:
[0028] Fig. 1 is a representation of an automatic winding machine according to an embodiment;
[0029] Fig. 2 shows a representation of a sequence of a method according to an embodiment.
[0030] The figures are schematic representations and serve only to illustrate the invention. Identical or equivalent elements are provided with the same reference numerals throughout.
[0031] Detailed description
[0032] Fig. 1 shows an illustration of an automatic winding machine 100 according to an exemplary embodiment. The automatic winding machine 100 is designed to fully automatically wind a winding tape 102 onto a workpiece 104 and a wound-on part 106. The workpiece 104 here is a cable harness for a vehicle. The wound-on part 106 is a holding part for the cable harness. The automatic winding machine 100 is used to wind at least a partial section of the workpiece 104 with a spiral winding 108. The wound-on part 106 is wound onto the workpiece 104 within the partial section. The wound-on part 106 is at least partially wound together with the workpiece 104 in order to connect the wound-on part 106 to the workpiece 104. The winding tape 102 is an adhesive tape and is adhered to the workpiece 104 and the wound-on part 106 during winding. Here the workpiece 104 is wound before and after the winding part 106.
[0033] The workpiece 104 passes through a winding center 110 of a winding head 112 of the automatic winding machine 100. For winding, the workpiece 104 and the winding head 112 perform a relative movement axially along the workpiece 104. For the relative movement, the workpiece 104 and / or the winding head 112 can be moved. Here, the winding head 112 is attached to a robot arm and is moved by the robot arm. So that the workpiece 104 can be arranged in the winding center 110, the winding head 112 has a recess 114 leading to an interior space.
[0034] The winding head 112 has a movably mounted rotor 116. The rotor 116 has a tape reel holder 118 for a tape reel 120 with stored winding tape 102. The rotor 116 also has a recess 114. The rotor 116 is driven by a drive of the winding head 112 and performs a circumferential, tangential or circular movement around the winding center 110 with the workpiece 104 arranged there. Due to the circumferential movement, the rotor 116 with the tape reel 120 is also moved over the recess 114 of the winding head 112. In the process, the winding tape 102 is unwound from the tape reel 120 and wound onto the workpiece 104. The combination of the axial and circumferential movements results in the spiral winding 108.
[0035] In one embodiment, the tape roll 120 is mounted so as to be angularly movable relative to the rotor 116. For this purpose, the tape roll holder 118 has a pivot axis. The pivot axis is aligned in particular tangentially to the rotor 116. Due to the angular mobility, the winding tape 102 can always run straight off the tape roll 120. The tape roll 120 can thus adapt to a current pitch of the winding 108, and the winding tape 102 can run straight off the tape roll 120. As a result, the winding tape can be wound onto the workpiece 104 with a variable pitch or with a variable overlap. Likewise, the pitch of the winding 108 can be reversed, i.e., the winding tape 102 can be wound in the other direction or back onto the winding 108, for example to create a thickening in the winding 108.
[0036] In one embodiment, the tape roll holder 118 has a ball joint 122. The ball joint 122 enables angular mobility of the tape roll holder 118 in two degrees of freedom. Additionally, the tape roll holder 118 can rotate about the ball joint 122 as the winding tape 102 is unwound from the tape roll 120.
[0037] In one embodiment, the winding part 106 is arranged on the workpiece 104 using a holder 124. The holder 124 is attached to a frame 126 or construction board, which also positions the workpiece 102. The holder 124 provides the winding part 106 in its position for winding.
[0038] Fig. 2 shows a diagram of a process sequence according to one exemplary embodiment. The process is carried out using a winding machine 100 as shown in Fig. 1. The winding part 106 is applied to the workpiece 104, is wound around it at least in some areas together with the workpiece 104, and is connected to the workpiece 104 by the winding 108. The workpiece 104 here is a cable harness, and the winding part 106 is a holding element for securing the cable harness.
[0039] The winding part 106 has two wings 200. The wings 200 protrude on opposite sides from a center piece 202 of the winding part 106. The wings 200 are wound onto the workpiece 104 and thus hold the center piece 202 in position. For winding, the two wings 200 are aligned substantially parallel to the workpiece 104 and placed against the workpiece 104. The winding of the winding part 106 begins at an outer end of the first wing 200. The first wing 200 and the workpiece 104 are wrapped from the outer end towards the center piece 202. For this purpose, the winding head 112 is moved towards the center piece 202 and, from an initial position, is angled at an angle a to the wing 200 and workpiece 104.
[0040] Once the first wing 200 is wrapped, the winding movement is interrupted, and the winding head 112 pivots over the center piece 202 to the second wing 200. The winding head 112 is pivoted back by the angle α+β and is thus inclined by the angle -β to the second wing 200. The angles α and β can be the same or different. For example, the angles α and β can be different due to an asymmetrical winding head 112.
[0041] On the second wing 200, the winding movement is restarted and the winding head 112 is moved away from the center piece 202 toward the outer end of the second wing 200. The winding head is again adjusted by the angle a until it returns to its starting position.
[0042] The winding head 112 can be adjusted while the winding head 112 is being moved toward or away from the center piece 202. The movements of the winding head 112 can thus be superimposed. Likewise, the movements can be performed sequentially. The movements can also be performed in multiple steps.
[0043] In one embodiment, the rotor of the winding head 112 is stopped for pivoting over the center piece such that the recess of the rotor and the recess of the winding head essentially coincide. During pivoting, the holder of the winding part 106 (not shown here) is then guided through the recess without collision.
[0044] In one embodiment, the workpiece 104 is wound with the winding tape 202 before the winding part 106. The winding head 112 is moved along the workpiece 104 to produce the wrapping 108. Before the winding head 112 reaches a position of the winding part 106, the winding part 106 is arranged on the workpiece 104. The wrapping 108 is then wound continuously onto the first wing 200 and the workpiece 104.
[0045] In one embodiment, the wrapping tape 102 is guided from the wing onto the workpiece 104 at the outer end of the second wing 200, and the wrapping 108 on the workpiece 104 continues without interruption.
[0046] In one embodiment, the winding head 112 is adjusted and moved along the first wing 200 until the winding center is located in the region of the center piece 202. The winding movement is interrupted when the winding tape leads from the tape roll to a side of the workpiece 104 facing away from the winding part 106. During pivoting, the winding head 112 is pivoted over the center piece 202 such that the winding center remains located in the region of the center piece 202. As a result, the winding head 112 is pivoted about a neutral position, and the winding tape is kept taut.
[0047] In other words, the winding of wrap clips is presented with a wrap application.
[0048] Winding clips is a very complex and time-consuming process. This step is currently performed manually by a worker. This approach presents an automated solution for winding clips. The approach presented here results in reduced equipment costs and thus increased overall cost-effectiveness of winding clips.
[0049] With the approach presented here, the holding parts can be wound simultaneously with the winding application used to bandage the cable harness. This reduces investment costs, as no separate system station is required for winding. While the throughput time for the winding application is increased by an estimated two to three seconds per holding part, this is much more efficient than a standalone holding part application with a cycle time of approximately 14 seconds per holding part.
[0050] By winding the holding parts using the winding application, a further, essential step towards automated production and higher production efficiency can be taken.
[0051] The approach presented here eliminates the need for a standalone retaining part application. This results in the elimination of the retaining part cell, the retaining part application including the robot, and the resulting space savings. Furthermore, the cycle time per retaining part is significantly optimized by eliminating the sub-processes of cutting adhesive tape, applying flags, and the robot travel time. In addition, the overall product throughput time is optimized due to the shorter cycle time and the savings from eliminating an entry / exit process from the product carrier into the cell. This allows retaining parts to be attached cost-effectively. In the winding application presented here for taping cable harnesses and for winding two-wing retaining parts, the winding and retaining part attachment processes are combined in one cell and with one application.
[0052] Before a position for a holding part is reached, the winding application winds the cable harness. As soon as a holding part is to be attached, it is provided either via the construction board or via an external feed (e.g. robot with a star gripper). Subsequently, the winding application is tilted at an angle during taping so that the wing of the holding part can be wound without the rotor colliding with the holding part holder. In the fourth step, the winder pivots forward in the opposite direction with the rotor stationary and the opening, allowing collision-free movement over the holding part holder. The rotor then returns to a position perpendicular to the winding section and completes winding this or continues to the next holding part.
[0053] Fig. 2 illustrates the sequential steps of an exemplary embodiment. First, a section is wound. Then, the holding part is fed in, and the winding head is brought closer to the holding part. The winder is tilted, and the right holding part wing is wound. Then, the winder is moved with the opening facing forward over the holding part pin, and then the left holding part wing is wound. The rotor is then repositioned perpendicular to the winding section, and the winding continues until the section is completely wound.
[0054] To enable this process, the conventional tape holder with a fixed angle of inclination is replaced with one that can change its angle depending on the robot position. For example, a ball-head mounted tape holder is used.
[0055] Since the devices and methods described in detail above are exemplary embodiments, they can be modified widely by those skilled in the art without departing from the scope of the invention. In particular, the mechanical arrangements and the relative sizes of the individual elements are merely exemplary.
[0056] LIST OF REFERENCE SYMBOLS
[0057] 100 winding machines
[0058] 102 wrapping tape
[0059] 104 Workpiece
[0060] 106 winding part
[0061] 108 wrapping
[0062] 110 Changing Center
[0063] 112 winding head
[0064] 114 recess
[0065] 116 Rotor
[0066] 118 tape roll holders
[0067] 120 tape rolls
[0068] 122 ball joint
[0069] 124 bracket
[0070] 126 frame
[0071] 200 wings
[0072] 202 middle section
Claims
REQUIREMENTS 1. Method for the automated winding of a winding part (106) onto a workpiece (104), wherein a first windable wing (200) and a second windable wing (200) of the winding part (106) are applied to the workpiece (104) and a winding strip (102) is wound around the workpiece (104) and the first wing (200) using a winding head (112) of a winding machine (100) movable relative to the workpiece (104), wherein the winding head (112) is moved along the first wing (200) in the direction of a central section (202) of the winding part (106) arranged between the wings (200) and is pivoted from an initial position into a first inclined position oblique to the first wing (200), then the winding is interrupted and the winding head (112) is moved from the first inclined position over the central section (202) into an opposite second inclined position obliquely is swung to the second wing (200),the winding process then continues and the winding belt (102) is wound around the workpiece (104) and the second wing (200), with the winding head (112) being moved away from the center piece (202) along the second wing (200) and pivoted from the second inclined position back to the starting position.
2. Method according to claim 1, wherein the winding tape (102) is unwound from a tape roll (120) which is angularly movable relative to the winding head (112).
3. Method according to one of the preceding claims, wherein the winding head (112) is moved along the first wing (200) and pivoted obliquely to the first wing (200) until the central piece (202) is arranged in a winding center (110) of the winding head (112).
4. Method according to claim 3, wherein the winding head (112) is pivoted about the winding center (110) when pivoting over the central piece (202).
5. Method according to one of the preceding claims, wherein the winding part (106) is temporarily fixed during winding using a holder (124) connected to the central part (202), wherein the holder (124) The winding head (112) is pivoted over the central piece (202) through a recess (114) of the winding head (112). A method according to claim 5, wherein the winding part (106) is automatically arranged on the holder (124) before winding. A method according to any one of claims 5 to 6, wherein a rotor (116) of the winding head (112) is stopped in a pivoting position before the winding head (112) is pivoted over the central piece (202), wherein a position of a recess (114) of the rotor (116) in the pivoting position essentially corresponds to a position of the recess (114) of the winding head (112). Method according to one of the preceding claims, wherein the winding belt (102) is wound onto the workpiece (104) before the winding part (106) is wound onto the workpiece (104) and is guided directly from the workpiece (104) onto the first wing (200).A method according to any one of the preceding claims, wherein the winding belt (102) is guided directly onto the workpiece (104) by the second wing (200) after the winding of the winding part (106) and is further wound onto the workpiece (104). A winding machine (100) for the automated winding of a workpiece (104) with a winding belt (102), wherein the winding machine (100) is configured to perform the method according to any one of the preceding claims. A winding machine (100), in particular according to claim 10, wherein the winding machine (100) has a winding head (112) that is movable relative to a workpiece (104) and pivotable about at least one axis for creating a wrapping (108) of the workpiece. A winding machine (100) according to any one of claims 10 to 11, wherein a belt roll (120) with stored winding belt (102) is mounted so as to be angularly movable relative to the winding head (112). Winding machine (100) according to claim 12, in which the tape roll (120) is mounted using a ball joint (122), wherein the ball joint (122) is arranged in a center of gravity of the tape roll (120).