Assembly head and method for automatically wrapping a line strand

Abstract

The invention relates to an assembly head (2) and a method for the particularly fully automatic taping of a transversely extending (Q) conductor string (10) with a tape (14). The assembly head (2) has a winding module (16) with a winding head (18) that is rotatable about a rotation axis extending in the transverse direction (Q), and with a taping unit (20) for supplying and guiding the tape (14), wherein the winding head (18) is open at the front, particularly in the longitudinal direction (L), so that the conductor string (10) can be inserted laterally into an interior space of the winding head (18). The assembly head (2) preferably has at least one pair of guide rollers (32) that guide the individual conductors between them, so that twisting of the individual conductors about the rotation axis is avoided.

Description

[0001] The invention relates to an assembly head and a method for the automated, in particular fully automated, banding of a cable harness.

[0002] In this context, a conductor bundle is generally understood to be a strand-shaped, preferably flexible structure, in particular a preferably electrical conductor bundle, which is composed of one or more (electrical) (conductor) elements (individual conductors). In the manufacture of cable assemblies, which have a large number of individual conductors and often also a branched structure, the individual elements are frequently bundled together by means of taping. In the taping process, a tape, for example adhesive tape and / or a textile tape, is wrapped around the conductor bundle.

[0003] Such banding is often still done manually or with a hand-held device and therefore requires a high level of assembly effort.

[0004] German patent DE 10 2019 213 325 A1 discloses a mounting head for the automated wrapping of a cable bundle, in which the cable bundle can be inserted laterally into a winding head, and pressure elements with rollers are provided. A swiveling cutting unit for cutting the tape is attached to a frame to the side of the winding head.

[0005] DE 10 2017 109 819 A1 describes a winding device in which a belt roll can be moved along a C-shaped support area by means of a rotary component.

[0006] WO 2015 / 055753 A1 describes an assembly station for the automated attachment of clips to a cable bundle. A positioning unit first positions the clips on the cable bundle before they are then secured by wrapping them with a tape.

[0007] US 4 707 214 A describes another winding device for wrapping a conductor with a rectangular cross-section with insulating tape, wherein the dimensions of the conductor are calibrated by pressure rollers after wrapping.

[0008] US Patent 6,119,749 A describes a winding device in which a gripping unit grasps a cable to be wound and inserts it into a winding head before the winding process begins. After the winding process, the gripping unit removes the cable from the winding head, and a cutting element cuts the tape.

[0009] Based on this, the invention aims to enable automated banding.

[0010] The problem is solved according to the invention by a mounting head according to claim 1 and by a method using such a mounting head according to claim 15.

[0011] Preferred embodiments are included in the dependent claims.

[0012] The assembly head is generally used for the automated, and in particular fully automated, banding of a transversely extending cable strand with a tape. In addition to the transverse direction, the assembly head itself also extends longitudinally and vertically. It comprises a winding module with a winding head that is rotatable about a transversely extending axis of rotation. The winding module preferably includes a drive mechanism that sets the winding head into rotation.

[0013] The winding head itself preferably comprises a ring segment with a central winding chamber. The ring segment has a lateral insertion opening for the lateral (transverse to the transverse direction) insertion of the conductor string into the winding chamber. The drive for the winding head is preferably designed as a belt drive, wherein a drive belt engages, in particular, with external teeth on the winding head and thereby sets it in rotation.

[0014] The assembly head also features a taping unit for supplying and guiding the tape.

[0015] For taping the cable harness, the cable harness and the assembly head are moved relative to each other in or against the longitudinal direction, so that the cable harness is inserted laterally into the winding head. Using the taping unit, the tape is then applied to the cable harness and subsequently wound around it. At the end of the taping process, the tape is cut and separated. Preferably, this is followed by a movement to ensure the tape end adheres securely to the cable harness.

[0016] A suitably designed control unit is generally arranged to control the movement sequence of the assembly head, with the help of which the individual steps and movements during banding, as explained in detail below, are initiated.

[0017] The cable assembly typically consists of several individual conductors. These are preferably single-core or multi-core sheathed electrical cables. Alternatively, the conductor elements can also be busbars wrapped with tape. Other types of individual conductors, or even different types of individual conductors, can also be combined in the cable assembly. In one embodiment, at least some of the individual conductors are designed as fluid lines, such as hoses. Preferably, the cable assembly is a purely electrical cable assembly.

[0018] Overall, this achieves a fully automated banding of a cable bundle.

[0019] Preferred training courses are included in the sub-requirements.

[0020] A first preferred aspect lies in the design and control of a cutting element, particularly in combination with a (further) pressing element according to claims 2-10. This design enables fully automatic stripping of the tape at the end of the taping process and, preferably, furthermore, pressing of the tape end against the conductor.

[0021] The cutting element is attached to the banding unit and is therefore part of the banding unit.

[0022] In a preferred embodiment, the cutting element is designed in the manner of a blade, which is oriented particularly in the transverse direction.

[0023] The taping unit is generally attached to the winding head, regardless of the arrangement of the cutting element on the taping unit. During taping, the winding head rotates around its axis of rotation, and therefore the taping unit attached to the winding head also rotates. In the configuration where the cutting element is attached to the taping unit and thus forms part of it, the cutting element also rotates during the taping process.

[0024] In operation, the taping unit is preferably controlled such that, at the end of the taping process, it is moved into a cutting position, particularly against the longitudinal direction. This movement brings the cutting element into a defined cutting position. Moving the taping unit back away from the cable bundle also tensions the tape, making it easier to cut. The taping unit is therefore generally movable and adjustable, especially on or with the winding head. Thus, an actuating mechanism with an actuator is designed to execute the desired positioning movement of the taping unit.

[0025] Generally, the banding unit has a tape dispenser to which the tape, specifically a tape roll, is attached. The tape supply is generally sized to be sufficient for several banding operations. Once the tape supply on the tape roll is exhausted, a new tape roll is attached to the tape dispenser. Alternatively, the tape is wound directly onto the tape dispenser.

[0026] According to a preferred embodiment, the cutting element for cutting the tape is movable in the direction of the tape. For this purpose, the cutting element is, for example, movably arranged on the taping unit. Preferably, however, the cutting element is moved by a movement of the taping unit, and in particular also of the winding head to which the taping unit is attached, especially without relative movement to the taping unit.

[0027] In a preferred embodiment, the cutting element is moved towards the tape by a pivoting motion. This is achieved, in particular, by a pivoting and thus rotary motion of the tapering unit and, consequently, also of the winding head. The particular advantage here is that a rotary drive for the rotary motion of the winding head is simultaneously used for cutting the tape with the cutting element.

[0028] After the tape is cut, a tape end is formed on the severed section, which is wound around the cable bundle. In a preferred embodiment, a pressing element is provided which can be moved towards the cable bundle such that, during the taping process, the tape end is pressed against the cable bundle. This pressing element is hereinafter also referred to as a further or second pressing element.

[0029] This additional pressure element is preferably also attached to the banding unit.

[0030] Preferably, the further pressure element is applied by a rotary movement. In a preferred embodiment, this is in turn achieved by the rotary movement of the taping unit and, in particular, the winding head.

[0031] In a preferred embodiment, both the cutting element and the additional pressure element are attached to the taping unit. Since this, in turn, is rotationally fixed to the rotatable winding head / taping unit, the tape is cut and the tape end is pressed against the conductor at the end of the taping process by at least one suitable pivoting movement of the winding head. Preferably, a single pivoting movement is sufficient for both cutting the tape and pressing the tape end against the conductor, so that first the cutting element cuts the tape and subsequently the additional pressure element presses the tape end against the conductor.

[0032] In a preferred embodiment, the cutting element and the other pressure elements are therefore arranged one behind the other, opposite to a pivoting direction. They are thus arranged with a rotational offset from each other.

[0033] To ensure the gentlest possible pressing of the belt end, the additional pressing element is preferably designed as a flexible tab or a brush.

[0034] The other, second end of the tape, which remains attached to the tape supply provided by the tape dispenser and thus forms the beginning of the tape for the next taping process, also constitutes a tape end. In a further advantageous development, a holding element is arranged for the second tape end, which acts in particular as a support and / or fixing element for the tape end. The holding element is located adjacent to, and preferably directly adjacent to, the cutting element. The holding element keeps the second tape end in a defined position, for example, supporting and / or fixing it, so that it can be guided back to the conductor and attached there in a controlled manner during a subsequent taping process.Depending on the tape's properties, the problem when separating the tape is that the second end of the tape protrudes into an undefined position, from which a reliable attachment for the subsequent taping process cannot be guaranteed.

[0035] The retaining element is preferably formed by several individual pins, in particular needle-shaped pins, which preferably extend upwards from a base towards a central winding chamber and thus towards the belt. In a preferred embodiment, these pins pierce the belt, so that the belt is essentially perforated by the pins, and the belt is fixed in the desired position at the points where the pins penetrate the belt.

[0036] Generally, the taping unit preferably includes a tape dispenser on which the tape is stored. As already mentioned, the taping unit, together with the tape dispenser, is attached to the winding head and therefore rotates with it during the taping process.

[0037] According to a preferred embodiment, a balancing mass is attached to the winding head and, in particular, to the taping unit. This is an additional mass element that otherwise has no additional function. The mass element is formed, in particular, by a solid body, for example, cylindrical or cuboid, made of solid material. The additional balancing mass ensures a suitable mass distribution such that imbalance is avoided during rotation of the winding head.

[0038] The mounting head generally has a support frame to which the individual elements of the mounting head are attached.

[0039] According to a suitable design, the winding module can be moved longitudinally relative to the support frame, particularly together with the banding unit. For this purpose, suitable drive and adjustment elements are provided, for example, a suitable linear guide with drive.

[0040] In a preferred embodiment of the taping process, the winding head and the taping unit are moved longitudinally relative to the support frame, thus advancing towards the conductor tape and then moving back again. This allows for an efficient taping process, as the entire assembly head does not need to be moved. It also prevents collisions with other components used to hold the conductor bundle.

[0041] In a preferred embodiment, the cable bundle is generally routed onto a holding device, for example a so-called cable tray, i.e., laid and held according to a predetermined routing geometry, for example with suitable support elements. The banding is then carried out on this holding device using the mounting head.

[0042] In a preferred embodiment, the taping unit enables fully automatic initial fixation of the tape end to the cable bundle. Therefore, no manual fastening of the tape end is required. The subsequent taping process is also fully automatic. This fully automatic fixation is achieved, in particular, by moving the taping unit close to the cable bundle. For this purpose, the previously described relative movement of the winding module relative to the support frame is specifically provided.

[0043] In a preferred embodiment, the taping unit has a (first) pressure element that is movable towards the cable bundle. For this purpose, the pressure element is, for example, movably mounted on the taping unit and specifically pivotally movable. Alternatively, it is fixedly attached to the taping unit, and the approach to the cable bundle is effected by a delivery movement of the taping unit, which in particular also includes a pivoting movement. The first pressure element is, for example, designed as a strip-shaped element or, alternatively, as a pressure roller, which is moved against the cable bundle and thereby presses the beginning of the tape against the cable bundle.

[0044] Another preferred aspect lies in the design and control of a gripping unit, which includes gripping elements for compressing the conductor string consisting of multiple individual wires or strands. For example, two gripping units are arranged on either side of the winding head. However, according to a preferred embodiment, only one gripping unit is arranged on one side, allowing the assembly head to be as compact as possible. The gripping unit is specifically located on the side opposite the taping unit, next to the winding module. Generally, the gripping unit is preferably arranged "leading" the taping unit, so that the loose individual wires in the next section to be taped are compressed by the gripping unit.In a closed end position, the gripping elements completely enclose the cable bundle in the circumferential direction, at least in conjunction with a further gripper holder on which they are preferably pivotably mounted.

[0045] In a preferred embodiment, the individual, especially loose, conductors of the conductor bundle are first pressed against each other in their final position, compressing them into a first, compressed final position. Preferably, the individual conductors are subsequently held compressed by a further auxiliary element, in particular by the guide rollers described in more detail below, during the taping process.

[0046] For the banding process, the gripping unit is preferably moved into a further, second end position or gripping position, in which the gripping elements release the cable strand somewhat, such that the cable strand is preferably only loosely held in this gripping position. This means that the cable strand can be guided transversely through the gripping unit, or that the assembly head can be moved along the preferably stationary cable strand during the banding process.

[0047] In a preferred embodiment, the gripping elements are arc-shaped. A pivoting motion achieves the desired compression of the individual conductors of the cable bundle. The cable bundle is compressed, in particular, between these two arc-shaped gripping elements and the previously mentioned gripper holder. A suitable drive mechanism is provided to execute the pivoting motion. Specifically, an actuating element is provided that acts on a base of the gripping element and pivots it about a pivot axis.

[0048] Preferably, the gripping unit is arranged to be movable linearly in and against the longitudinal direction, preferably relative to the winding module. The gripping unit is particularly located directly next to the winding module. Specifically, it is attached to the winding module, for example via linear guides, so that it is adjustable in the longitudinal direction relative to the winding module. A suitable drive is provided for this adjustment movement.

[0049] During the taping process, the cable assembly is generally held and, in particular, kept under tension at least on one side, preferably on two opposite sides, between which the mounting head is located. The mounting head is moved transversely along the cable assembly during the taping process.

[0050] Another preferred aspect lies in the arrangement and control of guide rollers, which are preferably arranged in pairs on both sides of the winding head. The guide rollers of each pair can be moved towards the conductor, particularly in the longitudinal direction, and additionally pivoted, such that they are pressed against the conductor during operation, compressing and deforming it, at least to some extent. Preferably, the conductor has a flat cross-sectional geometry in the area of ​​the guide rollers. This prevents the conductor from twisting around its own axis. Therefore, during the taping process, the conductor is held between the two guide rollers of each pair.

[0051] The guide rollers are preferably without their own drive and are loosely mounted so that they can rotate about a roller axis. During the taping process, the assembly head moves – as described above – preferably in a transverse direction along the cable bundle. This is made possible by the guide rollers, which roll along the cable bundle, allowing it to pass through the two guide rollers.

[0052] Each pair of guide rollers is preferably adjustable in the longitudinal direction. Preferably, at least one of the pairs is attached to the gripping unit and adjustable in the longitudinal direction together with it.

[0053] At least one pair of guide rollers is preferably arranged within a recess of the winding module. Preferably, the pair is movable within this recess, specifically in the transverse direction. During the taping process, i.e., when the tape is wound around the cable bundle, this pair is positioned within the recess. This results in the most compact possible design of the assembly head. For this purpose, this pair is preferably movable in the transverse direction relative to the winding module. In the preferred embodiment where the pair is attached to the gripping unit, the gripping unit as a whole is movable in the transverse direction relative to the winding module.

[0054] In a preferred embodiment, the winding module generally comprises a support plate extending longitudinally, to which the winding head is rotatably attached laterally in the transverse direction. A front end of the support plate, similar to the winding head, is laterally open and, for example, designed as a ring segment, thus providing an open space that forms the aforementioned clearance into which the guide rollers can move.

[0055] The entire mounting head is specifically designed for attachment to a robot, particularly a multi-axis industrial robot. For this purpose, it features, among other things, a mechanical interface, in particular a flange, with which it can be attached to the robot, specifically to a robot hand of the industrial robot.

[0056] An exemplary embodiment of the assembly head and the method for automatically banding a cable harness are explained in more detail below in conjunction with the figures. These show: FIG. 1 a perspective view of a first side of the assembly head, FIG. 2 an enlarged, partial perspective view of a side of the assembly head opposite in the transverse direction, FIG. 3 an enlarged partial view of a front of the assembly head, FIG. 4 a side view of a winding module with a taping unit attached to it, FIG. 5 a perspective view of an alternative embodiment of the assembly head, and FIG. 6 an enlarged representation of the in FIG 5 shown mounting head.

[0057] In the figures, parts with the same effect are marked with the same reference symbols.

[0058] One in the Figure 1 and 2The mounting head 2 shown generally has a support frame 4 to which several units, described in more detail below, are attached. The support frame 4 has a flange 6 by which it is held on an industrial robot 8, which is indicated only by a dashed line of a mounting flange of a robot hand. The mounting head 2 is thus largely free to move in space, so that it can be positioned as needed in any position and at any angle (0–360°). Alternatively, it is also possible that it can be moved linearly on a fixed frame, for example. Another alternative is that the mounting head itself is stationary and a cable harness 10 is movable relative to the mounting head 2.

[0059] The mounting head 2 generally serves to band the conductor string 10 with a band 14. The band 14 is preferably arranged in a fixed position and the mounting head moves in the direction of the conductor string 10.

[0060] The mounting head 2 extends in a longitudinal direction L, perpendicular to this in a transverse direction Q and further in a vertical direction V. During the banding process, the conductor string 10 extends in the transverse direction Q.

[0061] As a key component, the assembly head 2 has a winding module 16 with a preferably C-shaped or ring-segment-like winding head 18. A taping unit 20 is also attached to the winding head 18 and is thus part of the winding module 16. Due to its design, the winding head 18 has an insertion opening and encloses a central interior space into which the conductor 10 can be inserted. To wrap the tape 14, the winding head 18 rotates about an axis of rotation (not shown here), which is also a central axis of the interior space defined by the winding head 18. During the taping process, the axis of rotation extends along the conductor 10.

[0062] A suitable drive device is provided for driving the winding head 18. Specifically, in the exemplary embodiment, a toothed section 19A is formed on the outer circumference of the winding head, into which several drive bands or toothed belts 19B, distributed around the circumference, typically engage (see in particular also FIG 4 At least one toothed belt is driven by a suitable drive. The complete belt drive is part of winding module 16.

[0063] The winding module 16, and thus the winding head 18, are preferably adjustable relative to the support frame 4 in and against the longitudinal direction L, so that a feed movement towards the cable bundle 10 is possible. In particular, the winding head 18 can be moved linearly via a linear drive. A suitable drive is provided for this purpose.

[0064] As specifically from the Figure 2As can be seen, the winding module 16 has a support plate 16A, which is open at its front end, thus defining a clearance 16B. The winding head 18 is rotatably attached to the support plate 16A at this front end. A ring-segment-shaped plate of the winding head is rotated about the axis of rotation by the aforementioned belt drive. The belt drive is also attached to the support plate 16A, specifically behind the winding head when viewed longitudinally.

[0065] The taping unit 20 has a tape dispenser 22 on which the tape 14 is stored. During operation, the tape dispenser 22 rotates with the winding head 18. For this purpose, the taping unit 20 is fixedly attached to the winding head 18, and in particular to the aforementioned ring-segment-shaped, rotatable plate. The taping unit 20 is therefore a component of the rotatable winding head 18.

[0066] As demonstrated in particular by FIG 3 As can be seen, the tape dispenser 22 in the exemplary embodiment has a spool carrier 40 to which a tape roll 42 (spool) is attached. This is held on the spool carrier 40 by a central roller holder 44. In particular, the roller holder 44 achieves a preferably rotationally fixed connection with the spool carrier 40.

[0067] Preferably, the band roller 42 is held by friction, preferably exclusively by friction. The roller holder 44 preferably has an adjustment mechanism for setting the coefficient of friction.

[0068] Tape rolls 42 of different widths can be accommodated on the spool carrier 40. In particular, at least one adapter ring 46 is arranged, which can be fixed to the roll holder 44. Specifically, two adapter rings 46 are arranged, defining a space between them in which a narrow tape roll 42 is held. The two adapter rings 46 also keep the narrow tape roll 42 centered.

[0069] Furthermore, the banding unit 20 has several guide elements and / or deflection elements with which the band 14 is reliably guided and deflected.

[0070] The taping unit 20 preferably has a first pressure element 24. The pressure element 24 is movable towards the conductor string 10 and serves to guide and press a tape start against the conductor string 10 at the beginning of the taping process. The first pressure element 24 is, for example, pivotally mounted on the taping unit 20. It is particularly designed in the form of a pressure roller.

[0071] Furthermore, the taping unit 20 has a second pressure element 25, which is also adjustable towards the conductor 10. This second pressure element 25 is preferably designed as an elastic element, for example as an elastic tab, and in the exemplary embodiment in the form of a brush. This second pressure element 25 serves to press a tape end against the conductor 10 at the end of the taping process, as will be explained in more detail below.

[0072] Finally, the taping unit 20 also includes a cutting element 23, which is arranged particularly directly adjacent to the further pressure element 25 and is adjustable with it. The cutting element 23 and the further pressure element 25 preferably perform a common (pivoting) movement when cutting the tape 14.

[0073] Adjacent to the cutting element 23, specifically on the side oriented towards the belt 14 or the belt dispenser 22, and thus particularly opposite the further pressure element 25, a retaining element 27 is attached, which is provided for supporting or holding one end of the partial belt remaining on the belt dispenser 22. For this purpose, the retaining element 27 has, for example, several pins, in the exemplary embodiment three pins, which are oriented towards the belt 14 and specifically towards the belt dispenser 22. In the figures, the pins are shown to be oversized and too long, contrary to the actual embodiment. In the FIG 3 and FIG 4 In the situation shown (after a previous banding process in which band 14 was cut off), the pins pierce band 14.

[0074] As can be seen in particular from the Figure 4As can be seen, a balancing mass 34 is attached to the winding head 18, in particular to the banding unit 20.

[0075] As a further essential component, at least and preferably exactly one gripping unit 26 is provided. The gripping unit 26 is arranged next to the winding module 16 on the side opposite the banding unit 20. Alternatively, two gripping units 26 can be arranged on either side of the winding module 16.

[0076] Each gripping unit 26 has a gripper holder 28 and two arc-shaped gripping elements 30. These are mounted on the gripper holder 28, in particular so as to be pivotally movable. FIG 2 A controllable actuating element 31 can be identified, which preferably has two actuating elements 31a, 31b, each of which is connected to one of the gripping elements 30 in a foot area. The actuating elements 31a, 31b can perform a pivoting movement and can also move the arc-shaped gripping elements 30.

[0077] The entire gripping unit 26 is preferably adjustable in the longitudinal direction L towards the conductor string 10. For this purpose, the gripping unit is, for example, linearly displaceable on the winding module 16 and, in particular, on the support plate 16 A, with its own drive for linear adjustment.

[0078] In the Figures 1 to 3The gripping elements 30 are shown in a partially closed position, in which they, together with the gripper 28, completely encircle the cable strand 10. The cable strand is therefore positioned between the gripping elements 30 and the gripper 28. When the gripping elements 30 are brought together, the loose individual strands of the cable strand 10 are gathered, thus compressing the entire cable strand 10. Overall, the cable strand 10 is guided loosely within the gripping unit 26 during the taping process. Preferably, the cable strand 10 is initially gripped firmly, particularly until a tape end is fixed to the cable strand 10 and the tape 14 has optionally been wrapped several times around the cable strand 10. Subsequently, the gripping unit 26 (gripping elements 30) is opened slightly and moved into a gripping position, so that the cable strand 10 is guided loosely and passes through the gripping unit 26 during the taping process.

[0079] The assembly head 2 further comprises two pairs of guide rollers 32. These are mounted on both sides of the winding head 18 and the banding unit 20, respectively. The pair located on the side of the gripping unit 26 is, for example, attached to the gripping unit 26, specifically to the gripper holder 28, and is adjustable in the longitudinal direction L with it.

[0080] Additionally or alternatively, the pair is adjustable in the longitudinal direction L independently of the gripper. The guide rollers 32 are therefore specifically assigned their own adjustment mechanism for longitudinal adjustment, so that they can be adjusted independently of the gripper. The opposite pair, which is arranged next to the banding unit 20, is preferably also adjustable in the longitudinal direction L and has a suitable linear drive for this purpose.

[0081] The guide rollers 32 are arranged opposite each other to the conductor string 10 and can be adjusted towards the conductor string 10. A pivoting movement is provided for this purpose. In their closed end position, their roller axes are preferably arranged parallel or largely parallel to each other. The conductor string 10 is guided and held between the guide rollers 32. The distance between the guide rollers 32 is preferably dimensioned such that the conductor string 10 is compressed somewhat overall, resulting, for example, in a roughly flattened cross-sectional contour. The distance between the guide rollers 32 during the taping process is preferably adjustable, for example, by parameterization or alternatively manually, particularly depending on the diameter of the conductor string 10.

[0082] A gripping diameter of the gripping elements 28 can preferably be adjusted in the closed state in the same or a similar manner. This reliably prevents twisting of the cable bundle 10 during the subsequent taping process. The guide rollers 32 are preferably pressed against the cable bundle 10 throughout the entire taping process.

[0083] The guide rollers 32 are rotatable about their roller axis, but preferably do not have their own drive. The surface of the guide rollers 32 preferably has good adhesion and is, for example, rubberized or similarly rubberized. This also largely prevents the risk of damage to the wiring harness 10 during the entire taping process. Furthermore, this counteracts and prevents twisting of the wiring harness during the taping process.

[0084] With regard to a compact design of the assembly head 2, it should be emphasized that the pair of guide rollers 32, which is arranged on the side of the winding module 16 opposite the taping unit 20, can be positioned in the transverse direction in such a way that it lies in the previously described free space 16B in the carrier plate 16A at least during the taping process and preferably permanently.

[0085] The taping process is preferably as follows: The assembly head 2 is moved towards the cable bundle 10 by means of the robot 6. The cable bundle 10 is held in place, particularly on both sides. However, the positioning movement of the assembly head 2 is not strictly necessary, depending on its position relative to the cable bundle 10. Alternatively or additionally, the gripping unit 26 and the winding module 16 are moved in the longitudinal direction L by moving the winding module 16 relative to the support frame 4. Preferably, the assembly head is positioned next to the cable bundle 10 at the beginning of the taping process, such that the lateral opening of the winding head 18 is oriented towards the cable bundle 10.

[0086] Preferably, the gripping unit 26 is first positioned towards the cable bundle 10 and moved relative to the support frame 4 for this purpose. The gripping elements 30 are then pivoted so that the cable bundle 10 is enclosed. The gripping elements 30, together with the gripper holder 28, define a gripping diameter. The individual cables are thereby brought together and, if necessary, also compressed. Preferably, the cable bundle 10 is first clamped and held firmly in place during this step.

[0087] In particular, the guide rollers 32 are initially moved longitudinally forward towards the conductor string 10, either simultaneously or with a time offset, again relative to the support frame. They are then brought into their final position, in particular by a pivoting movement, so that they are pressed against the conductor string 10 and, in particular, flatten it and press it into a flat cross-sectional shape. The pressing force exerts a certain holding force on the conductor string 10.

[0088] Subsequently, the gripping elements 30 are loosened slightly so that they still completely enclose the cable bundle, but only hold it loosely, allowing the cable bundle 14 to be passed through the gripping unit 16 in a transverse direction.

[0089] Furthermore, if required, the conductor strand 14 is tightened in the transverse direction by means of the two pairs on guide rollers 32. For this purpose, the two pairs are pulled apart in opposite directions in and against the transverse direction Q, so that the conductor strand 10 is tightened in the area of ​​the winding head 16. At least one of the pairs exerts a movement in the transverse direction Q.

[0090] For example, the pair on the side of gripping unit 16 is offset in the transverse direction Q and thus relative to the winding module. A suitable drive is attached for this purpose.

[0091] In the next step, the winding module 16 is moved longitudinally L towards the conductor string 10 relative to the support frame 4, so that the latter is received inside the winding head 18.

[0092] Any loose end of the tape 14 is preferably pressed against the conductor 10 during this delivery movement. This is achieved in particular by means of the first pressure element 24, which presses the tape 14 from above against the conductor 10, so that the tape 14 is fixed between the pressure element 24 and the conductor 10 (see also Figure 1). Figure 3 In an alternative design variant, the pressure element 24 can also be pivoted from below against the conductor 10, so that the tape start is pressed against the conductor 10. In any case, the tape start is fixed to the conductor 10 fully automatically. The tape 14 is, in particular, a self-adhesive tape.

[0093] After this fixing, the actual taping takes place. For this purpose, the winding head 18 and with it the taping unit 20 rotate around the axis of rotation, so that the tape 14 is unwound from the tape dispenser 22 and wound around the conductor 10. Preferably, the tape 14 is first wound several times around the conductor 10 at the starting position, so that the beginning of the tape is reliably fixed.

[0094] The conductor string 10 is then, for example, wrapped in a spiral shape with the tape 14.

[0095] The gripping unit 26 holds the cable bundle 10 firmly enclosed, preferably until the beginning of this spiral wrapping. Generally, before the start of the spiral wrapping, the gripping elements 30 are opened slightly again, so that the cable bundle 10 is still completely enclosed, but only loosely held.

[0096] For spiral wrapping, the entire assembly head 2 is moved in or against the transverse direction Q using the industrial robot 8, so that the tape 14 is successively wrapped around the conductor 10 either as spiral wrapping or as full wrapping. The assembly head 2 also allows for spot wrapping, in which the tape 14 is wrapped around the conductor 10 at only one position.

[0097] At the end of the taping process, the tape is automatically cut. Preferably, the taping unit 20 (together with the winding head 18) first retracts a short distance in the opposite direction L. This causes a section of the tape to protrude radially from the conductor strand 10. The tape 14 is thereby taut and thus stretched. At this point, the tape 14 is cut by means of the cutting element 23. For this purpose, a pivoting movement of the taping unit 20, for example about the axis of rotation of the winding module 16, is provided. This guides the cutting element 23 from below against the stretched tape 14. The cutting element 23 then cuts the tape 14.

[0098] In an alternative variant – especially for elastic bands 14 – the banding unit 20 (together with the winding head 18) first moves back a short distance against the longitudinal direction L, thus tensioning the band 14. The banding unit 20 then moves forward a short distance in the longitudinal direction, so that the band 14 is no longer elastically tensioned, but sufficient space remains for the cutting element 23 to cut it. This prevents the band 14 from curling back after cutting due to its elasticity, which would leave no loose band end available for the subsequent banding process.

[0099] In the further course of movement, for example during the same pivoting movement, the loose end of the band created in the process is preferably also pressed against the conductor string 10 by the further pressure element 25.

[0100] In principle, alternative movement sequences for pressing down the tape end are also possible. For example, it is intended that a pivoting movement upwards results in the cutting, and a subsequent pivoting movement downwards results in the pressing. A linear movement can also be used instead of the pivoting movement. The elastic design of the additional pressing element 25 ensures gentle pressing of the tape end against the conductor 10.

[0101] After cutting, an end end remains on the strip 14 located on the tape dispenser 22, which defines the beginning of the strip for the next taping process. This end end is held in place by the arrangement of the retaining element 27. For example, the strip end rests on top of the retaining element 27. In a preferred embodiment, the retaining element 27 – as particularly in FIG 3This can be seen – it is formed by several, in particular needle-shaped, pins that even pierce the band. Piercing occurs especially during cutting, when the cutting element 23 is pivoted from below against the band 14. The holding element 27 is preferably pivoted together with the cutting element 23.

[0102] During the cutting process, the needle-shaped pins pierce the end of the bandage. This holds the bandage end firmly in position for the next bandaging step. The pins protrude only slightly beyond bandage 14 (exaggerated in the figures).

[0103] During the next taping step, when the winding module 18 is moved towards the cable bundle 10, the end of the tape is held in position by the pins. The first pressure element 24, by pivoting, guides the tape 14 to the cable bundle 10, so that the tape 14 is pressed against the cable bundle 10 and adheres to it. During the subsequent rotation of the taping unit 20, the end of the tape is then automatically released from the pins.

[0104] The first pressure element 24 generally holds the strip 14 in position. The pins hold the strip end downwards after cutting, until the next taping process.

[0105] The holding element 27 is arranged directly adjacent to the cutting element 23. This means, in particular, that the holding element 27, and thus the support point for the end of the belt, is located only a few centimeters away from the cutting element 23, for example, a maximum of 2 cm or even a maximum of 1 cm.

[0106] Subsequently, the guide rollers 32 and the gripping unit 26 return to their starting position and release the banded cable strand 10.

[0107] Subsequently, either another conductor strand 10 is brought into a desired taping position in which it is held and / or the mounting head 2 is moved to a next conductor strand 10.

[0108] In the Figures 5 and 6An alternative version of the mounting head 2 is shown. The preceding explanations apply at least largely equally to this alternative version. In contrast to the first version, the retaining element 27 is omitted. Two gripping units 26 are also attached to both sides of the winding head 18. A pair of guide rollers 32 is preferably attached to each gripping unit 26. Reference symbol list

[0109] 2 Mounting head 4 Support frame 6 Flange 8 Industrial robot 10 Cable harness 14 Belt 16 Winding module 16A Carrier plate 16B Clearance 18 Winding head 19A Toothing 19B Timing belt 20 Taping unit 22 Belt unwinder 23 Cutting element 24 First pressure element 25 Second pressure element 26 Gripping unit 27 Holding element 28 Gripper 30 Gripping element 31 Actuating element 31a,b Actuating elements 32 Guide roller 34 Balancing mass 40 Spool carrier 42 Belt roller 44 Roller holder 46 Adapter ring L Longitudinal direction Q Transverse direction V Vertical direction

Claims

1. Assembly head (2), which extends in a longitudinal direction (L), a transverse direction (Q) and a vertical direction (V) and is designed for the automated taping of a conductor string (10) extending in the transverse direction (Q) with a tape (14), wherein the conductor string (10) has several individual conductors and wherein the assembly head (2) has a winding module (16) with a winding head (18) which is rotatable about a rotation axis extending in the transverse direction (Q), and with a taping unit (20) for providing and guiding the tape (14), wherein the winding head (18) is open forward, in particular in the longitudinal direction (L), so that the conductor string (10) can be inserted laterally into an interior of the winding head (18).

2. Mounting head (2) according to the preceding claim, wherein the mounting head (2) has at least one pair of guide rollers (32) which guide the individual cables between them in such a way that twisting of the individual cables about the axis of rotation is avoided, wherein the guide rollers (32) are preferably without their own drive and are loosely mounted so that they are rotatable about a roller axis.

3. Mounting head (2) according to one of the preceding claims, which has a cutting element (23) which is designed for automatically cutting the strip (14) at the end of the taping process and which is preferably attached to the taping unit (20).

4. Assembly head (2) according to one of the preceding claims, wherein - the taping unit (20) is attached to the winding head (18) in such a way that it rotates around the conductor string with it during the winding process, and / or - wherein the taping unit (20) is movably attached and is controlled in operation in such a way that it is moved into a cutting position at the end of the taping process, in particular against the longitudinal direction (L), whereby the tape (14) is preferably tensioned.

5. Mounting head according to one of claims 3 to 4, wherein - in the cutting position the cutting element (23) is pivotable in the direction of the tape (14), wherein for this purpose in particular the taping unit (20) is pivoted together with the cutting element (23) attached thereto and / or - - a further pressure element (25) is provided, which in particular is designed as a flexible tab or brush and which is designed to press a tape end against the conductor string (10) after the tape (14) has been cut, wherein the further pressure element is adjustable in particular in the direction of the conductor string (10), wherein in a preferred embodiment the further pressure element (25) is part of the taping unit (20), wherein the adjustment of the further pressure element (25) in the direction of the conductor string (10) is effected by a rotational movement of the taping unit (20).

6. Mounting head (2) according to any one of claims 3 to 5, wherein a retaining element (27) is arranged adjacent to the cutting element, which is designed to hold a band end of the band (14), wherein the retaining element (27) is formed in particular by several pins which preferably pierce the band after it has been cut.

7. Mounting head (2) according to one of the preceding claims, - in which the taping unit (20) has a tape dispenser (22) and the taping unit (20) is part of the winding module (16) and rotates with the winding head (18) about the axis of rotation during taping and / or - in which a balancing mass (34) is attached to the winding head (18) and in particular to the taping unit (20).

8. Assembly head (2) according to one of the preceding claims, - which has a support frame (4) and in which the winding module (16), in particular together with the taping unit (20), is movable in the longitudinal direction (L) relative to the support frame (4), wherein, during the taping process, the tape (14) and specifically a tape start of the tape (14) can be brought towards the conductor string (10) for fully automatic fixing of the tape start to the conductor string (10) and / or - in which the taping unit (20) has a (first) pressure element (24) which is adjustable in the direction of the conductor string (10), wherein, during operation, the pressure element (24) is moved in the direction of the conductor string (10) at the beginning of the taping process such that a tape start of the tape (14) is pressed against the conductor string (10).

9. Assembly head (2) according to one of the preceding claims, which has a gripping unit (26) with adjustable gripping elements (30) extending laterally (Q) to the winding module (16), the gripping elements being designed to compress the conductor string (10) consisting of several individual strands and enclosing the conductor string (10), wherein the conductor string (10) is held in a gripping position, in particular loosely, during the taping process, such that the conductor string (10) can be passed through the gripping unit (26) in the transverse direction (Q), wherein, in a preferred embodiment, the gripping elements (30) are arcuate at least on their side facing the conductor string (10).

10. Mounting head (2) according to the preceding claim, wherein - the gripping unit (26) further comprises a fixed gripper holder (28) which, together with the gripping elements (30), encloses the conductor string (10), wherein the gripping elements (30) are preferably movably mounted on the gripper holder (28) and / or - the gripping unit (26) is adjustable in the longitudinal direction (L) relative to the winding module and is in particular adjustably attached to the winding module (16).

11. Mounting head (2) according to one of the preceding claims and according to claim 2, in which guide rollers (32) are designed and controllable in operation and are also controlled such that they are pressed against the conductor string (10), in particular such that in the area of ​​the guide rollers (32) the conductor string (10) has a flat cross-sectional contour.

12. Mounting head (2) according to one of the preceding claims and according to claim 2, wherein a pair of guide rollers (32) is arranged on both sides of the winding module (16).

13. Assembly head (2) according to the preceding claim, wherein at least one pair of guide rollers (32) is adjustable in the transverse direction (Q) and wherein at least one pair is preferably controlled in operation such that the two pairs are pulled apart relative to each other in operation, especially at the beginning of the taping process, so that the individual lines are tightened.

14. Mounting head (2) according to one of the preceding claims and according to claim 2, wherein the at least one pair of guide rollers (32) is arranged at least temporarily during the taping process within a free space (16B) of the winding module (16), specifically within a support plate (16A) to which the winding head (18) is rotatably attached.

15. Method for the automated taping of a cable strand (10) with a tape (14) using an assembly head (2) according to one of the preceding claims, in which at least some and preferably all of the following steps are carried out, and in particular in the following order: a. the assembly head (2) and the cable strand (10) are moved longitudinally (L) relative to each other, so that the cable strand (10) is received inside the winding head (16), b. the gripping elements (30) of the gripping unit (26) are moved from an open position, in particular by a pivoting movement, into the end position, wherein the individual elements are preferably first compressed and then held loosely in the gripping unit (26), c.The guide rollers of a pair are each moved towards the conductor (10) and press it between them, so that the conductor (10) is flattened in the area of ​​the rollers and secured against twisting, wherein the two pairs of rollers are then preferably pulled slightly apart in the transverse direction to tighten the conductor (10), i.e. the taping unit (20) is moved towards the conductor (10) in a particularly linear manner and preferably together with the winding head (16), e. a tape start of the tape (14), which is in particular oriented in a hanging position, is pressed onto the conductor by means of the pressure element (24), wherein for this purpose the pressure element (24) is in particular adjusted relative to the rest of the taping unit (20), in particular pivoted, so that the tape start is fixed to the conductor (10), f.Subsequently, the taping unit (20) is rotated around the conductor string (10), particularly together with the tape dispenser (22) and more preferably together with the winding head (18), g. wherein, particularly in the case of spiral or full taping, the assembly head (2) is moved in the transverse direction (Q) along the stationary conductor string (10) and simultaneously the winding head (16) is rotated around the conductor string (10), h. after the taping process, the tape (14) is cut with the aid of the cutting element (23), wherein the cutting element (23) is preferably attached to the taping unit (20) and is moved with it by a pivoting movement against the tape (14) and cuts it, i. after cutting, a loose tape end is pressed against the conductor string (14) with the aid of the further pressure element (25), particularly by means of a pivoting movement.

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