Method for automatically finishing a cable, cable processing center, trajectory detection device and inspection system

Abstract

The invention relates to a method for automatically finishing a cable (26), a cable processing center (1), a trajectory detection device (6) and an inspection system (10) for a cable processing center of this type.

Description

[0001] Method for automatically assembling a cable, cable processing center, trajectory detection device and inspection system

[0002] Description

[0003] The invention relates to a method for the automatic assembly of a cable, a cable processing center, in particular for carrying out this method, as well as a trajectory detection device and an inspection system for such a cable processing center.

[0004] With such a center, cables and wires can be fed, cut to length, marked, and crimped with a contact element, such as a wire end ferrule. The assembled cables are then typically bundled and stored in a storage arrangement. Such a center is disclosed, for example, in US Pat. No. 8,442,664 B1. The actual cable assembly takes place via a unit designed as a special-purpose machine that enables the previously described work steps. Such a unit has an extremely complex structure and can only be adapted to different manufacturing tasks with great effort. Furthermore, such a special-purpose machine is relatively expensive and requires a large amount of space within the production line.

[0005] A similar solution is described in EP 0 132 092 A1. This discloses a device for producing cable harnesses in which cables / wires are fed by means of a cable feed device and contact elements are fed by means of another feed device. The cables are cut to length by means of a cutting device and crimped to contact elements by a crimping machine. For further processing, the assembled cables are then transported via a measuring and feeding device. A crimping head and a forming tool that holds the contact element during crimping are designed as separate units, with the cutting device integrated into the unit that holds the crimping head. This device has the same disadvantages as the special machines described above.

[0006] US Pat. No. 6,662,444 B2 discloses a method and device whereby one end section of a cable can either be crimped to a contact element and / or another end section can be pressed to a connector. The device used has a wire feed device, via which wires are cut to length and the corresponding end sections are stripped for contact with a crimp terminal or the connector. Cutting is performed using a cutter; the cut cables / wires are then bent into a U-shape and positioned in an intermediate storage device, from which the cables are fed to another device for crimping / compression.

[0007] This solution is also a special machine that is specifically designed for the intended purpose.

[0008] Document US 5,878,469 A relates to a device for processing cable harnesses, which includes a cutting device, a stripper, a type of crimping unit, and a device for connecting to a connector. This solution is also designed as a special-purpose machine and cannot be adapted to other manufacturing tasks, or can only be adapted with considerable effort.

[0009] A more flexible solution consists in providing modular units instead of a special machine, on which the individual processing steps (cutting to length, marking, stripping, crimping, bundling) are then carried out by a worker. Crimping is carried out using a crimping machine, such as that known from the applicant's patent DE 44 40 835 C1, and is used, for example, to press wire end ferrules onto a stripped cable end. In the known solution, these wire end ferrules are wound up as a belt on a drum magazine and from there conveyed to a crimping head via a transport unit. Alternatively, the wire end ferrules or contact elements can also be individually stored in a storage unit and then conveyed to the crimping head in a defined position via a suitable feed device. Such a feed device is described, for example, in DE 198 31 588 A1.

[0010] In conventional solutions, the ferrule to be crimped is placed onto the stripped cable end using a holding unit and then crimped using the crimping head. Stripping the cable end can be done either externally or using a stripping head integrated into the crimping machine.

[0011] The modular units described above are designed as standalone units, which are each equipped with their own drive units and are therefore usually operated independently of other processing units.

[0012] The design of a transport unit for conveying wire end ferrules or other electrical components arranged on a belt is described, for example, in the applicant's publication G 93 08 266.5. A similar transport unit is also disclosed in DE 197 14 964 C1.

[0013] The IIS patent application US 2010 / 0 293 780 A1 shows a movable unit by means of which contact elements to be processed can be positioned in the area of ​​a stationary cable assembly device designed as a special machine.

[0014] In series production, it is necessary to crimp different cable cross-sections and electrical components / contact elements together and then install them in a subsequent assembly step, for example, when assembling a control cabinet. There are essentially two options for this: In one variant, the crimping machine is converted to crimp different cable cross-sections and / or contact elements (wire end ferrules), or several crimping machines are provided to process the different cable cross-sections / contact elements. The first solution requires long setup times and considerable personnel expenditure. This disadvantage is overcome in the latter solution by using a large number of crimping machines - however, the investment costs are considerable.The publication DE 10 2004 057 818 B3 discloses a machine (designed as a stripper and crimper) capable of processing different cable cross-sections and wire end ferrules. A drum magazine and an associated crimping device are provided for each wire end ferrule type. These devices are assigned a common drive that can be selectively brought into operative engagement with one of the crimping devices. Such a solution requires considerable equipment complexity, as a large number of crimping devices must be provided and controlled.

[0015] DE 10 2015 119 217 A1, which originates from the applicant, shows a crimping machine that eliminates the aforementioned disadvantages. This crimping machine has a storage arrangement with several drum magazines, each of which is assigned a common transport unit and a common crimping head, so that the device-related complexity is significantly reduced compared to the previously described solution.

[0016] DE 10 2017 118 968, issued by the applicant, discloses a crimping machine in which a contact element to be crimped is guided directly into the operating area of ​​a stripping or crimping head without the need for a feed device or the like. In this known solution, the contact elements are preferably stored in drum magazines, so that the crimping machine is accordingly designed with a separating device.

[0017] DE 10 2015 102 060 A1, also by the applicant, shows a crimping machine in which different wire end ferrules are stored in a storage arrangement with several drum magazines. Each of these drum magazines is assigned a transport unit, via which the preselected wire end ferrule is transported to a transfer position. The separated wire end ferrule is then guided to a common crimping head by means of a shuttle.

[0018] This crimping machine is characterized by high productivity. However, a certain disadvantage is that the required shuttle is comparatively complex, requiring a correspondingly large amount of space, and stripping is not possible.

[0019] Due to the high level of manual work involved, the demands on workers during assembly and especially during the subsequent laying of cables in the control cabinet are relatively high, although errors cannot be ruled out.

[0020] In WO 2019 / 211 490 A1 of the applicant, a modular cable processing center is proposed to overcome the disadvantages of the concepts described above, in which the processing modules are arranged on a mobile platform.

[0021] DE 10 2018 131 441 A1, which originates from the applicant, describes a cable processing center with an automatic cutting machine designed for processing multiple cable cross-sections or cable types. A multiple feed is provided, whereby a control device of the cable processing center aligns a cable to be processed with respect to the feed or transport device of the cutting machine. In one embodiment of DE 10 2018 131 444 A1, the cables cut to length by the cutting machine are fed by a robot to further processing units, for example, a stripper / crimper and a marking system (printer) or a cable discharge unit.

[0022] A similar cable processing center is described in the applicant's WO 2022 / 079 215 A1, wherein the processing units are arranged on or around a rotary table.

[0023] When using such cable processing centers, it became apparent that, despite the extensive automation, manual intervention is still necessary to ensure the quality of the cable assembly.

[0024] In contrast, the invention is based on the object of creating a method for the automatic assembly of cables and a cable processing center, in particular for carrying out such a method, by means of which automated production is possible without any loss of quality.

[0025] This object is achieved with regard to the method by the combination of features of patent claim 1 and with regard to the cable processing center by the features of the independent patent claim 3. Also part of the inventive solution are a trajectory detection device according to patent claim 8 and an inspection system according to patent claim 10, which are part of the cable processing center or are used in the inventive method to ensure the quality of the assembly.

[0026] Advantageous further developments of the invention are the subject of the subclaims.

[0027] The inventive method for automatically assembling a cable uses a cable processing center that is controlled by a central control unit and has at least one processing unit to which the cable is automatically fed by means of a handling device, in particular a robot. According to the invention, this cable is fixed by means of a gripper of the handling device in such a way that a cable end protrudes from the gripper. In a subsequent step, the trajectory of the cable end protruding from the gripper is detected with reference to the gripper by means of a trajectory detection device. The term "trajectory" is understood to mean the bending resulting from the flexural flexibility of the cable, with which the cable end deviates from an ideal position / ideal course of a rigid cable end. This trajectory, i.e.The deviation of the cable end's bend / geometry from the ideal value (rigid, undeformed cable end) is then reported to the central control unit, which then controls the gripper in such a way that the deviation from the ideal profile is taken into account when the cable end is fed to the next processing unit by means of the gripper. In this way, it is possible, for example, when feeding the cable end to a stripping / crimping unit, to position the cable end precisely with respect to the comparatively narrow insertion opening of the stripping / crimping machine, thus preventing collision of the cable end with the peripheral areas of the insertion opening. This procedure eliminates the need for manual inspection and, accordingly, significantly reduces rejects compared to conventional solutions.

[0028] According to the invention, it is preferred if, after processing in a processing unit, the cable is fed by means of the gripper to an inspection system for checking the cable assembly and is then fed to a further station via the gripper depending on the result of this test.

[0029] The inspection system and the trajectory detection device can also be designed as a unit, so that trajectory determination and quality control are carried out in this unit, thus saving installation space.

[0030] The cable processing center according to the invention - also called a wire processing center (WPC) - has several processing units, such as an automatic cutting machine and / or an automatic stripping machine and / or an automatic crimping machine and / or a grommet station and / or a marking station and / or a storage unit, wherein the cable to be assembled is transported by means of a handling device equipped with a gripper, wherein a trajectory detection device for detecting the previously described trajectory of the cable end with reference to the gripper is arranged between two processing stations, so that exact positioning of the cable end is ensured when approaching the following processing unit.

[0031] It is particularly preferred if the cable is cut to length in an automatic cutting machine and then picked up by the gripper and preferably fed to a stripping and / or crimping machine.

[0032] According to the latter, an inspection system is preferably provided for automatically checking the quality of the cable assembly, for example, the crimping. In one embodiment of the invention, the cable processing center according to the invention further comprises a storage unit for storing the assembled cables that meet the specifications and a special storage unit for storing the cables that do not meet the specifications, with the cables again being fed in by means of the handling device.

[0033] In a particularly preferred embodiment of the invention, the handling device is designed with a multi-axis robot having two grippers, each of which grips a cable end and is adjustable depending on the cable length and cable geometry.

[0034] A trajectory detection device used in the cable processing center according to the invention preferably has a housing with a feed opening for the cable end, wherein lighting and sensors, in particular a camera arrangement for trajectory detection are provided in the interior of the housing, wherein the detected data, ie the detected trajectory (deviation from the ideal, straight line), is forwarded via a transmission unit to the control unit for controlling the gripper depending on the detected trajectory.

[0035] In a specific embodiment of the invention, the sensor system is designed with two cameras positioned at an angle to each other. One camera can also be positioned axially spaced from the cable end to capture the trajectory.

[0036] An automatic inspection system used in the cable processing center also has a housing with a feed opening for the cable end. Inside the housing, a lighting system and sensors, in particular a camera array for quality inspection of the cable, are arranged. The recorded quality data is then reported to the control unit via a transmission unit, so that the control unit controls the gripper based on this quality data. The quality inspection is particularly precise when the camera array has three cameras arranged on a common partial circle that encompasses the cable end.

[0037] According to the invention, it is preferred if the cameras or the sensors are aligned with respect to the insertion opening, or more precisely, with respect to the cable end fed through the insertion opening.

[0038] The lighting of the trajectory detection device and / or the inspection system is preferably designed for the surface illumination of the cable end.

[0039] Access to the trajectory detection device and the inspection system is particularly easy if the insertion opening is designed at the front so that the feed takes place in a horizontal direction.

[0040] The space requirement of these units is minimal when they are recessed in sections into a base plate, for example a table top of the cable processing center.

[0041] Preferred embodiments of the invention are explained in more detail below with reference to schematic drawings. They show:

[0042] Figure 1 shows a three-dimensional overview of a cable processing center according to the invention;

[0043] Figure 2 shows a cutting machine of the cable processing center (WPC) according to Figure 1;

[0044] Figures 3, 4 show representations of a trajectory detection device of the WPC according to Figure 1;

[0045] Figure 5 shows an example of a cable trajectory; Figure 6 shows a crimping machine of the WPC according to Figure 1;

[0046] Figures 7, 8 show representations of an inspection system of the WPC according to Figure 1;

[0047] Figure 9 is an illustration of a faulty cable detected by the inspection system;

[0048] Figure 10 shows a storage unit of the WPC according to Figure 1 designed as a bundle system;

[0049] Figure 11 shows a robot with two grippers of the WPC according to Figure 1 and

[0050] Figure 12 steps of the inventive method for automatically assembling a cable.

[0051] The basic structure of a cable processing center according to the invention, hereinafter referred to as WPC (Wire Processing Center) 1, is shown in Figure 1. Accordingly, this WPC 1 - similar to the solution disclosed in DE 10 2018 131 444 A1 - is positioned stationary on a table or mobile on a workshop trolley, with the components positioned on a base plate or table top 2. As shown in Figure 1, the WPC 1 has several processing units, wherein in the embodiment shown in Figure 1, an automatic cutting machine 4, a trajectory detection device - hereinafter referred to as BCS (Bending Control System) 6, an automatic crimping machine 8, an inspection system - hereinafter referred to as QCS (Quality Control System) 10, and a storage unit 12 designed as a bundling system, in which the assembled cables can be stored, are provided.

[0052] The feeding / movement of the cables to be assembled between the aforementioned processing units is carried out by a multi-axis robot 14, which is equipped with two grippers 16, 18. The robot 14 can be controlled in such a way that all processing units can be reached with a minimal travel distance. In the illustrated embodiment, the described processing units are arranged approximately in a semicircle around the vertical pivot axis S of the robot 14. The robot 14 and the described processing units are controlled via a central control unit 20. The cutting machine 4 and the crimping machine 8 are standard devices of the applicant, which can also be used as stand-alone machines and whose basic design is, in principle, known on the market, so that no detailed description of these units is necessary.

[0053] Figure 2 shows a detailed view of the automatic cutting machine 4. This consists of a multiple feeder 22 and a cutting machine 24. Specifically, the applicant's Z+F EVOFEED® model is used as the multiple feeder 22, which can feed up to twelve cables, enabling sequential processing of complex projects. The actual cutting is performed, for example, using the Z+F EVOCUT® cutting machine 24, in which the cables to be cut, fed via the multiple feeder 22, are guided horizontally and cut to length according to the specifications of the control unit 20. The respective cutting process can be monitored using a display 26 either decentrally on the automatic cutting machine 4 or centrally on the display of the control unit 20.

[0054] Figure 3 shows an external view of the BCS 6. Accordingly, it is partially recessed into a recess 27 in the tabletop 2, so that the installation space is minimal. The BCS 6 has a housing 28, in which an insertion opening 30 is formed on the front side, opening in a horizontal direction (i.e., parallel to the surface of the tabletop 2), through which the cut-to-length cable can be inserted.

[0055] Figure 4 shows a schematic representation of the structure of the BCS 6. The housing 28 can be seen recessed into the table top 2, which, according to the illustration in Figure 4, is approximately rectangular or diamond-shaped with rounded apex regions 32, 34. As mentioned above, the insertion opening 30 opens into the interior of the housing 28 at the front. In the region of the side surfaces 36, 38 of the housing 28 adjacent to the apex region 34, two cameras 40, 42 are arranged, the lenses of which are aligned with the horizontal axis 44, which corresponds to the feed axis of the cable, so that the cameras 40, 42 are focused accordingly on the inserted cable. The cameras 40, 42 are designed such that the trajectory 50 of a cable, ie, the deviation X of the path of the cable end 48 from the ideal Y (Figure 5), can be detected. As explained above, the term "trajectory" refers to the actual geometry of the cable end 48 fed through the insertion opening 30.For a rigid cable (wire), this trajectory would be a straight line. However, due to the flexural flexibility of the cable 46, a bend occurs, which is detected by the BCS 6. In principle, an additional camera can be mounted at an axial distance from the cable end.

[0056] Between the two cameras 40, 42, a planar illumination 43 is provided along the apex region 34 to illuminate the cable end 48, wherein this illumination 43 and the housing are designed in such a way that interference from light entering from outside is minimized.

[0057] As explained in more detail below, the robot 14 is then controlled depending on the detected trajectory 50 of the cable end 48. In the illustration according to Figure 5, the trajectory 50 of a cable 46 already crimped with a wire end ferrule 52 was detected—of course, the trajectory 50 can also be detected before the crimping process. This is the case in the exemplary embodiment described below.

[0058] Figure 6 shows a detailed view of the crimping machine 8. This is the Z+F UNIC GV® model, which enables the processing of different wire end ferrules 52 or other contacts, which in turn are arranged on a roll magazine 54, so that different wire end ferrules 52 or other contacts can be crimped without changing the magazine. The UNIC GV® model is a combination of a stripping and a crimping machine, which enables the processing of five wire end ferrules 52 / rolls with different cross-sections without converting or changing the roll magazines 54. This means that the supplied cable 46 is stripped via the crimping machine 8 and then crimped with the selected wire end ferrule 52. The cable 46 is fed via the robot 14 depending on the detected trajectory 50, whereby a precise alignment to the feed opening 56 of the crimping machine 8 is ensured even with complex trajectories 50.Figure 7 shows a detailed view of the QCS 10, which is used to perform a quality control of the crimping. Similar to the BCS 6, the QCS 10 is also partially recessed into the tabletop 2. An insertion opening 58 is provided on the front side so that the crimped cable end 48 can be inserted horizontally into the interior of a housing 60.

[0059] Figure 8 shows a schematic cross-section of the QCS 10. The housing 60 can be seen, which is partially recessed into the table top 2 and projects from the table top 2 with a roof-shaped, beveled section 62. The insertion opening 58, through which the cable end 48 is fed, is formed in this area. A camera holder 64 is arranged inside the housing 60, on which cameras 66, 68, 70 are arranged on a common pitch circle, which are also aligned in the direction of a horizontal axis S, along which the cable end 48 is inserted. In the illustrated embodiment, the camera holder 64 is designed approximately as a hexagon, with the cameras 66, 68, 70 being held equally spaced on the camera holder 64. The cameras 66, 68, 70 and their positioning are selected such that quality control of the cable assembly is possible.

[0060] In this exemplary embodiment, the interior of the housing 60 is also illuminated, with an annular illumination 71 positioned approximately concentrically to the insertion opening 58 being selected, thus ensuring precise illumination of the cable end 48, unaffected by external interference. Instead of the annular illumination 71, several light sources, for example, LEDs or the like, can of course also be provided. The wavelength of the light for the illuminations 43, 71 is selected such that the geometry of the cable end 48 is optimally illuminated, even with different materials.

[0061] As shown in Figure 9, the QCS 10 can reliably detect, for example, the quality of the crimp, a damaged wire end ferrule 52, a missing wire end ferrule 52, or a folded wire 72. In particular, the folded wire 72 cannot be determined with sufficient accuracy by the worker using conventional methods. The use of the QCS 10 therefore represents a significant improvement / assurance of manufacturing quality.

[0062] After this inspection by the QCS 10, the cable 46 can be forwarded to further processing steps, for example, crimping wire end ferrules 52 to the other cable end 48, etc. After cable assembly, the cable 46 is then stored in a storage unit 12, which, in the illustrated embodiment, is designed in a conventional manner as a bundling system in which the cables 46 approved by the QCS 10 and meeting the specifications are positioned between two adhesive tapes, enabling easy bundling. Cables 46 that the QCS 10 determines do not meet the specifications are stored in a separate storage unit and either disposed of or forwarded for further processing.

[0063] Figure 11 shows the robot 14. This is designed as a multi-axis robot, with the axis arrangement selected so that any processing unit on the tabletop 2 can be reached. In the specific embodiment, the robot 14 carries - as explained - the two adjustable grippers 16, 18, which are arranged approximately V-shaped relative to one another in the illustration according to Figure 11, the relative position of which can be changed to allow adaptation to different cable geometries and cable lengths. The grippers 16, 18 are adjusted so that the cut cable 46 can be grasped in such a way that two cable ends 48 protrude beyond the grippers 16, 18 and can be fed to the aforementioned processing units.

[0064] Details of the inventive method for automatically assembling a cable 46 are explained with reference to Figure 12. This shows the individual method steps a) to j) of the cable assembly.

[0065] According to Figure 12a), the cut-to-length cable 46 is picked up at the cutting machine 4 by means of the grippers 16, 18 of the robot 14, wherein - as explained above - these grippers 16, 18 are adjusted so that two cable ends 48, 74 protrude from the grippers 16, 18. According to step 12b), the cable 46 to be terminated is then guided with the cable end 48 into the insertion opening 30 of the BCS 6 and the trajectory 50 (see Figure 5) is thus determined and, depending on this, according to step 12c), the cable end 48 is inserted into the feed opening 56 of the crimping machine 8 so that the cable end 48 is stripped and crimped with a wire end ferrule 52. According to step 12d), the cable end 48 provided with the wire end sleeve 52 is then fed to the QCS 10 via its insertion opening 58, so that the quality of the crimping is reliably monitored.

[0066] If this crimping meets the specifications and crimping of the other cable end 74 with a wire end ferrule is desired, the two grippers 16, 18 are retracted and turned (step 12e). After this turning, the remaining cable end 74 is then fed to the BCS 6 according to step 12f) in order to determine the trajectory 50 of this cable end 74. Depending on the trajectory 50, the cable end 74 is then inserted into the feed opening 56 of the crimping machine 8 according to step 12g), so that the cable end 74 is crimped with the corresponding wire end ferrule 52 or with the other component. In the following step 12h), the cable end 74 with the wire end ferrule 52 positioned on it is fed to the QCS 10 for quality control.

[0067] Cables 46 that comply with the specifications are then stored in the bundle system of the storage unit 12 according to step 12i), specifically positioned between the adhesive tapes 76. Cables 46 that do not comply with the specifications are placed by the robot 14 in a separate storage position for recycling or reprocessing.

[0068] In the next process step 12j), the robot 14 with the grippers 16, 18 is again positioned in the area of ​​the cutting machine 4 to pick up the next cable 46. This process is then repeated until the cable assembly is completed.

[0069] Disclosed are a method for automatically assembling a cable, a cable processing center, a trajectory detection device, and an inspection system for such a cable processing center. List of reference symbols:

[0070] 1 wire processing center (WPC)

[0071] 2 table top

[0072] 4 cutting machines

[0073] 6 Trajectory detection device; BCS

[0074] 8 Crimping machine

[0075] 10 Inspection system, QCS

[0076] 12 storage

[0077] 14 multi-axis robots

[0078] 16 grippers

[0079] 18 grippers

[0080] 20 Control unit

[0081] 22 Multiple feeder

[0082] 24 cutting machine

[0083] 26 Display

[0084] 27 Recess

[0085] 28 housings

[0086] 30 insertion opening

[0087] 32 vertex area

[0088] 34 Crown area

[0089] 36 side surface

[0090] 38 side surface

[0091] 40 Camera

[0092] 42 Camera

[0093] 43 Lighting

[0094] 44 Horizontal axis

[0095] 46 cables

[0096] 48 cable end

[0097] 50 Trajectory

[0098] 52 wire end ferrule

[0099] 54 Roll magazine 56 Feed opening

[0100] 58 insertion opening

[0101] 60 housings

[0102] 62 roof-shaped section

[0103] 64 camera holders

[0104] 66 Camera

[0105] 68 Camera

[0106] 70 Camera

[0107] 71 Lighting

[0108] 72 strands

[0109] 74 Cable end

[0110] 76 adhesive tapes

Claims

AMENDED CLAIMS received by the International Bureau on 03 September 2024 (03.09.2024) New patent claims 1 to 11 1. Method for automatically assembling a cable (46) by means of a cable processing center (1) controlled by a central control unit (20) which has at least one processing unit to which the cable (46) is automatically processed by means of a handling device vAA-ab^aasdAaamjt -eineam : 2 :: : < s oboter : (14)- is supplied, ge? yggveLG £2 £.£££ Bi „1111 EggggyeggggN^^ K222i222.i2.2i22..£2I2i2iite2£.2221. m i t the steps: - gripping the cable (46) by means of the gripper (16, 18) of the handling device in such a way that a cable end (48) protrudes from the gripper (16, 18), - detecting the trajectory (50) of the respective cable end (48) with respect to the gripper (16, 18) by means of a trajectory detection device (6) :by JBnführen ä2S..Ksbeiendgsg48g.durgh.eiAeB£2i4£2ll;2iM.i3öl.2£En..li2ii2y22£.I2S].„si.dessen. £2iS22282n.bl£l. - feeding the cable end (48) to the processing unit depending on the trajectory (50) by means of the gripper (16, 18). nb2tll2I.K2te2il22B122n.Ey ..122 J3gNfersg1^^ Iniinibisnyninn.^ Äbhäs»^2 <n2si&FA4iBs&bA2s^r42N2^^ 2 i ss< i s:s i ^:-s>s:ssusAsas:sss-essSAA-ass:?ssss>-sSxesss>gedsse-xausd-.- 22. Cable processing centers aeqe^ / sssb-eesbaseadafA for carrying out the method according to J Patentanspr n ch 1 , z. with :; :b? : rj i :\2J:j several processing units, such as a cutting machine (4) and / or a Stripping machines and / or a crimping machine (8) and / or a grommet station and / or a marking station and / or a storage unit (12), wherein at least two of the processing units can be combined to form one processing machine, and a cable (46) with two grippers (16, 18) of a cable robot (14) for moving the cable (46) between the processing units, wherein <k£Kdkdl^}23 332. a. : aLa.. ; a ; where in the work sequence between two of the Processing units, a trajectory detection device (6) is provided-jka 3i0„^^äu»eX28temM®!0ML^nH2telGtLÜ3ü3te3QiIy£MMM.Kdtedl3nä®.M8Xt^Lundjn tedssaajraian^^ Msin3££30££te.£k4y. : ..^ d[M§»^l.te3Mb..y / 4 <j2MydL3.;..y / M.£2te.dM321.l2»£d£33bssvsGrn, £10),zur GyiGnMjGtejGiMbGiMytyiiGyMLXyGMteLyMdMMyMteGiMMGii 4---4abGGeaaKfesj4^AgsGan4paaGh-3ata;33Asp?i;iGb-3v'-a4d-a4aa5- KafeaGaafekds-Av §3. Cable processing center according to claim 23 S3SP4, with an automatic cutting machine (4) for cutting the cable (46), wherein the gripper (16, 18) is designed such that the cut cable (46) can be fed to a stripping and / or crimping machine (8). §4. Cable processing center according to claim 42 or §3, with a storage (12) for storing the prefabricated cables (46) that correspond to the specifications and a special storage for storing the cables (46) that do not correspond to the specifications by means of the handling device. SsAa:---Ka3e£aaga--uad--KaaG§«Qa ? ;ad-;a-va;-s4£3af--sisd;- ^>iba-3ryy'aa^''y'a-y9?')a:y'-a'pyaara->'x'y'a-a'''; < '''axa-3r''ray''a^rr'aa^'a:y'aa3by'ya:y'34>''ya:yy9yya:y'y9pryy^?':'''->' G9Sx-3;-m4-ain9a^-Gsbax ; j8G-(884..8a9-a^a-8yA?3bxG??ax ;ja4-(-8C8-xüx-8aa-KabaisAG9-H8) bab-aad-ia-beaapa-kxaafaypx-espa-BPiaeablyaa-kkS^-y-ad-espa-Sj-aaaaakv in-sPss9RdSx9-^aa-CaadaaaaGxdni;iR9-a^a-3'94Gyfe-yaaa8asy^ja4-Ayyra9ssksa-aiadv yye-iyey--dyy--byaaP>ay->a-ayy4xa>yaPaabayy4y333-abyp--a'-9yey-9-y-a3a-.p--y-ay9aaayy>aay-9--dayy 85. 74aj-afeaysa9a#9&sis9a€ei9r--ab--aa <p-feteiyar|yb6y4ry3sipjnt§i^nach asaarp dar patentansprüche 82j7ka4, wobei zwei kameras (40, 42) schräg zu einander angestellt sind.

386. teapakpaaaayaiaaa^adyerarbaik^gs^ Kaba^aFa^askxjaaaaeaks? according to one of the patent claims 32 to 85-adap-f8a-akn Ve?f9ha"fysaab--Ratest9a-s-pftiG8--4--9day--2, where^ a Housing (60) which has an insertion opening (58) for the cable end (48) and in whose interior a lighting system (71) and a sensor system, in particular a camera arrangement for quality inspection of the cable end (48) are accommodated, wherein the control unit (20) is designed to control the robot (14) depending on the acquired data. 4-47. Claim 486, wherein the camera arrangement has three cameras (66, 68, 70) located on a common pitch circle encompassing the inserted cable end (48).

438. according to one of claims 82 to 4-4-7, wherein the cameras (40, 42; 66, 68, 70) and the sensors are aligned with respect to the insertion opening (30, 58). 4-38. afayybtesyaaayksaaaa^aaiafkJkipagKababararbejbajascaaipy-adaf- according to one of claims 82 to 438, wherein the Lighting (43, 71) is designed for the surface illumination of the cable end (48, 74). 4410. according to one of claims 82 to 489, wherein the Insertion opening (30, 58) opens at the front in the horizontal direction or in the vertical direction. 481 1.. according to one of the claims 82 to 4410, wherein the Housing (28, 60) is partially recessed into a table top (2) or other base of a support frame.

Images