Assembly head for automatically wrapping a wiring harness, a changing system and a method for automatically changing a banding unit in the assembly head

Abstract

The invention relates to an assembly head (2) and to a method for banding a wire harness (10) extending in the transverse direction (Q) using a tape (14), in particular in a fully automatic manner. 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 banding unit (20) for providing and guiding the tape (14), wherein the winding head (18) is open at the front in the longitudinal direction (L) in particular, so that the wire harness (10) can be laterally inserted into an interior of the winding head (18).

Description

[0001] P230320P-MD

[0002] Description

[0003] Assembly head for the automated wrapping of a cable harness, a changing system and a method for the automated changing of a banding unit in the assembly head

[0004] The invention relates to an assembly head for the automated wrapping of a cable harness, a changing system and a method for the automated changing of a banding unit in the assembly head.

[0005] In this context, a cable harness is generally understood to be a strand-like, preferably flexible structure, in particular a preferably electrical cable bundle, composed of one or more (electrical) (cable) elements (individual cables). In the manufacture of cable harnesses, which comprise a large number of individual cables and frequently also a branched structure, the individual elements are often combined using a banding system. During the banding process, a band, for example, an adhesive tape and / or a textile tape, is wrapped around the cable harness.

[0006] The international application PCT / EP 2023 / 076129, which was unpublished at the time of filing, describes an assembly head for the automated wrapping of a cable harness.

[0007] Different tapes are sometimes used for different applications. The tape is stored on a tape dispenser. When the supply is exhausted or when the application changes, the tape must be changed or replaced, which leads to interruptions in the automated process. Based on this, the invention aims to minimize such interruptions.

[0008] The object is achieved according to the invention with a mounting head according to claim 1, by a changing system according to claim 11 and by a method according to claim 16.

[0009] Preferred embodiments are contained in the subclaims. The advantages and preferred developments mentioned with regard to the assembly head are also transferable to the changing system and the method, and vice versa.

[0010] The assembly head is generally used for the automated, particularly fully automated, banding of a cable harness extending in a transverse direction with a band. The assembly head itself extends in a longitudinal and vertical direction in addition to the transverse direction. It has a winding module with a winding head that can rotate about a rotation axis extending in the transverse direction.

[0011] The winding head itself preferably comprises a ring segment with a central winding space. The ring segment has a lateral insertion opening for inserting the cable harness laterally (perpendicular to the transverse direction) into the winding space.

[0012] The assembly head also has a banding unit for providing and guiding the band.

[0013] To band 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. Alternatively or additionally, to band the cable harness, the cable harness and the assembly head are moved relative to each other in or against the transverse direction. Using the banding unit, the band is then applied to the cable harness and then wound around the cable harness. At the end of the banding process, the cable harness is finally severed and cut. Preferably, a further movement follows to ensure the end of the band adheres securely to the cable harness.

[0014] The cable harness typically consists of several individual cables. These are preferably single-core or multi-core sheathed electrical cables. Alternatively, the cable elements can also be busbars wrapped with the tape. In principle, other types of individual cables or even different types of individual cables can also be combined in the cable harness. In one embodiment, at least some of the individual cables are designed as fluid lines, such as hoses. The cable harness is preferably a purely electrical cable harness.

[0015] Overall, this enables fully automatic banding of a cable harness, as described in particular in the PCT / EP 2023 / 076129 mentioned at the beginning.

[0016] In order to ensure the shortest possible process interruptions in the event of a necessary band change, the entire banding unit is designed as a reversibly detachable, replaceable unit.

[0017] A replaceable unit means that the banding unit can be removed from the rest of the mounting head and reinserted. The banding unit is therefore a standalone module that is reversibly and detachably attached to the rest of the mounting head.

[0018] This design is based on the consideration that, due to a limited supply of tape on a tape dispenser, it is regularly necessary to change or retrofit a new tape roll when the old tape is used up or when a different type of tape is required, i.e., one made of a different material (PVC, fleece, textile, etc.) and / or with different geometric dimensions (width [e.g., 9 mm, 19 mm], thickness). This regularly requires manual and time-consuming changing of a tape roll. In addition, the assembly head cannot continue working while the tape is being changed, i.e., the taping has to be stopped. The interchangeability and replaceability of the entire taping unit keeps the time required for a tape change to a minimum.

[0019] Accordingly, during operation, the banding unit is regularly replaced and replaced with a new one that is stocked with a new or different band. This is done using a changeover system according to the invention and a method according to the invention.

[0020] The replaceable banding unit is preferably attached directly to the winding head, thus rotating with the winding head around the rotation axis during operation. The banding unit is attached to the winding head in a suitable, reversibly detachable manner.

[0021] The banding unit, in particular, has a tape dispenser on which the tape is stored. In particular, the tape is wound on a tape reel, which in turn is replaceably attached to the tape dispenser. The tape is unwound from the tape dispenser during the banding process. The supply is usually sufficient for several bandings.

[0022] In addition, a cutting element is also part of the replaceable banding unit. The cutting element is generally designed to separate the section of band wrapped around the cable harness from a residual band remaining on the band dispenser at the end of each banding process. In other words: together with the band dispenser and the band, the cutting element is also replaced, which is preferably specifically tailored to the band. This ensures that an optimally suited cutting element is always used for each band. This would not be the case if only the band were replaced and not the cutting element. By replacing the entire banding unit, the band and the cutting element are advantageously always replaced together.

[0023] In a preferred embodiment, the banding unit therefore comprises at least the band dispenser and the particularly band-specific cutting element.

[0024] In a preferred embodiment, at least one pressure element is also part of the replaceable banding unit. Preferably, two pressure elements are provided, namely a first and a second pressure element, both of which are components of the banding unit.

[0025] The first pressing element holds (or supports) in particular an open end of the tape so that the tape can be easily and securely attached to the cable for taping. When the tape is cut, there is a risk that the then open end of the tape will spring back due to the tension created during cutting and, if necessary, the rolled-up tape remaining on the tape dispenser will also rotate back a little, so that the open end is pulled back a little. The first pressing element now nevertheless holds the open end in a largely defined position for a further taping process. Alternatively or additionally, the tape flies or jumps (“flips”) upwards after cutting (due to the tension or cutting movement) so that the tape can be, and expediently is, glued or clamped in particular to an upper part of the tape roll or the taping unit.Even if the positioning is rotated by 180°, for example, where the tape would (additionally) jump downwards due to its own weight, the end of the tape is glued or clamped to the tape roll or to the taping unit using the first pressure element.

[0026] After the tape has been cut, an open end of the tape may also protrude from the cable, which is then expediently pressed against the cable using the second pressing element. Preferably, the taping unit further comprises deflection elements, particularly designed as deflection rollers, around which the tape is guided.

[0027] The replaceable banding unit therefore forms a complete functional module which contains all the elements required for banding during operation.

[0028] The banding unit is preferably replaceable automatically, in particular fully automatically. For this purpose, a coupling mechanism, in particular a mechanical coupling device, is preferably designed. This is designed, for example, in the manner of a quick-action coupling or, for example, in the manner of a plug-in coupling. The coupling is, in particular, automatically releasable. As a result, the banding unit can be easily replaced automatically, in particular fully automatically, and is also replaced fully automatically, in particular during operation, without the need for manual operations. The mechanical coupling and fastening of the banding unit to the rest of the assembly head, in particular to the winding head, can therefore be released automatically and in a controlled manner.

[0029] For this purpose, the banding unit preferably has a mounting plate and a holding plate is preferably arranged complementarily on the mounting head, in particular on the winding head, to which the mounting plate is fastened.

[0030] The mounting plate is preferably held at a distance from the remaining parts of the banding unit by means of spacers. This essentially exposes the mounting plate, allowing it to be inserted, for example, into a slot-shaped receptacle of a holder, particularly a magazine described further below.

[0031] Preferably, a reversibly releasable locking mechanism is formed on the winding head, via which the mounting plate is attached to the mounting head, in particular to the winding head. The locking mechanism preferably has at least one locking arm, which engages the mounting plate with a locking element, in particular a pawl, so that the mounting plate is mechanically securely fixed and held in a closed position.

[0032] The locking arm is held in the closed position passively and preferably by spring force. To release the lock and move the locking mechanism to an open position, however, an active control is required to release the locking arm.

[0033] Preferably, two locking arms are formed, in particular opposite each other, which are more preferably designed as pivoting arms and specifically as lever arms. A pivoting movement therefore moves the respective locking arm from the closed position to the open position and vice versa.

[0034] Preferably, the two pivot arms are controlled via a preferably common actuating element. In particular, this actuating element acts on a lever arm at the end of each pivot arm and rotates the respective pivot arm about a pivot axis. The actuating element is adjusted, for example, linearly by a suitable drive.

[0035] In a preferred embodiment, mass elements referred to as actuators are attached to each of the pivot arms. These mass elements fulfill two functions: Firstly, they form an actuating surface onto which the preferably common actuating element for both pivot arms acts. Secondly, by designing them as additional weights attached to the pivot arms, their mass inertia is utilized during rotating operation during a winding process, thus generating a radially outward-acting force that pushes the pivot arms into a closed position.

[0036] The mounting plate preferably has a central, open to one side

[0037] This space serves, on the one hand, to accommodate the cable harness from the side for normal operation. This space is therefore part of the central winding space of the winding head, into which the cable harness can be inserted from the side.

[0038] The mounting plate, for example, is U-shaped overall with a base and two side legs that enclose the free space between them.

[0039] The mounting plate is also preferably used for placing and fixing on / to a holder in a magazine, as will be explained in more detail below.

[0040] In a preferred embodiment, the banding unit is adjustably attached to the rest of the assembly head via an adjustment mechanism, in particular a linear mechanism. The banding unit can therefore be at least partially moved out of the assembly head to improve access. Preferably, the banding unit, together with the winding head, can be moved transversely to the cable harness relative to the rest of the assembly head, in particular forwards in the longitudinal direction. This allows the banding unit as a whole to be moved forwards towards a change position or extended in which the banding unit is replaced. For replacement, in particular the aforementioned coupling mechanism is released and the banding unit is thus released. The banding unit also includes, in particular, the locking mechanism described above, which can therefore be moved together with the rest of the banding unit.

[0041] In normal operation when banding a cable harness, in a preferred embodiment, this adjustment mechanism moves the winding head in the direction of the cable harness from a retracted rest position into an extended working position in which the banding process then takes place.

[0042] In a preferred embodiment, before the banding unit is removed, not only the banding unit is extended longitudinally from the assembly head, but also the winding module together with the banding unit attached to it. In principle, however, it is also possible for the winding head to be fixed relative to the rest of the assembly head and for only the banding unit to be extended.

[0043] In a preferred embodiment, the banding unit is rotated into a desired, defined rotational position before removal - in particular in addition to the linear extension - so that the lateral opening of the winding head and thus also of the mounting plate is oriented in a desired direction.

[0044] These movements prior to the actual removal of the banding unit bring it into a desired, defined change position, where the banding unit can then be placed, for example, on a magazine holder. This eliminates the need for additional auxiliary and changeover devices, such as an additional robot for changing the banding unit.

[0045] The assembly head preferably has a mechanical interface, in particular a flange for attachment to a robot, preferably to a robot hand of a multi-axis industrial robot. During operation, the assembly head is therefore attached to a robot. The robot allows the assembly head to be freely movable in space, in particular according to the robot's degrees of freedom. During the normal taping process, this free mobility is used in particular to, for example, position the winding head against the cable harness and / or to move it along the cable harness.

[0046] This mobility by means of the robot is also preferably used for the changing process of the banding unit, as will be explained in more detail below.

[0047] To achieve the shortest possible interruption times, at least one additional banding unit is stored in a magazine in addition to the banding unit mounted in the assembly head. Overall, according to the invention, a change system is designed that comprises the assembly head and the magazine with at least one additional banding unit. The at least two banding units can be interchanged. Preferably, more than five banding units, for example, five to twenty, are stored in the magazine.

[0048] In the method according to the invention, a banding unit to be changed is first automatically separated from the remaining assembly head and placed thereon, and then a new banding unit is automatically picked up from the magazine and inserted into the assembly head.

[0049] To change the banding unit, in a preferred embodiment, the assembly head as a whole is moved to the magazine, particularly with the aid of the previously described robot. The (used) banding unit contained in the assembly head is first deposited there and then a new banding unit is picked up from the magazine. This occurs, in particular, according to a pick-and-place principle.

[0050] Both for the automatic deposit of the old banding unit and for the automatic pickup of the new banding unit, the previously described coupling mechanism is actuated so that the banding unit is released from the assembly head, specifically from the winding head, and transferred to the holder or the new banding unit is picked up by another holder.

[0051] For depositing and picking up, the winding head preferably moves forward relative to the rest of the assembly head in the direction of the magazine.

[0052] In a preferred embodiment, the banding unit—as already explained—is brought, in particular together with the winding head, into a suitable rotational position for transfer to or pickup from the magazine. For this purpose, the winding head is rotated around the rotation axis by a predetermined angle of, for example, 90°. In one embodiment, not the entire banding unit is rotated, but only parts of it, and, for example, only the previously described locking mechanism with the actuating element is not rotated.

[0053] In this case, the term magazine is generally understood to mean a location separate from the assembly head, referred to as a changeover location, where at least one banding unit is stored for changing.

[0054] The magazine preferably has a holder for a respective banding unit, to which the banding unit can be fastened with its mounting plate and preferably fixed or locked.

[0055] For example, the holder has lateral guides into which the mounting plate is inserted with its edges. These guides are designed, in particular, as guide slots or guide grooves.

[0056] In a preferred embodiment, the holder has a central, upwardly projecting support bar onto which the mounting plate can be placed with its free space. This support bar preferably has the previously described lateral guides.

[0057] The holder preferably has a locking mechanism for locking, in particular a locking element such as a locking bolt or a locking pin, wherein the locking element engages in an associated locking receptacle on the mounting plate. The locking element is preferably extendable, in particular motor-operated by means of a drive.

[0058] In a practical embodiment, the banding units stored in the magazine are designed differently. They are specifically designed for receiving and handling bands of different shapes. These can differ, for example, in terms of their type (plastic band, textile band) or their geometric dimensions. In a particularly preferred embodiment, it is further provided that each banding unit has a cutting element designed to automatically cut the band. The different banding units preferably differ with regard to their cutting elements. These are preferably specifically adapted to the different bands. The cutting elements are therefore designed to be optimized for the different bands.

[0059] In total, preferably more than two, and in particular more than five or more than ten banding units are part of the system. These are preferably arranged and stored within a magazine. The new banding unit is removed from this magazine. Preferably, the old banding unit with the used tape roll is also deposited in the magazine. Here, the empty roll can be replaced either manually or automatically with a new full roll, or the empty roll can be filled with new tape using a suitable device, i.e., new tape can be wound onto it.

[0060] By arranging a large number of banding units, different banding units can be stocked for different purposes.

[0061] Furthermore, it is worth emphasizing that the typically manual change and replacement of a used tape roll with a new one can be carried out easily without affecting the work cycle and process speed. The tape rolls each contain the tape and can preferably be attached to the tape dispenser in an interchangeable manner. For example, the tape rolls are continuously replaced within the magazine. Either only tape rolls or the entire tape dispenser are replaced. Alternatively, multiple magazines are provided, and the entire magazine is replaced each time. The tape rolls can also be replaced at defined intervals, for example, every two hours.

[0062] Ideally, the banding units are already loaded with band rolls before production starts. It is also advantageous if the cutting elements are interchangeable and the banding units are equipped with cutting elements that match the band rolls before production starts.

[0063] In a suitable design, the changing and replacement of tape rolls, particularly within the magazine, takes place automatically using a corresponding device. Such a device expediently either replaces the tape dispenser (possibly with a remaining tape) of a banding unit with a fresh tape dispenser and the tape wound on it, or provides the empty tape dispenser with a fresh tape, thus winding the fresh tape onto it.

[0064] An exemplary embodiment of the assembly head and the changing system, as well as the method for automatically changing a banding unit, is explained in more detail below in conjunction with the figures. These show:

[0065] FIG 1 is a perspective front view of a mounting head, and

[0066] FIG 2 an enlarged perspective front view of the mounting head with a different viewing direction,

[0067] FIG 3a - 3h a banding unit in different views,

[0068] Fig. 4a - 4c a banding unit according to a further embodiment in different views,

[0069] Fig. 5 a partial view of parts of the assembly head in the area of ​​the banding unit,

[0070] Fig. 6 a partial view of parts of the mounting head with the coupling mechanism for fixing the banding unit,

[0071] Fig. 7a the banding unit together with a holder in a change position,

[0072] Fig. 7b the banding unit together with a holder in a side view, FIG 8 a schematic representation of a changing system with assembly head, robot and magazine.

[0073] A mounting head 2 shown in Figures 1 and 2 is described in the international application with the file number PCT / EP 2023 / 076129, which was unpublished at the time of filing. The description of Figures 1 and 2 contained therein is hereby incorporated into this application by reference. This applies in particular to pages 12 to 22 of the aforementioned application in the originally filed version.

[0074] The assembly head 2 generally comprises a support frame 4 to which several units are attached, which are described in more detail below. The support frame 4 has a flange 6 with which it is held to an industrial robot 8, which is only indicated by a dashed line of a mounting flange of a robot hand. The assembly head 2 is therefore largely freely movable in space, so that the assembly head 2 can be positioned in any position and at any angle (0 - 360°) as required. Alternatively, it is also possible for it to be movable only linearly on a fixed frame, for example. Furthermore, there is also the alternative that the assembly head itself is stationary and a cable harness 10 is movable relative to the assembly head 2.

[0075] The assembly head 2 generally serves to band the cable harness 10 with a band 14. The band 14 is preferably arranged stationary and the assembly head moves in the direction of the cable harness 10.

[0076] The mounting head 2 extends in a longitudinal direction L, perpendicular thereto in a transverse direction Q and further in a vertical direction V. During the banding process, the cable harness 10 extends in the transverse direction Q.

[0077] As an essential component, the assembly head 2 has a winding module 16 with a preferably C-shaped or ring-segment-like winding head 18. A banding unit 20 is also attached to the winding head 18, thus forming 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 cable harness 10 can be inserted. To wrap the band 14, the winding head 18 rotates about a rotation axis (not shown in detail here), which is also a central axis of the interior space defined by the winding head 18. During the banding process, the rotation axis extends along the cable harness 10.

[0078] A suitable drive device is provided to drive the winding head 18. Specifically, in the exemplary embodiment, a toothing 19A is formed on the outer circumference of the winding head, into which a plurality of drive bands or toothed belts 19B, typically distributed around the circumference, engage. The at least one toothed belt is driven by a suitable drive. The complete belt drive is part of the winding module 16.

[0079] 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, thus enabling a feed movement toward the cable harness 10. In particular, the winding head 18 is linearly movable via a linear drive. A suitable drive is provided for this purpose.

[0080] As can be seen specifically in Figure 2, the winding module 16 has a support plate 16A, which is open at its front end, thereby defining a free space 16B. At this front end, the winding head 18 is rotatably mounted on the support plate 16A. Via the aforementioned belt drive, a ring-segment-like plate of the winding head is rotated around the rotation axis. The belt drive is also mounted on the support plate 16A, specifically behind the winding head when viewed in the longitudinal direction.

[0081] The banding unit 20 has a band dispenser 22 on which the band 14 is stored. The band dispenser 22 rotates with the winding head 18 during operation. For this purpose, the banding unit 20 is non-rotatably attached to the winding head 18, and in particular to the aforementioned ring-segment-like, rotatable plate. The banding unit 20 is therefore a component of the rotatable winding head 18.

[0082] Furthermore, the banding unit 20 has a plurality of guide elements and / or deflection elements with the aid of which the band 14 is reliably guided and deflected.

[0083] The banding unit 20 preferably has a first pressing element 24. The pressing element 24 is movable toward the wire harness 10 and serves to guide and press a band beginning against the wire harness 10 at the beginning of the banding process. The first pressing element 24 is pivotally mounted on the banding unit 20, for example. It is designed, in particular, in the manner of a pressure roller.

[0084] Furthermore, the banding unit 20 has a further, second pressing element 25, which is also adjustable in the direction of the wire harness 10. The further pressing element 25 is preferably designed as an elastic element, for example as an elastic tab and, in the exemplary embodiment, in the manner of a brush. The further pressing element 25 serves to press one end of the band against the wire harness 10 at the end of the banding process, as will be explained in more detail below.

[0085] Finally, the banding unit 20 also has a cutting element 23, which is arranged in particular directly adjacent to the further pressing element 25 and is adjustable with it. The cutting element 23 and the further pressing element 25 preferably perform a joint (pivoting) movement when cutting the band 14.

[0086] Adjacent to the cutting element 23, specifically on the side oriented toward the belt 14 or the belt dispenser 22, and thus in particular opposite the further pressing element 25, a holding element 27 is preferably mounted, which is provided for supporting or holding one end of the partial belt remaining on the belt dispenser 22. For this purpose, the holding element 27 has, for example, several pins, three pins in the exemplary embodiment, which are oriented toward the belt 14 and specifically toward the belt dispenser 22.

[0087] As a further essential component, at least and preferably exactly one gripping unit 26 is provided. The gripping unit 26 is arranged on the side opposite the banding unit 20, next to the winding module 16. Alternatively, two gripping units 26 can be arranged on either side of the winding module 16.

[0088] Each gripping unit 26 has a gripping holder 28 and two curved gripping elements 30. These are mounted on the gripping holder 28, in particular for pivoting movement. FIG. 2 shows a controllable actuating element 31, which preferably has two adjusting elements 31a, 31b, each of which is connected to one of the gripping elements 30 in a base region. The adjusting elements 31a, 31b can execute a pivoting movement, and with them the curved gripping elements 30.

[0089] The entire gripping unit 26 is preferably again adjustable in the longitudinal direction L toward the cable harness 10. For this purpose, the gripping unit is mounted, for example, on the winding module 16 and in particular on the carrier plate 16A so as to be linearly displaceable with its own drive for the linear adjustment.

[0090] In Figures 1 and 2, the gripping elements 30 are shown in a partially closed position in which they, together with the gripping holder 28, completely encompass the cable harness 10. The latter is therefore located between the gripping elements 30 and the gripping holder 28. When the gripping elements 30 are brought together, the loose individual strands of the cable harness 10 are gathered together, so that the cable harness 10 is compressed as a whole. Overall, the cable harness 10 is loosely guided in the gripping unit 26 during the banding process. Preferably, the cable harness 10 is initially gripped firmly, in particular until a beginning of the band is fixed to the cable harness 10 and the band 14 has possibly already been wound several times around the cable harness 10.Subsequently, the gripping unit 26 (gripping elements 30) is opened slightly and moved into a gripping position so that the cable harness 10 is guided loosely and the cable harness 10 is guided through the gripping unit 26 during the banding process.

[0091] The assembly head 2 further comprises two pairs of guide rollers 32. These are mounted on either side of the winding head 18 or the banding unit 20. The pair arranged on the side of the gripping unit 26 is, for example, attached to the gripping unit 26, specifically to the gripping holder 28, and is adjustable in the longitudinal direction L with the gripping unit 26.

[0092] Additionally or alternatively, the pair is adjustable in the longitudinal direction L independently of the gripper holder. Therefore, the guide rollers 32 are assigned a dedicated adjustment mechanism for longitudinal adjustment, so that they can be adjusted independently of the gripper holder. 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.

[0093] The guide rollers 32 are each arranged opposite one another to the cable harness 10 and can be adjusted in the direction of the cable harness 10. For this purpose, a pivoting movement is provided, in particular. In their closed end position, their roller axes are preferably arranged parallel or largely parallel to one another. The cable harness 10 is guided and held between the guide rollers 32. A distance between the guide rollers 32 is preferably dimensioned such that the cable harness 10 is slightly compressed overall, so that it has, for example, an approximately flattened cross-sectional contour there. The distance between the guide rollers 32 during the banding process is preferably adjustable, for example by parameterization or alternatively manually, in particular depending on the diameter of the cable harness 10.

[0094] In the same or similar manner, a gripping diameter of the gripping elements 28 can preferably also be adjusted in their closed state. This reliably prevents twisting of the cable harness 10 during the subsequent banding process. The guide rollers 32 are preferably pressed against the cable harness 10 throughout the entire banding process.

[0095] The guide rollers 32 are rotatable about their roller axis, but preferably do not have their own drive, so that they are freely rotatable.

[0096] Preferably, the (free) rotatability of the guide rollers is adjustable and controllable, so that the guide rollers can rotate freely or be locked as needed. They are preferably rotatable during the banding process, allowing them to move along the cable harness. However, if the cable harness needs to be tightened (see also below), for example, before the banding process or at the end for cutting the tape, the guide rollers are locked and cannot rotate. The locking is achieved, in particular, by a control signal.

[0097] 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 banding unit 20, can be positioned in the transverse direction such that it lies in the previously described free space 16B in the carrier plate 16A at least during the banding process and preferably permanently.

[0098] The banding process is preferably as follows:

[0099] The assembly head 2 is moved toward the wire harness 10 with the aid of the robot 6. The wire harness 10 is held in place, in particular, on both sides. However, the feed movement of the assembly head 2 is not absolutely necessary, depending on the positioning of the assembly head 2 relative to the wire harness 10. Alternatively or additionally, the gripping unit 26 and the winding module 16 are fed 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 wire harness 10 at the beginning of the banding process, specifically such that the lateral opening of the winding head 18 is oriented toward the wire harness 10.

[0100] Preferably, the gripping unit 26 is first advanced toward the cable harness 10 and, for this purpose, moved relative to the support frame 4. The gripping elements 30 are then pivoted so that the cable harness 10 is enclosed. In particular, the individual cables are brought together and, if necessary, pressed together. Preferably, the cable harness 10 is first clamped and held firmly during this step.

[0101] In particular, simultaneously or with a time offset, the guide rollers 32 are first moved longitudinally forward toward the cable harness 10, 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 cable harness 10 and, in particular, flatten it and press it into a flat cross-sectional shape. This pressing force exerts a certain holding force on the cable harness 10.

[0102] The gripping elements 30 are then slightly loosened so that they continue to completely enclose the cable harness, but only hold it loosely so that the cable harness 14 can be guided transversely through the gripping unit 16.

[0103] Furthermore, if necessary, the cable harness 14 is tightened in the transverse direction using the two pairs of 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 cable harness 10 is tightened in the area of ​​the winding head 16. The guide rollers 32 are, for example, cylindrical or conical in shape.

[0104] In the next step, the winding module 16 is moved in the longitudinal direction L toward the cable harness 10 relative to the support frame 4, so that the latter is received inside the winding head 18. Any loosely hanging end of the strip 14 is preferably pressed against the cable harness 10 during this advance movement. The strip 14 is, in particular, a self-adhesive strip.

[0105] After this fixation, the actual taping takes place. For this purpose, the winding head 18 and, with it, the taping unit 20 rotate around the rotation axis, so that the tape 14 is unwound from the tape dispenser 22 and wound around the cable harness 10. Preferably, the tape 14 is first wound several times around the cable harness 10 in the starting position so that the beginning of the tape is reliably fixed. Subsequently, the cable harness 10 is then wound with the tape 14, for example, in a spiral shape.

[0106] The gripping unit 26 preferably firmly grips the cable harness 10 until the beginning of this spiral wrapping. Generally, before the beginning of the spiral wrapping, the gripping elements 30 are opened again slightly, so that the cable harness 10 is still completely gripped, but only loosely held.

[0107] For spiral wrapping, the entire assembly head 2 is moved specifically with the aid of the industrial robot 8 in or against the transverse direction Q, so that the band 14 is successively wrapped around the cable harness 10, either as a spiral banding or as a full banding. In principle, the assembly head 2 also enables spot banding, in which the band 14 is wrapped around the cable harness 10 at only one position. A banding process is also possible in which spot banding is performed first, followed by spiral or full banding.

[0108] At the end of the banding process, the band is automatically cut using the cutting element 23. For this purpose, a pivoting movement of the banding unit 20 is provided, for example, around the rotation axis of the winding module 16. As a result, the cutting element 23 is guided against the band 14 from below. In the process, the cutting element 23 severes the band 14. During the further movement sequence, for example, during the same pivoting movement, the loose band end thus created is preferably also pressed against the cable harness 10 by the additional pressing element 25.

[0109] After separation, an end of the tape remains on the tape 14 located on the tape dispenser 22, which defines the beginning of the tape for the next banding process.

[0110] The optional arrangement of the holding element 27 ensures, for example, that this band end is held in a defined manner. For example, the band end rests on the holding element 27 from above. In a preferred embodiment, the holding element 27 is formed by a plurality of pins, in particular needle-shaped pins, which even pierce the band. The piercing occurs in particular during cutting, when the cutting element 23 is pivoted from below against the band 14. The holding element 27 is preferably pivoted with the cutting element 23. During the next bandaging process, when the winding module 18 is advanced to the cable harness 10, the burnt end is held in position by the pins. The first pressing element 24 guides the band 14 to the cable harness 10 by pivoting a movement, so that the band 14 is pressed against the cable harness 10 and can adhere there. During the subsequent rotation of the banding unit 20, the band end is then automatically released from the pins.

[0111] In connection with the other figures, a concept with interchangeable banding units 20 is explained in more detail below:

[0112] A first embodiment of the banding unit 20 is shown in various views in Figs. 3a to 3h, wherein Figs. 3g and 3h show two variants of a coupling mechanism by means of which the banding unit 20 is designed as a detachable module. Figs. 3a, 3b and 3c show different perspective views. Figs. 3d and 3e each show a side view. Fig. 3f shows a front view. In the embodiment of Figs. 3a to 3f, the banding unit 20 has a first side plate referred to as mounting plate 34 and a second side plate 36, between which the band 14 is guided via various deflection elements 38. In Figs. 3c and 3e, among other things, the second side plate 36 is omitted in order to show the parts located between the side plates 34, 36. Fig. 3e also shows an example of how the band 14 is guided through the banding unit 20.

[0113] In the present case, the banding unit 20 is attached to the winding head 18 by means of a coupling mechanism. For this purpose, the banding unit 20 and the winding head 18 each have corresponding coupling elements 40, 42. Two variants of the coupling mechanism are shown in Figs. 3g and 3h, which respectively show the mounting plate 34 of the banding unit 20 and a holding plate 44 of the winding head 18.

[0114] In general, and also in the embodiment of FIGS. 4a to 4c, the banding unit 20 is reversibly and detachably fastened to the winding head 18 using the mounting plate 34. The reversible fastening allows the entire banding unit 20 to be replaced when the band is changed. The mounting head 2 is thus designed to accommodate various banding units 20.

[0115] In Fig. 3g, the coupling elements 40 of the banding unit 20 are each designed as an extension which extends perpendicularly from the mounting plate 34 and thus in the direction of the holding plate 44 (here in the transverse direction Q). The holding plate 40 has complementary holes as coupling elements 42. The extensions each have a neck 46 and a head 48, wherein the head 48 is wider than the neck 46. The neck 46 connects the head 48 to the mounting plate 34. The mounting plate 34 and the coupling elements 40 are either manufactured in one piece (monolithic) or in multiple pieces. In the latter case, the coupling elements are, for example, screws which are screwed into the mounting plate 34. The coupling elements 42 in Fig.3g are now designed as elongated holes, with a first, wide end 50, through which a respective coupling element 40 with its head 48 can be inserted, and with a second, tapered end 52, which is narrower than the head 48, but at least as wide as the neck 46. To attach the banding unit 20, the extensions of the banding unit 20 are inserted into the holes in the holding plate 44 and then moved along the elongated hole towards the tapered end 52, e.g. by rotating the banding unit 20 accordingly about the transverse direction Q. To release the banding unit 20, this is carried out accordingly in reverse.

[0116] Optionally, the assembly head 2 also has a locking mechanism with one or more locking elements 54 to lock the banding unit 20 to the winding head 18. In Fig. 3g, two spring-loaded pins are shown as locking elements 54 by way of example, which engage in complementary locking holes 56 as soon as the extensions are seated in the tapered end 52 of a respective hole, so that turning back for release is only possible by pushing the pins out of the locking holes 56 again against the spring force. To release the banding unit 20, this is done in particular automatically by means of suitable actuators (not shown), e.g., on the magazine 62. The locking mechanism is fundamentally independent of the specific design of the coupling mechanism and can accordingly also be used with coupling mechanisms other than the one shown in Fig. 3g.

[0117] In Fig. 3h, the coupling elements 40 are also designed as extensions extending from the mounting plate 34, but each has one or more spring-loaded balls 58 as a head, which emerge laterally from the extension. The retaining plate 44 has a corresponding number of holes 66 through which the extensions with the balls 58 are guided until the balls 58 emerge on the other side of the retaining plate 44 and then extend laterally there, so that the balls 58 must be pressed in to release them. In this way, the balls 58 also simultaneously form a locking mechanism. Such mechanisms are generally known, for example, in so-called ball locking pins. Figs. 3g and 3h each contain a side view and a front view of the retaining plate 44 and the mounting plate 34.

[0118] In Figs. 3a to 3f, the tape dispenser 22 has a plate 68 (also referred to as an “arm”) which is arranged on the same side as the mounting plate 34. In the figures, the plate 68 and the mounting plate 34 are shown as separate parts, but an embodiment in which the plate 68 and the mounting plate 34 are detachably or permanently connected to one another or in which the plate 68 is made in one piece with the mounting plate 34 (as shown in Figs. 3g, h) is also expedient. In the exemplary embodiment shown here, some of the coupling elements 40 of the taping unit 20 are attached to the plate 68, but this is not absolutely necessary.

[0119] A further preferred embodiment of the banding unit 20 and in particular of a further coupling mechanism is explained in more detail in connection with Figures 4a to 4c and Figures 5 and 6:

[0120] The banding unit 20 shown in Figures 4a to 4c is initially designed similarly to the banding unit 20 shown in Figures 3a to 3f, differing primarily in the design of the coupling mechanism, which will be discussed in more detail below. The previous explanations apply equally to the remaining components of the banding unit 20, for example, the cutting element 23, the pressing elements 24, 25, the deflection elements 38, and the band dispenser 22, unless otherwise indicated in the illustrations.

[0121] All of these units are at least indirectly attached to the mounting plate 34, which, as in the previous embodiment, is U-shaped with a central free space 70. These units are specifically attached to the fastening plate 68, which in turn is attached to the mounting plate 34 via spacers. The design of the mounting plate 34 can be clearly seen in Figs. 4a, 4b, which each show perspective side views of the banding unit 20 looking toward the mounting plate 34.

[0122] Fig. 4c, on the other hand, shows a perspective view of the other side of the banding unit 20, from which the other elements of the banding unit 20 can be clearly seen.

[0123] The mounting plate 34 has two lateral, opposing U-shaped legs, which are connected to each other via a common base. In the exemplary embodiment, the mounting plate 34 has a notch-like recess 72 on each of its opposite edges, i.e., on the outside of the U-shaped legs.

[0124] Furthermore, the mounting plate 34 also has a fixing receptacle 74, which is preferably designed as a through-hole and, in the exemplary embodiment, is formed centrally on the base and, for example, on a projection extending into the free space. Alternatively, the fixing receptacle 74 can also be formed on one or both free ends (legs) of the mounting plate 34.

[0125] As can be seen from the figures, the tape dispenser 22 has a reel support 76 to which a tape reel 78 is replaceably mounted in the manner of a reel. The tape reel 78 contains the tape 14.

[0126] For the normal banding process, the banding unit 20 is attached to the winding head 18, specifically to the previously described holding plate 44, as can be seen in particular from Fig. 5. In a preferred embodiment, the banding unit 20 is inserted into a corresponding receptacle, for example, lateral guide grooves or guide slots of the winding head 18.

[0127] The holding plate 44 preferably corresponds (as in the previously described embodiment) to the support plate 16A described in Fig. 1 and Fig. 2 with its central free space 16B open to one side. This and the free space 70 of the mounting plate 34 overlap so that the cable harness 10 can be accommodated there for the banding process.

[0128] For the reversibly detachable fastening of the banding unit 20, a locking mechanism 80 is provided, which is part of the coupling mechanism. The locking mechanism 80 is best seen in Fig. 6. It has two opposing locking arms 82, which are designed as pivot arms and which have a locking element 84 designed in the manner of a pawl at their ends. This engages in the previously described recess 72 on the mounting plate 34 to lock the banding unit 20. In the exemplary embodiment, the two locking arms 82 are designed as pivot arms or lever arms, which are pivotally mounted about a pivot joint 86. In the initial example, the locking element 84 is arranged at the end of one lever arm, with a one-sided section, for example, being angled approximately at a right angle to this.In the exemplary embodiment, the other, upper lever arm is guided toward the center and above the mounting plate 34, where it has an actuator 88. In the exemplary embodiment, the two actuators 88 are jointly actuated by an actuating element 90, which is controlled, in particular, by a linear drive. Spring elements 92 hold the locking arms 82 in their closed position, so that the locking element 84 engages the respective recess 72. In the exemplary embodiment, the spring elements 92 are designed as tension springs that pull the upper lever arm upward.

[0129] The two actuators 88 are additional, separate mass elements attached to the respective locking arm 82. During a winding process, i.e., when the banding unit 20 rotates, they exert an outward force on the pivot arm, which, via the lever effect, creates a force in the closing direction and thus, in particular, also supports the closing force exerted by the spring elements 92.

[0130] To release the locking mechanism and to move it into the open or release position, the actuating element 90 moves downward in a controlled manner and presses the actuator 88 downwards, so that the resulting pivoting movement causes the unlocking.

[0131] In the illustrated embodiment, the locking arms 82 are mounted between two plates. In Figure 6, the upper plate on the left half of the image is shown transparent, allowing a view of the locking arm 82. For illustrative purposes only, the left locking arm 82 is shown in the open position. The actuating element 90 is shown spaced apart, so that in this illustrated position of the actuating element 90, the locking arm 82 is moved into its closed position by the tensile force of the spring element 92 and held there by spring force.

[0132] For exchanging and replacing the banding unit 20, a magazine 94 is provided (see in particular Fig. 8), in which several banding units 20 are stored. Preferably, each banding unit 20 is mounted on a holder 96, as shown by way of example in Figs. 7a, 7b together with a respective banding unit 20.

[0133] Generally, the banding unit 20 is held on the holder 96 via its mounting plate 34. In the exemplary embodiment, the holder 96 has a central, approximately vertically oriented holder web 98, onto which the mounting plate 34 is placed. Preferably, the holder web 98 has a complementary geometry to the free space 70. Preferably, the holder web 98 has a groove into which the mounting plate 34 is inserted with a plate edge.

[0134] Alternatively, the holder 96 has two opposite webs, preferably also with grooves, into which the mounting plate 34 is inserted with its opposite plate edges.

[0135] According to a preferred development, in addition to the respective holder 96, additional guides or holding elements are attached to the magazine 98, in particular such that the mounting plate 34 is guided or supported both by its outer edges and by its central free space. Additionally, a fixing mechanism is provided, by means of which the banding unit 20 is fixed to the holder 96. In the exemplary embodiment, a unit with an extendable fixing bolt 100 is arranged on the holder 96, specifically on the holder web 98, which engages in the previously described fixing receptacle 74 (see in particular Fig. 4A) to fix and lock the banding unit 20.

[0136] Finally, Fig. 8 shows a highly simplified representation of an (overall) system for the automated banding of cable harnesses 10, designed as a change system 102. This has as essential parts the assembly head 2 and several independent banding units 20 as change modules. These are stored in the magazine 94. The change modules in the magazine 94 are expediently spaced from one another in such a way that the band rolls 78 can be removed laterally, for example to be replaced manually by a worker. The magazine 94 preferably has several of the holders 96 described above. In principle, other embodiments are also possible, for example a support frame preferably with shafts for receiving the individual banding units 20. In particular, the magazine 94 is designed to receive at least three banding units. The magazine 94 preferably contains bands 14 of at least two different band types, iemade of different materials (PVC, fleece, textile, etc.) and / or with different geometric dimensions (width, thickness).

[0137] Figure 8 also shows a robot 104, which is in particular part of the changing system 102. The robot 104 is in particular a conventional, multi-axis industrial robot. In principle, however, other automation systems and handling systems can also be used. The assembly head 2 is attached to a robot hand of the robot 104 with its flange 6, which is expediently exchangeable, e.g., by means of a quick-change system. During operation, several banding processes are carried out successively until the band 14 stored in the banding unit 20 on the band dispenser 22 is used up, or it must be replaced, for example, with another.

[0138] In this case, the banding unit 20 is changed in a particularly fully automatic manner. The old, used banding unit 20 with the used-up band 14 is thus replaced by a new banding unit 20 with a new band 14.

[0139] In particular, it is provided that the assembly head 2 is moved in its entirety with the aid of the robot 104 toward the magazine 94, where it automatically deposits the old banding unit 20 and picks up the new one. Subsequently, the robot 64 moves from this changeover location formed by the magazine 94 back to the starting position to continue banding.

[0140] To change the banding unit 20 shown in Figures 4a and 4b, the robot moves the assembly head 2 in a precisely positioned manner over a respective holder 96. Preferably, the winding head 18 is rotated so that the free space 70 or the mounting plate 34 is suitably oriented relative to the holder 96. The banding unit 20 is also preferably moved linearly out of the rest of the assembly head 2. These movements bring the banding unit 20 into a defined change position, in which it can be easily placed on the holder 96.

[0141] It should be emphasized that in general - and especially as a result of these movements - an additional gripping or changing device, such as an additional robot, can be dispensed with and in particular is dispensed with.

[0142] The banding unit 20 is placed on the holder 96 with the mounting plate 34. For this purpose, it is particularly provided that the entire winding head 18 is extended forward in the longitudinal direction L relative to the rest of the mounting head 2. Subsequently, the locking mechanism 80 is actuated and moved into the release position, so that the banding unit 20 is free and remains on the holder 94. The banding unit 20 is then fixed to the holder 96 via the fixing mechanism.

[0143] The assembly head 2 then moves to the new banding unit 20 to be mounted, whereby the assembly head 18 can again be extended and retracted in the longitudinal direction L. As soon as the new banding unit 20 is grasped, the locking mechanism 80 is returned to its closed position. For this purpose, the actuating element 90, in particular, retracts so that the locking arms 82 engage, actuated by spring force, in the recesses 72 on the mounting plate 34.

[0144] Alternatively, it is also possible for the change to be performed, for example, by an additional robot. In this case, the additional robot grasps the old banding unit 20 in the assembly head 2, removes it, inserts the old one, for example, into the magazine 94, takes a new one from the magazine 94, and places it back in the assembly head 2.

[0145] The banding units 20 can generally be removed from the assembly head 2 in the longitudinal direction L, i.e., forwards, and can be reinserted into the assembly head 2 counter to the longitudinal direction L. In a suitable embodiment, the banding unit is brought into an extended position in a first step, in particular by moving it in the longitudinal direction L, in particular together with the winding head 18.

[0146] In the embodiment shown in Figures 3a to 3f, in a second step, the banding unit 20 is moved laterally in the transverse direction Q (due to the coupling mechanism) and thereby decoupled. In a third step, the banding unit 20 is removed in the longitudinal direction L. List of reference symbols

[0147] 2 mounting head

[0148] 4 Support frame

[0149] 6 Flange

[0150] 8 industrial robots

[0151] 10 Cable harness

[0152] 14 volumes

[0153] 16 winding module

[0154] 16A carrier plate

[0155] 16B open space

[0156] 18 winding head

[0157] 19A teeth

[0158] 19B Timing belt

[0159] 20 banding unit

[0160] 22 tape dispensers

[0161] 23 Cutting element

[0162] 24 first pressure element

[0163] 25 second pressure element

[0164] 26 gripping unit

[0165] 27 Holding element (pins)

[0166] 28 grip holders

[0167] 30 gripping element

[0168] 31 Actuating element

[0169] 31a,b Control elements

[0170] 32 Leadership role

[0171] 34 Mounting plate

[0172] 36 second side plate

[0173] 38 Deflection element

[0174] 40 coupling elements (banding unit)

[0175] 42 coupling elements (winding head)

[0176] 44 Holding plate

[0177] 46 Head 8 Neck

[0178] 50 first, wide end

[0179] 52 second, tapered end

[0180] 54 locking element

[0181] 56 locking hole

[0182] 58 ball

[0183] 66 Hole (in the mounting plate)

[0184] 68 Plate (of the tape dispenser)

[0185] 70 free space

[0186] 72 indentation

[0187] 74 Fixing mount

[0188] 76 coil carriers

[0189] 78 tape roll

[0190] 80 locking mechanism

[0191] 82 Locking arm

[0192] 84 Locking element

[0193] 86 Swivel joint

[0194] 88 actuators

[0195] 90 Actuator

[0196] 92 spring element

[0197] 94 Magazine

[0198] 96 holders

[0199] 98 Holder bridge

[0200] 100 fixing bolts

[0201] 102 Exchange system

[0202] 104 robots

[0203] L longitudinal direction

[0204] Q transverse direction

[0205] V Vertical direction

Claims

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 banding of a cable harness (10) extending in the transverse direction (Q) with a band (14), wherein the cable harness (10) has a plurality of individual cables and wherein the assembly head (2) has a winding module (16) with a winding head (18) which is rotatable about an axis of rotation extending in the transverse direction (Q), and with a banding unit (20) for providing and guiding the band (14), wherein the cable harness (10) can be inserted laterally into an interior of the winding head (18), wherein the banding unit (20) is designed as an exchangeable unit which is reversibly detachably fastened to the rest of the assembly head (2).

2. Mounting head (2) according to one of the preceding claims, wherein the banding unit (20) is reversibly detachably fastened to the winding head (18) and is rotatable therewith and about the rotation axis.

3. Mounting head (2) according to the preceding claim, in which at least one and preferably all of the following devices are part of the exchangeable banding unit (20): a. a band dispenser (22) on which the band (14) is stored, b. a cutting element (23) for cutting the band (14) after the banding process c. at least one pressing element (24, 25) for pressing the band onto the cable harness (10), d. one or more deflection elements (38) for the band (14).

4. Mounting head (2) according to one of the preceding claims, in which the banding unit (20) is automatically replaceable and for this purpose has a coupling mechanism via which the banding unit (20) is reversibly detachably fastened to the rest of the mounting head (2).

5. Mounting head (2) according to the preceding claim, wherein the banding unit (20) has a mounting plate (34), and further a reversibly releasable locking mechanism (80) is formed, via which the mounting plate (34) can be locked to the rest of the mounting head (2).

6. Mounting head (2) according to the preceding claim, wherein the locking mechanism has at least one locking arm (82) which engages with a locking element (84) in the mounting plate (34), wherein the locking arm (82) is preferably held in a closed position by spring force.

7. Mounting head (2) according to the preceding claim, wherein the locking mechanism (80) has two opposing locking arms (82) designed as pivot arms, which can be actuated via a particularly common actuating element (90).

8. Mounting head (2) according to one of claims 5 to 7, wherein the mounting plate (34) has a central free space (70) open to one side.

9. Mounting head (2) according to one of the preceding claims, wherein the banding unit (20) is adjustable, in particular together with the winding head (18) relative to the rest of the mounting head (2), such that for a change of the banding unit (20) it is moved into an extended change position.

10. Mounting head (2) according to one of the preceding claims, which has a mechanical interface, in particular a flange (6) for fastening to a robot, in particular to a robot hand of a multi-axis industrial robot (8). 11 . Exchange system (60) with a mounting head (2) according to one of the preceding claims and with a magazine (94) in which at least one banding unit (20) is stored and preferably several Banding units (20), in particular more than 5 and for example between 5 and 20, are stored.

12. Changing system (60) according to the preceding claim, wherein the magazine (94) has a holder (96) for a respective banding unit (20), to which the banding unit (20) can be fastened with the mounting plate (34).

13. Changing system (60) according to one of the two preceding claims, in which the banding units (20) are designed differently and are designed in particular for different types of bands (14).

14. Changing system (60) according to the preceding claim, in which a respective banding unit (20) has a cutting element (23) which is designed for automatically cutting the band (14) at the end of the banding process, wherein the different banding units (20) differ with regard to their cutting elements (23), which are designed in particular band-specifically.

15. Exchange system according to the preceding claim, in which a respective cutting element (23) is exchangeable and a respective banding unit (20) can be equipped, if required, with a cutting element (23) matching a respective band (14).

16. Method for the automated replacement of a banding unit (20) in an assembly head (2) according to one of claims 1 to 10, in which a banding unit (20) to be replaced is automatically separated from the rest of the assembly head (2) and deposited, and then a new banding unit (20) is automatically picked up from a magazine (94) and inserted into the assembly head (2).

17. Method according to one of the two preceding claims, in which, for a change of the banding unit (20), the assembly head (2) as a whole is moved, in particular with the aid of a robot, to the magazine (94), wherein there is firstly a deposit of the banding units contained in the assembly head (2) banding unit (20) and then a new banding unit (20) is recorded.

18. Method according to one of the two preceding claims, in which, in order to change the banding unit (20), it is first moved into an extended position, then the old banding unit (20) is deposited and a new banding unit (20) is picked up, and then the new banding unit (20) is moved back into a retracted operating position.

19. Method according to one of claims 16 to 18, wherein an exchange of a respective tape roll (78) of the banding units (20) in the magazine (94) or an exchange of the magazine (94) takes place automatically.

Images