Automatic wire processing method, wire processing center, detection device, and inspection system

Abstract

Automatic wire processing method, wire processing center, trajectory detection device, and inspection system The present invention relates to an automatic processing method for wire (46), a wire processing center (1), The present invention relates to a trajectory detection device (6) and an inspection system (10) for such a wire processing center.

Description

Technical Field

[0001] The present invention relates to a method for automatically processing wires, particularly a wire processing center for implementing this method, as well as a trajectory detection device and an inspection system for such a wire processing center.

Background Art

[0002] In such a processing center, wires can be supplied, cut to a predetermined length, marked, and crimped with contact elements such as wire end ferrules. The processed wires are usually bundled and stored in a storage form. Such a center is disclosed, for example, in U.S. Patent No. 8,442,664 B1. The actual wire assembly is configured as a special machine and is performed by a unit that enables the above work steps. Such a unit has a very complex structure and requires a great deal of effort to adapt to different production tasks. Furthermore, such dedicated machines are relatively expensive and require a large installation space within the production line.

[0003] A similar solution is described in EP0132092A1. This discloses an apparatus for manufacturing wire harnesses that supplies cables / wires via a wire supply device and supplies contact elements via another supply device. The wires are cut to a predetermined length by a cutting device and crimped with the contact elements by a crimping machine. The assembled wires are then conveyed via a measuring / supply device for further processing. The crimping head and the forming tool that holds the contact element during the crimping process are configured as separate units, and a cutting device is incorporated into the unit that houses the crimping head. This apparatus has the same drawbacks as the aforementioned dedicated machine.

[0004] US6662444B2 discloses a method and apparatus for crimping the ends of a wire with contact elements, and it is also possible to crimp the other end to a connector. The apparatus used for this purpose includes a wire feeding device that cuts the wire to a predetermined length and strips the corresponding end for contact with a crimp terminal or connector. The cutting is performed using a cutter, and the cut cable / wire is bent into a U-shape and placed in an intermediate storage device. From there the wire is fed to another device for pressurizing / crimping.

[0005] This solution, too, is a dedicated machine specifically configured for a particular purpose.

[0006] U.S. Patent No. 5,878,469 relates to a device for processing wire harnesses, comprising a cutting device, a stripper, a certain type of crimping unit, and a device for connecting to connectors. This solution is also configured as a dedicated machine and cannot be adapted to other production tasks, or requires a great deal of effort.

[0007] A more flexible solution involves providing modular units instead of dedicated machines, with machine operators performing individual processing steps (cutting, marking, decoating, crimping, and bundling). Crimping is performed using a crimping machine described in the applicant's patent specification DE4440835C1, for example, to crimp wire end ferrules having stripped ends. In known solutions, these wire end ferrules are wound into a drum magazine in the form of belt strips and transported from there to the crimping head via a conveyor. Alternatively, the wire end ferrules or contact elements can be individually held in storage units and transported to the crimping head at predetermined positions via a suitable feeding device. Such a feeding device is described, for example, in German Patent No. 19831588A1.

[0008] In known solutions, the wire end ferrule to be crimped is positioned at the stripped wire end via a holding unit and then crimped via a crimping head. Stripping of the wire end is performed either externally or via a stripping head integrated into the crimping machine.

[0009] The modular units described above are configured as independent units, each equipped with its own drive unit, and typically operate independently of other machining units.

[0010] For example, applicant document G9308266.5 describes the configuration of a transport unit for transporting wire end ferrules and other electrical components placed on webbing. A similar transport unit is disclosed in DE19714964C1.

[0011] U.S. Patent Application US2010 / 0293780A1 describes a movable unit for positioning contact elements of a workpiece within the domain of a fixed wire assembly machine configured as a special machine.

[0012] In mass production, different wire cross-sections and electrical components / contact elements need to be crimped and then installed in subsequent assembly processes, such as during switch cabinet assembly. There are basically two options for this. One is to modify the crimping machine to crimp different wire cross-sections and / or contact elements (wire end ferrules), and the other is to have multiple crimping machines to process different wire cross-sections / contact elements. The former solution requires long setup time and considerable manpower. The latter solution overcomes this drawback by using multiple crimping machines, but the investment cost is considerable.

[0013] German Patent Application Publication DE10 / 2004 / 057818B3 discloses a machine (configured as a stripper and crimper) capable of processing different wire diameters and wire end ferrules. Drum magazines and associated crimping devices are provided for each type of wire end ferrule, and these are assigned a common drive mechanism. This drive mechanism can be operationally linked to any one of the crimping devices. Such a solution requires a vast amount of technical equipment because it necessitates the provision and control of numerous crimping devices.

[0014] DE10 / 2015 / 119217A1 by the applicant demonstrates a crimping machine that overcomes the aforementioned shortcomings. This crimping machine has a storage configuration with multiple drum magazines and assigns a common transport unit and a common crimping head, thus significantly reducing equipment-related labor compared to the aforementioned solutions.

[0015] Applicant DE10 / 2017 / 118968 discloses a crimping machine that directs contact elements to be crimped directly into the operating range of a stripping device or crimping head, without the need for a feeder device or similar device. In this known solution, the contact elements are preferably stored in a drum magazine, and therefore the crimping machine is configured to include a separation device.

[0016] Another application by the applicant, DE / 10 / 2015 / 102060A1, describes a crimping machine for storing different wire end ferrules in a storage configuration with multiple drum magazines. Each of these drum magazines is assigned a transport unit, which transports pre-selected wire end ferrules to a transport position. There, the cut wire end ferrules are guided via a shuttle to a common crimping head.

[0017] This crimping machine is characterized by its high productivity. However, it has some drawbacks, such as the relatively complex configuration of the required shuttle, the need for corresponding installation space, and the inability to remove the coating.

[0018] Due to the high proportion of manual labor involved, the demands on machine operators during assembly, particularly during the subsequent wiring work inside the switch cabinet, are relatively strict, and the possibility of errors cannot be ruled out.

[0019] In WO2019 / 211490A1 by the applicant, a modular wire processing center is proposed in which processing modules are arranged on a movable platform, in order to overcome the shortcomings of the above concept.

[0020] DE10 / 2018 / 131441A1, derived from the applicant, describes a wire processing center equipped with a cutting machine configured to process multiple wire cross-sections or wire types. Multiple supply units are provided, where the wire to be processed is aligned with the supply or transport device of the automatic cutting machine via a control device of the wire processing center. In embodiments of DE10 / 2018 / 131444A1, the wire cut to a predetermined length by the automatic cutting machine is supplied by a robot to further processing units such as a stripping machine / automatic crimping machine, a marking system (printer), or a wire removal unit.

[0021] Applicant WO2022 / 079215A1 describes a similar wire processing center in which the processing units are arranged on or around a rotary table.

[0022] When using such wire processing centers, it was found that, despite the high level of automation, manual intervention was still necessary to ensure the quality of the wire assembly. [Overview of the Initiative]

[0023] In contrast, the object of the present invention is to create an automated wire assembly method and a wire processing center that enable automated production without compromising quality, and in particular for implementing such a method.

[0024] This objective is achieved with respect to the method by a combination of the features of claim 1, and with respect to the wire processing center by the independent features of claim 3. Also, as part of the solution according to the present invention, there are a trajectory detection device according to claim 8 and an inspection system according to claim 10, which constitute part of the wire processing center or are used to ensure assembly quality in the method according to the present invention.

[0025] Further advantageous developments of the present invention are the subject of the dependent claims.

[0026] The wire assembly method according to the present invention uses a wire processing center controlled via a central control device, which comprises at least one processing unit to which the wire is automatically supplied via a handling device, particularly a robot. According to the present invention, the wire is fixed by a gripper of the handling device so that the wire end protrudes from the gripper. In the next step, the trajectory of the wire end protruding from the gripper is detected by a trajectory detection device with respect to the gripper. Here, "trajectory" refers to the bending caused by the low bending stiffness of the wire, i.e., the state in which the wire end deviates from the ideal position / ideal path of a stiff wire end. When this trajectory, i.e., the state in which the bending / shape of the wire end deviates from the ideal value (a stiff, undeformed wire end), is reported to the central control device, the unit drives the gripper and performs an operation that takes into account the deviation from the ideal path when supplying the wire end to the next processing unit via the gripper. This makes it possible to accurately position the wire end within the relatively narrow insertion opening of the stripping / crimping machine when supplying the wire end to the stripping / crimping machine, preventing the wire end from colliding with the surrounding area of ​​the insertion opening.

[0027] This procedure eliminates the need for manual inspection, resulting in a significant reduction in defective products compared to conventional solutions.

[0028] According to the present invention, after processing in the processing unit, the wire is preferably sent to an inspection system that inspects the wire assembly via a gripper, and is sequentially fed to another station via the gripper according to the inspection result.

[0029] The inspection system and the trajectory detection device can also be configured as a unit. Thereby, trajectory determination and quality control are carried out within this unit, and the installation space can be saved.

[0030] The wire processing center (Wire Processing Center: WPC) according to the present invention includes a plurality of processing units such as a cutting automatic device, and / or a coating peeling machine, and / or a crimping machine, and / or a grommet station, and / or a marking station, and / or a storage unit. The wire to be assembled is conveyed via a handling device equipped with a gripper. Here, a trajectory detection device for detecting the trajectory of the aforementioned gripper with respect to the wire end is arranged between two processing stations, thereby ensuring the accurate positioning of the wire end when approaching the next processing unit.

[0031] Particularly preferred is a method in which the wire is cut to a predetermined length by a cutting automatic device, then gripped by a gripper, and preferably supplied to a coating removal machine and / or a crimping machine.

[0032] In the latter case, it is preferable to provide an inspection system for automatically inspecting the quality of the wire assembly (for example, the crimping state). Further, in one embodiment of the present invention, the wire processing center according to the present invention includes a storage unit for storing the assembled wire conforming to the specification and a special storage unit for storing the wire not conforming to the specification, and the wire is supplied again via the handling device.

[0033] In a particularly preferred embodiment, the handling device is composed of a multi-axis robot, and includes two grippers that each grip the wire end, and these can be adjusted according to the wire length and the wire shape.

[0034] The trajectory detection device used in the wire processing center according to the present invention preferably has a housing with a supply opening for supplying wire ends, and inside the housing is provided a lighting and a sensor system for trajectory detection, particularly a camera arrangement, and the detected data, i.e., the detected trajectory (deviation from an ideal straight line), is transmitted to a control device via a transmission unit, which drives the gripper according to the detected trajectory.

[0035] In a specific embodiment of the present invention, the sensor system consists of two cameras positioned at an angle facing each other. Alternatively, cameras may be positioned at an axial distance from the wire end for trajectory detection.

[0036] The automated inspection system used in the wire processing center also has a housing with a feed opening for the wire end, and inside the housing are lighting and sensor systems, in particular, a camera arrangement for wire quality inspection. The detected quality data is reported to the control unit via a transmission unit, and the control unit controls the gripper based on this quality data.

[0037] Quality inspection is particularly precise when the camera arrangement consists of three cameras positioned on a common pitch circle, i.e., arranged to surround the wire ends.

[0038] According to the present invention, it is preferable that the camera or sensor is oriented with respect to the insertion opening, or more precisely, the wire end supplied through the insertion opening.

[0039] The illumination of the trajectory detection device and / or inspection system should preferably be configured to illuminate the wire end over a wide area.

[0040] When the insertion opening is located on the front and configured for horizontal feeding, access to the trajectory detection device and inspection system is particularly easy.

[0041] These units can be partially embedded into base plates, such as the tabletop of a wire processing center, minimizing the space required. [Brief explanation of the drawing]

[0042] Preferred embodiments of the present invention will be described in detail below with reference to the schematic diagrams.

[0043] [Figure 1] Figure 1 shows a three-dimensional overview of a wire processing center according to the present invention.

[0044] [Figure 2] Figure 2 shows the automatic cutting device for the wire processing center (WPC) shown in Figure 1.

[0045] [Figure 3] Figure 3 shows the external appearance of the WPC orbit detection device according to Figure 1.

[0046] [Figure 4] Figure 4 is a schematic diagram showing the structure of the WPC orbit detection device according to Figure 1.

[0047] [Figure 5] Figure 5 shows an example of a wire trajectory.

[0048] [Figure 6] Figure 6 shows the WPC crimping machine according to Figure 1.

[0049] [Figure 7] Figure 7 shows the WPC inspection system as shown in Figure 1. [Figure 8] Figure 8 shows the WPC inspection system as shown in Figure 1.

[0050] [Figure 9] Figure 9 shows an illustration of a defective wire detected by the inspection system.

[0051] [Figure 10] Figure 10 shows a storage unit of WPC configured as the bundle system shown in Figure 1.

[0052] [Figure 11] Figure 11 shows a robot equipped with two WPC grippers as shown in Figure 1.

[0053] [Figure 12] Figures 12a) to j) show steps (a) to (j) of the present invention's method for automatic wire assembly. [Modes for carrying out the invention]

[0054] Figure 1 shows the basic structure of the wire processing center according to the present invention (hereinafter referred to as WPC (Wire Processing Center) 1). Thus, the WPC 1 is fixedly positioned on a table or movably positioned on a work cart, similar to the solution disclosed in DE10 / 2018 / 131444A1, and its components are arranged on a base plate or tabletop 2. As shown in Figure 1, the WPC 1 is equipped with a plurality of processing units, and in the embodiment shown in Figure 1, an automatic cutting device 4, a trajectory detection device (hereinafter referred to as BCS (Bending Control System) 6), a crimping machine 8, an inspection system (hereinafter referred to as QCS (Quality Control System) 10), and a storage unit 12 configured as a bundle system are provided, which can store assembled wires.

[0055] The wire to be assembled is supplied / moved between the aforementioned processing units by a multi-axis robot 14 equipped with two grippers 16, 18. The robot 14 can be driven to reach all processing units with the minimum travel distance. In the illustrated embodiment, the described processing units are arranged in a substantially semicircular manner around the vertical pivot axis S of the robot 14. The robot 14 and the described processing units are driven by a central control unit 20. The automatic cutting device 4 and the crimping machine 8 are standard equipment of the applicant and can also be used as standalone machines, and their basic structure is known in principle in the market, so no detailed description of these units is necessary.

[0056] Figure 2 shows a single example of the automated cutting device 4, which consists of a multi-feed unit 22 and a cutting machine 24. Specifically, the multi-feed unit 22 is the applicant's Z+F EVOFEED® model and is capable of feeding up to 12 cables (46), enabling sequential processing of complex projects. The actual cutting is performed by a cutting machine 24, for example, a Z+F EVOCUT® type, where the wires to be cut and supplied by the multi-feed unit 22 are guided horizontally and cut according to the specifications of the control device 20. Each cutting process can be controlled distributedly using the display 26 of the automated cutting device 4 or centrally controlled by the display of the control device 20.

[0057] Figure 3 shows the external appearance of the BCS6. Therefore, to minimize the installation space, it is partially embedded in the recess 27 of the tabletop 2. The BCS6 has a housing 28 with an insertion opening 30 formed on its end face that opens horizontally (i.e., parallel to the surface of the tabletop 2), through which the cut wire can be inserted.

[0058] Figure 4 shows a schematic diagram of the structure of the BCS6. A housing 28 embedded in the tabletop 2 can be seen, which, as shown in Figure 4, is roughly rectangular or rhombic in shape, with rounded vertices 32 and 34. As previously mentioned, the insertion opening 30 opens into the interior of the housing 28 at its end face. Two cameras 40 and 42 are positioned on the side areas 36 and 38 adjacent to the vertex region 34 of the housing 28. These lenses are oriented toward the horizontal axis 44, which corresponds to the wire feed axis, and the cameras 40 and 42 focus on the inserted wire. The cameras 40 and 42 are configured to detect the deviation X that occurs in the wire trajectory 50, i.e., the path of the wire end 48, from the ideal Y (Figure 5). As previously mentioned, the term "trajectory" refers to the actual shape of the wire end 48 fed through the insertion opening 30. In the case of a rigid wire (wire), this trajectory should be straight. However, because the bending stiffness of the wire 46 is low, bending occurs, which is detected by the BCS6. In principle, it is possible to install additional cameras at an axial distance from the wire end.

[0059] A flat light source 43 is configured between two cameras 40 and 42 along the vertex region 34 to illuminate the wire end 48, and this light source 43 and housing are configured to minimize interference from light incident from the outside.

[0060] As described later, the robot 14 is driven according to the detected trajectory 50 of the wire end 48. In the illustration in Figure 5, the trajectory 50 of the wire 46 that has already been crimped with the wire end ferrule 52 is detected. Of course, it is also possible to detect the trajectory 50 before the crimping process. This is the case in the embodiment described below. Figure 6 is a single illustration of the crimping machine 8, which is a Z+F UNIC GV® model. This model can process different wire end ferrules 52 and other contacts located in the reel magazine 54, and can crimp different wire end ferrules 52 and other contacts without changing the magazine. The UNIC GV® model combines a stripping machine and a crimping machine and can process five reels of wire end ferrules 52 with different cross-sectional areas without changing or replacing the reel magazine 54. In other words, the crimping machine 8 strips the wire 46 and then crimps it to the selected wire end ferrule 52. The wire 46 is fed by the robot 14 according to the detected trajectory 50, ensuring accurate alignment to the supply opening 56 of the crimping machine 8, even if the trajectory 50 is complex.

[0061] Figure 7 shows an individual diagram of the QCS 10 used for crimping quality control. Like the BCS 6, the QCS 10 is partially embedded in the tabletop 2. An insertion opening 58 is provided on the front, allowing the crimped wire end 48 to be inserted horizontally into the housing 60.

[0062] Figure 8 shows a schematic cross-sectional view of the QCS10. A housing 60 is visible, partially embedded in the tabletop 2 and protruding from the tabletop 2 by a roof-shaped sloping section 62. An insertion opening 58 through which the wire end 48 passes is formed in this area. Inside the housing 60 is a camera holder 64, which is fitted with cameras 66, 68, and 70 arranged on a common pitch circle. These cameras are also oriented toward the horizontal axis S into which the wire end 48 is inserted. In the illustrated embodiment, the camera holder 64 is configured, for example, in a hexagonal shape, and the cameras 66, 68, and 70 are held in the camera holder 64 at equal intervals. The cameras 66, 68, and 70 and their arrangement are selected to enable quality control of the wire assembly.

[0063] In this embodiment, the inside of the housing 60 is also illuminated, and annular illumination 71 is selected, which is arranged almost concentrically with respect to the insertion opening 58, thereby ensuring accurate illumination of the wire end 48, which is unaffected by external interference. It is also possible to provide multiple light sources (e.g., LEDs) instead of the ring-shaped illumination 71. The wavelengths of light from illuminations 43 and 71 are selected so as to optimally illuminate the shape of the wire end 48, even if it is made of different materials.

[0064] As shown in Figure 9, QCS10 can be used to reliably detect, for example, crimp quality, damaged wire end ferrules 52, missing wire end ferrules 52, or folded strands 72. In particular, folded strands 72 cannot be judged with sufficient accuracy by conventional methods. Therefore, the use of QCS10 leads to a significant improvement / assurance of production quality.

[0065] After this inspection by QCS10, the wire 46 can be supplied for further processing steps, such as crimping the wire end ferrules 52 with other wire ends 48. After the wire assembly, the wire 46 is stored in a storage unit 12. In the illustrated embodiment, this is configured as a bundle system in a known manner, which can be released by QCS10 and easily bundled as the wires 46 that meet the specifications are placed between two adhesive tapes. Wires 46 that are evaluated as not meeting the specifications by QCS10 are placed in a separate storage unit and are either discarded or sent for reprocessing.

[0066] Figure 11 shows a robot 14, which is configured as a multi-axis robot, with the axis arrangement selected to allow access to any machining unit on the tabletop 2. In a specific embodiment, as described above, the robot 14 holds two adjustable grippers 16, 18, which are arranged in a roughly V-shape relative to each other as shown in Figure 11, and whose relative positions can be changed to accommodate different wire shapes and wire lengths. The grippers 16, 18 grasp the cut wire 46, and are adjusted so that the two wire ends 48 protrude from the grippers 16, 18 and are supplied to the aforementioned machining unit.

[0067] Referring to Figure 12, the details of the present invention's method for automatically assembling the wire 46 are described. This shows the individual process steps (a) through (j) of the wire assembly.

[0068] As shown in Figure 12(a), in the automatic cutting device 4, the grippers 16 and 18 of the robot 14 grasp the cut wire 46. As described above, these grippers 16 and 18 are set so that two wire ends 48 and 74 protrude from the grippers 16 and 18. In step 12(b), the wire 46 to be assembled is guided together with the wire ends 48 to the insertion opening 30 of the BCS 6, thereby determining the trajectory 50 (see Figure 5). Based on this, in step 12(c), the wire ends 48 are inserted into the supply opening 56 of the automatic crimping machine 8, the coating is removed from the wire ends 48, and they are crimped with wire end ferrules 52. In step 12(d), the wire ends 48 with the wire end ferrules 52 attached are supplied to the QCS 10 through the insertion opening 58, and the crimping quality is reliably monitored.

[0069] If this crimping meets the specifications and the other wire end 74 is also to be crimped with a wire end ferrule, the two grippers 16 and 18 retract and rotate (step 12(e)). After this rotation, the remaining wire end 74 is fed to the BCS6 according to step 12(f), and the trajectory 50 of this wire end 74 is determined. Depending on the trajectory 50, the wire end 74 is inserted into the feed opening 56 of the automatic crimping machine 8 according to step 12(g) and crimped to the corresponding wire end ferrule 52 or other component. In the next step 12(h), the wire end 74 with the wire end ferrule 52 positioned is fed to the QCS10 for quality control.

[0070] Wires 46 that meet the specifications are stored in the bundle system of the storage unit 12, specifically by being placed between the adhesive tapes 76, according to step 12(i). Wires 46 that do not meet the specifications are placed by the robot 14 in separate locations for recycling or reprocessing.

[0071] In the next process step 12(j), the robot 14, equipped with grippers 16 and 18, is positioned again in the area of ​​the automatic cutting device 4 to pick up the next wire 46. This process is repeated until the wire assembly is complete.

[0072] An automated wire assembly method, a wire processing center, a trajectory detection device, and an inspection system for such a wire processing center are disclosed. [Explanation of Symbols]

[0073] 1. Wire Processing Center (WPC) 2 Tabletop 4 Automatic cutting device BCS6 Orbital Detector 8 Crimping machine QCS10 inspection system, 12 Storage Units 14 Multi-axis robots 16 Grippers 18 Grippers 20 Control device 22 Multiple feed unit 24 Cutting machine 26 displays 27 recess 28 Housing 30 Insertion opening 32 Vertex part 34 Vertex Region 36 Side view 38 Side view 40 Cameras 42 cameras 43 Lighting 44 horizontal axis 46 wires 48 Wire end 50 orbits 52 Wire end ferrules 54 Reel Magazine 56 Supply opening 58 Insertion opening 60 Housing 62 Slope section 64 Camera Holder 66 Cameras 68 Cameras 70 Cameras 71 Lighting 72 Strands 74 Wire end 76 Adhesive Tape

Claims

1. A method for automatically processing a wire (46) via a wire processing center (1) controlled by a central control device (20), having at least one processing unit, wherein the wire (46) is automatically supplied to the processing unit via a handling device, particularly a robot (14), A gripping step in which the grippers (16, 18) of the handling device grip the wire (46) so that the wire end (48) protrudes from the grippers (16, 18), A detection step in which the trajectory (50) of the wire end (48) relative to the grippers (16, 18) is detected via a trajectory detection device (6), A supply step of supplying the wire end (48) to the processing unit via the grippers (16, 18) according to the track (50), An automated wire processing method comprising the following features.

2. In the automatic wire processing method described in claim 1, The aforementioned wire (46) is During or after wire assembly, the wire is supplied via the grippers (16, 18) to an inspection system (10) for automatic inspection of the wire assembly. An automated wire processing method wherein, depending on the inspection results, the wire is then supplied to a further station, such as a storage unit (12), via the handling device.

3. In particular, the wire processing center (1) for carrying out the method according to claim 1 or 2, Equipped with multiple processing units, The processing unit includes an automatic cutting device (4) and / or a wire stripping machine and / or a crimping machine (8) and / or a grommet station and / or a marking station and / or a storage unit (12), At least two of the aforementioned processing units can be combined to form an automated processing device. The handling device for moving the wire (46) between the processing units includes, in particular, a robot (14) equipped with the grippers (16, 18), A wire processing center in which the trajectory detection device (6) is provided within the work sequence between two of the aforementioned processing units.

4. In the wire processing center described in claim 3, A wire processing center further equipped with an inspection system (10) that automatically inspects the quality of wire assemblies.

5. In the wire processing center according to claim 3 or 4, The system includes the automatic cutting device (4) for cutting the wire (46) to a predetermined length. A wire processing center, wherein the grippers (16, 18) are configured to allow the wire (46), which has been cut to a predetermined length, to be supplied to the wire stripping machine and / or the crimping machine (8).

6. In the wire processing center according to claim 4 or 5, A storage unit (12) for storing the assembled wire (46) that conforms to the specifications, The system includes a special storage unit for storing the wire (46) that does not conform to the specifications, A wire processing center in which the wire (46) is stored in the storage unit (12) or the special storage unit via the handling device.

7. In the wire processing center according to any one of claims 3 to 6, The handling device includes a multi-axis robot (14), The multi-axis robot (14) preferably comprises two grippers (16, 18), The grippers (16, 18) grip the wire ends (48, 74), The aforementioned grippers (16, 18) are adjustable according to the wire length and wire shape, and the wire processing center.

8. A trajectory detection device used in a wire processing center according to any one of claims 3 to 7 or an automated wire processing method according to claim 1 or 2, A housing (28) having an insertion opening (30) for the wire end (48), The housing (28) is provided with a lighting device (43) and a sensor system, The aforementioned sensor system includes, in particular, a camera arrangement for orbit tracking, A trajectory detection device, the control device (20) is configured to control the robot (14), particularly the grippers (16, 18), according to the detected data.

9. In the trajectory detection device according to claim 8, An orbit detection device in which two cameras (40, 42) are positioned at an angle so that they face each other.

10. An inspection system used in a wire processing center according to any one of claims 3 to 8 or an automated wire processing method according to claim 1 or 2, A housing (60) having an insertion opening (58) for the wire end (48), The housing (60) comprises a lighting device (71) and a sensor system housed inside the housing (60), The sensor system includes, in particular, a camera arrangement for quality inspection of the wire end (48), An inspection system in which a control device (20) is configured to control a robot (14) according to detected data.

11. In the inspection system according to claim 10, The camera arrangement is an inspection system having three cameras (66, 68, 70) arranged on a common pitch circle surrounding the inserted wire end (48).

12. In the trajectory detection device or inspection system according to any one of claims 8 to 11, A trajectory detection device or inspection system in which cameras (40, 42; 66, 68, 70) and the sensor system are oriented with respect to insertion openings (30, 58).

13. In the trajectory detection device or inspection system according to any one of claims 8 to 12, A trajectory detection device or inspection system, wherein the lighting device (43, 71) is configured to illuminate the wire ends (48, 74) over a wide area.

14. In the trajectory detection device or inspection system according to any one of claims 8 to 13, A trajectory detection device or inspection system in which insertion openings (30, 58) are open at the end faces in the horizontal or vertical direction.

15. In the trajectory detection device or inspection system according to any one of claims 8 to 14, A track detection device or inspection system in which the housing (28, 60) is partially recessed into the tabletop (2) or other base member of the support frame.

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