Cable processing machine device, method for removing a cable from a removal trough of a cable processing machine, and cable replacement device for a cable processing machine

Abstract

To provide a cable processing machine device or method that automatically performs or performs at least some of tasks previously performed manually by a machine operator, and a cable replacement device for automatically exchanging a processed cable by the cable processing machine device.SOLUTION: A cable processing machine device (1) includes a cable processing machine (5) for processing cables, in particular a crimping machine for connecting cables to crimp contacts by means of crimp connections, and a handling robot(30) including a grasping arm (55) for gripping a portion of one or more cables and moving the one or more cables into and / or out of the cable processing machine (5).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a cable processing machine device, a method for removing a cable from a removal trough of a cable processing machine, several further methods and a cable changing device for a cable processing machine. [Background technology]

[0002] Although cable processing machines can generate production batches containing multiple pieces of identically assembled cable fully automatically, the conversion of the cable processing machine to another item, the "topping up" of the material being processed, and the removal of completed production batches of cable or processed cable previously required a machine operator. Tasks that a machine operator must perform include, among others, the following tasks: Cable replacement being processed. Replacing the crimping tool and / or the crimp contact rollers. Feeding cable samples to measuring or quality control equipment for quality monitoring. Removal of defectively manufactured or engineered cables. Removal of finished or processed production batches of cables.

[0003] The number of identical articles or processed cables to be produced must usually be divided into smaller production batches and removed individually from the cable processing machine. Conventional cable processing machines have a cable tray that stores prefabricated or processed cables until the number that constitutes the production batch is reached, and a removal trough where the batches can be removed by hand. The cable tray is pivotable so that the processed cables of a production batch fall from the cable tray into the removal trough. The removal of each batch must be confirmed by the machine operator, which means that the cable processing machine stops after each produced batch until the batch has been removed and confirmed by the machine operator.

[0004] This leads to longer interruptions in the operation of the cable processing machine or of the cable processing machine installation comprising the cable processing machine. Summary of the Invention [Problem to be solved by the invention]

[0005] In particular, there may be a need for a cable processing machine apparatus or method that can or will automatically perform at least some of the tasks previously performed manually by a machine operator, as well as a cable changing apparatus for automatically changing cables that have been processed by the cable processing machine apparatus. [Means for solving the problem]

[0006] Such a need may be met by a cable processing machine device according to independent claim 1, or by a method according to independent claim 15, or by a method according to independent claim 16, or by a method according to independent claim 17, or by a method according to independent claim 18, or by a method according to independent claim 19, or by a method according to independent claim 20, or by a cable exchange device according to independent claim 21. Advantageous embodiments are defined in the dependent claims.

[0007] According to a first aspect, the present invention relates to a cable processing machine device comprising a cable processing machine for processing cables, in particular a crimping machine for connecting cables to crimp contacts by crimp connections, and a handling robot, the handling robot having a gripping arm for gripping parts of one or more cables and moving the one or more cables into and / or out of the cable processing machine.

[0008] One advantage of this is that the cables can be removed from and / or fed to the cable processing machine in a technically simple automated manner, so that the cable processing machine can be operated in a technically simple manner without interruptions and without manual intervention or intervention by the machine operator, which increases the number of cables or batches of processed cables that can be processed on the cable processing machine device per unit of time.

[0009] According to a second aspect, the present invention relates to a method for removing a cable from a removal trough of a cable processing machine for processing the cable, the method comprising the steps of gripping and holding a processed cable by a cable processing machine in the removal trough by a gripping arm, in particular a gripping arm of a cable processing machine device as described above, moving the gripping arm holding the processed cable in order to move the processed cable out of the removal trough, and releasing the gripping arm in order to release the previously held cable.

[0010] The advantage of this method is that the batches of processed cables or the processed cables are automatically removed from the removal trough, so that the cable processing machine can be operated in a technically simple manner, without interruptions and without manual intervention or intervention by the machine operator, which increases the number of cables or batches of processed cables that can be processed by the cable processing machine device per unit of time.

[0011] According to a third aspect, the present invention relates to a method, in particular the above-mentioned method, which is suitable for replacing a cable used by a cable processing machine, the method comprising the steps of pulling out a cable used by the cable processing machine with a cable gripper of a gripping arm, in particular the cable gripper of the gripping arm of the above-mentioned cable processing machine device, and holding the cable with the cable gripper, moving the cable held by the cable gripper into the cable holding device such that the cable is held by the cable holding device, releasing the cable held by the cable holding device by the cable gripper, removing another cable from the cable holding device using the cable gripper, and inserting another cable into the cable processing machine by the cable gripper, such that the cable processing machine uses the other cable.

[0012] The advantage of this is that a cable that has been used or processed by a cable processing machine can be replaced or exchanged for another cable in a technically simple automated or mechanical manner.

[0013] According to a fourth aspect, the present invention relates to a method, in particular the above-mentioned method, which is suitable for replacing a cable processing cassette and cable tool used by a cable processing machine to receive cable contacts with another cable processing cassette equipped with cable contacts and cable tool, the method comprising the steps of gripping and holding a cable processing cassette used by the cable processing machine by a gripping arm, in particular the gripping arm of the above-mentioned cable processing machine device, moving the cable processing cassette held by the gripping arm into a cable processing cassette holder configured to hold a plurality of cable processing cassettes, releasing the cable processing cassette by the gripping arm, gripping another cable processing cassette by the gripping arm, and moving the other cable processing cassette held by the gripping arm to a position of the cable processing machine where the cable processing machine can use the other cable processing cassette.

[0014] One advantage of this is that the cable processing cassette or the cable contacts and cable tools can be replaced or exchanged with other cable contacts or different cable tools in a technically simple automatic or mechanical manner. For example, if a cable contact roller is empty or if a cable is to be connected to a different cable contact and / or if a cable tool is to be exchanged for a different cable tool, the change can be carried out quickly and automatically without manual intervention. The cable processing cassette can in particular be a crimping cassette. The cable contacts can in particular be crimping contacts. The cable tools can in particular be crimping tools.

[0015] According to a fifth aspect, the present invention relates to a method, in particular a method as described above, suitable for checking properties of a cable and / or a cable connected to cable contacts by a cable processing machine, the method comprising the steps of gripping and holding a cable by a cable gripper of a gripping arm, in particular a cable gripper of a gripping arm of a cable processing machine device as described above, moving the cable by the gripping arm to a quality control device in order to check the properties of the cable and / or the connection between the cable contacts and the cable, and checking the properties of the cable and / or the connection between the cable contacts and the cable by the quality control device while the cable gripper is holding the cable.

[0016] The advantage here is that the cable properties and / or the connection between the cable contacts / crimp contacts and the cable can be checked in a technically simple and automated way. In this way, low-quality cables can be immediately recognized as rejects and replicated accordingly to obtain a defined number of cables manufactured with a defined quality. No manual intervention for quality control is therefore necessary.

[0017] According to a sixth aspect, the present invention relates to a method, in particular the above-mentioned method, suitable for removing a cable partially placed in a cable tray of a cable processing machine from the cable processing machine, the method comprising the steps of gripping and holding the cable partially placed in the cable tray of the cable processing machine by a cable gripper of a gripping arm, in particular a cable gripper of a gripping arm of the above-mentioned cable processing machine device, moving the cable gripper in order to remove the cable from the cable processing machine, and releasing the cable held by the cable gripper.

[0018] One of the advantages of this is that defective cables can be removed from the cable tray in a technically simple automatic or mechanical way. No manual intervention or manual checking by the operator of the cable processing machine is necessary. This increases the number of cables that can be produced by the cable processing machine per unit of time. In this way, cables that are already partially placed in the cable tray can be simply removed from the cable tray. In this way, in particular defective produced cables can be simply removed from the cable tray. In particular, if it turns out that the first end of the cable is incompletely connected to the cable contact, the cable can be removed without first further processing the cable, for example by connecting the contact to the second end of the cable. This saves time and material.

[0019] According to a seventh aspect, the present invention relates to a method, in particular a method as described above, which is suitable for taking over a cable from a pivot unit of a cable processing machine by a cable gripper of a gripping arm, the method comprising the steps of gripping and holding a part of the cable by the pivot unit of the cable processing machine, pivoting the pivot unit to move the cable out of the cable processing axis along which the cable extends while the cable is being transported in the cable processing machine, and gripping and holding the part of the cable held by the pivot unit by the cable gripper of the gripping arm, in particular the cable gripper of the gripping arm of the above mentioned cable processing machine device.

[0020] One advantage of this is that the cables are transferred from the pivot unit to the cable gripper or gripping arm in a technically simple manner. In this way, in particular the cables that are initially positioned along the cable processing axis can be gripped and held by the cable gripper or gripping arm in a technically particularly simple manner. They can then be fed, for example, to a quality control device and / or removed from the cable processing device and moved to a reject tray or the like.

[0021] According to an eighth aspect, the present invention relates to a cable exchanging device for a cable processing machine for processing cables, the cable exchanging device designed to hold a plurality of cables for exchanging cables used for processing by the cable processing machine, the cable exchanging device being designed such that a gripping arm, in particular a gripping arm of said cable processing machine device, can remove the cables from the cable exchanging device and place the cables on the cable exchanging device such that they are held by the cable exchanging device.

[0022] The advantage of this is that the cables used in the cable processing machine can be replaced or exchanged automatically. This means that no manual intervention by the machine operator is required when replacing the cables used in the cable processing machine. This reduces interruptions to the operation of the cable processing machine. Furthermore, the cables held in the cable exchange device can be exchanged in a technically simple manner without interrupting the operation of the cable processing machine. This further reduces the number of interruptions to the operation of the cable processing machine.

[0023] Possible features and advantages of embodiments of the present invention may be considered to be based, inter alia, on the ideas and discoveries described below, without limiting the present invention.

[0024] According to one embodiment of the cable processing machine device, the gripping arms have cable grippers for gripping the individual cables, so that the individual cables can be handled or gripped and held by the gripping arms in a technically simple manner.

[0025] According to one embodiment of the cable processing machine apparatus, the cable gripper has a partially closed position where the cable gripper holds the cable and can slide along the cable, and the cable gripper has a fully closed position where the cable gripper holds the cable securely such that the cable gripper cannot slide along the cable, so that the cable can be guided or held by the cable gripper while the cable moves relative to or slides along the cable gripper, which increases the number of movement options for the cable gripper or gripping arm.

[0026] According to one embodiment of the cable processing machine device, the gripping arm is designed to remove the cable, in particular the processed cable, from the removal trough of the cable processing machine. The advantage here is that batches of processed cables or processed cables can be automatically removed from the removal trough. As a result, the cable processing machine can be operated in a technically simple manner, without interruptions and without manual intervention or intervention by the machine operator. This increases the number of cables or batches of processed cables that can be processed by the cable processing machine device per unit of time.

[0027] According to an embodiment of the cable processing machine device, the handling robot is designed to hold a cable processing cassette with a cable tool for processing the cable and with cable contacts for connecting to the cable, in particular for holding a crimping cassette with a crimping tool and crimping contacts, and for replacing the cable processing cassette used by the cable processing machine with another cable processing cassette. As a result, the cable processing cassette, i.e. the cable processing tool and the cable contacts, can be exchanged or replaced in an automated manner, i.e. without manual intervention by the machine operator. As a result, there is no need to interrupt the operation of the cable processing machine when replacing the cable processing tool or the cable tool or when the cable contacts of the cable processing cassette used are exhausted.

[0028] According to one embodiment of the cable processing machine device, the cable processing machine device is designed such that the gripping arms can move on two opposite sides of the cable processing machine. This allows many different uses of the gripping arms. Thus, more steps can be performed automatically on the cable processing machine, which results in even shorter downtimes of the operation of the cable processing machine.

[0029] According to one embodiment of the cable processing machine device, the gripping arm is height adjustable relative to the cable processing machine, rotatable about its vertically extending axis and pivotally mounted about a second vertically extending axis, the advantage of which is that the gripping arm can be used very flexibly to reach different points or areas of the cable processing machine for gripping and holding batches of cables or cables or cable processing cassettes.

[0030] According to one embodiment of the cable processing machine device, the handling robot has a guide rail for moving the gripping arm along a first axis of the cable processing machine device, which first axis is parallel to the cable processing axis, the axis along which the cable extends while it is being transported in the cable processing machine. As a result, the gripping arm can be moved along the first axis or along the longitudinal axis of the cable processing machine in a technically particularly simple and rapid manner.

[0031] According to one embodiment of the cable processing machine device, the cable processing machine device has a pivot unit that is designed to move a part of the cable from the cable axial direction through which the cable passes while being conveyed to the cable processing machine and to transfer the cable to the gripping arm. The advantage of this is that the cable can be transferred from the cable processing machine to the gripping arm in a technically particularly simple manner and from the gripping arm to the cable processing machine.

[0032] According to an embodiment of the cable processing machine device, the cable processing machine device further comprises a cable exchange device for holding a plurality of cables, the cable processing machine device being designed for replacing the cables used by the cable processing machine by means of a handling robot, the advantage here being that the cables processed by the cable processing machine can be automatically replaced or exchanged, which further reduces the need for manual intervention by the machine operator and interruptions to the operation of the cable processing machine.

[0033] According to one embodiment of the cable processing machine device, the cable processing machine has a clamping device for clamping the cable fed to the cable processing machine, the gripping arm and the clamping device are designed in such a way that the cable can be inserted into the clamping device by the gripping arm. One advantage of this is that the cable can be introduced into the cable processing machine for use in a technically simple and automated manner and can be removed again from the cable processing machine. This simplifies the exchange or replacement of the cable used in the cable processing machine. In particular, the cable can be gripped by the gripping arm as follows: first the cable is partially inserted into the cable processing machine, then the clamping device clamps or grips the cable firmly, then the cable gripper of the gripping arm slides along the cable, so that when the cable leaves the cable processing machine, the cable gripper grips the cable firmly again, the clamping device releases the cable and the cable gripper introduces another part of the cable into the cable processing machine. As a result, the cable can be introduced into the cable processing machine in a technically simple and reliable manner.

[0034] According to an embodiment of the cable processing machine device, the cable processing machine device further comprises a quality control device for checking the cable properties and / or the connection between the cable contacts and the cable, the cable processing machine device being designed in such a way that the cable is held by the gripping arm during the check by the quality control device. The advantage here is that the quality of the cable and / or the processing of the cable, e.g. the quality of the crimped contacts, can be checked automatically, which means that no human intervention or intervention by a machine operator is required. This increases the number of cables or processing steps that can be processed or performed by the cable processing machine device per unit of time.

[0035] According to an embodiment of the cable processing machine device, the cable processing machine device further comprises a crimping cassette holder for holding a number of crimping cassettes. In this way, a number of crimping cassettes can be kept in stock in a technically simple manner, so that a large number of crimping cassettes are available for replacing or exchanging the crimping cassettes used by the cable processing machine by means of a handling robot or a gripping arm. The crimping cassettes can have different crimping contacts or structurally identical crimping contacts. This allows the cable processing machine to be operated for longer without manual intervention.

[0036] According to one embodiment of the cable processing machine device, the cable processing machine device is designed in such a way that a handling robot can remove from the cable processing machine a cable that is partially placed in a cable tray of the cable processing machine. There is no need to interrupt the operation of the cable processing machine for manual intervention by a machine operator. This increases the number of cables or processing steps that can be processed or performed by the cable processing machine device per unit of time. Furthermore, safety is improved since there is no need to insert a human hand into the cable processing machine.

[0037] It will be appreciated that some of the possible features and advantages of the present invention have been described herein with reference to various embodiments. Those skilled in the art will recognize that the features can be suitably combined, adapted, or substituted to arrive at further embodiments of the present invention.

[0038] Embodiments of the present invention are described below with reference to the accompanying drawings, but neither the drawings nor the description should be construed as limiting the present invention. [Brief description of the drawings]

[0039] [Figure 1] FIG. 1 is a perspective view of an embodiment of a cable processing machine device according to the present invention in the form of a crimping system; [Diagram 2] FIG. 2 is a partial view of the crimping system of FIG. 1; [Diagram 3] FIG. 2 is a detailed view of a gripping unit of the crimping system of FIG. 1. [Figure 4a] FIG. 4 is a detailed view of the gripping unit of FIG. 3 with the gripping jaws in an open position. [Figure 4b] FIG. 4 is a detailed view of the gripping unit of FIG. 3 with the gripping jaws in a closed position. [Diagram 5] FIG. 2 is a detailed view of the cable tray and removal trough of the crimping system of FIG. 1. [Figure 6] FIG. 2 is a detailed view of a cable conveyor device and an alignment unit of the crimping system of FIG. 1. [Figure 7a] FIG. 2 is a first detailed view of the alignment unit of the crimping system of FIG. 1; [Figure 7b] FIG. 2 is a second detailed view of the alignment unit of the crimping system of FIG. 1; [Figure 7c] FIG. 2 is a third detailed view of the alignment unit of the crimping system of FIG. 1; [Figure 8] FIG. 2 is a detailed view of the cable processing machine of FIG. 1. [Figure 9a] 2 is a first detailed view of the gripper unit of the crimping system of FIG. 1 when picking up a crimping cassette; FIG. [Figure 9b]2 is a second detailed view of the gripper unit of the crimping system of FIG. 1 when picking up a crimping cassette; FIG. [Figure 10] 2 is a further perspective view of the crimping system of FIG. 1 in which a crimping cassette is used; [Figure 11] FIG. 2 is a detailed view of a cable gripper of the gripping unit of the crimping system of FIG. 1; [Figure 12] FIG. 2 is a detailed view of the cable gripper of the gripping unit of the crimping system of FIG. 1 when checking the quality of the cable. [Figure 13a] FIG. 2 is a first detailed view of the cable gripper of the gripping unit of the crimping system of FIG. 1 when guiding a cable; [Figure 13b] FIG. 2 is a second detailed view of the cable gripper of the gripping unit of the crimping system of FIG. 1 when guiding a cable; [Figure 14] FIG. 2 is a detailed view of a gripping unit of the crimping system of FIG. 1 while holding a cable. [Figure 15] FIG. 2 is a detailed view of the cable tray and removal trough of the crimping system of FIG. 1. [Figure 16] FIG. 2 is a detailed view of the removal trough of the crimping system of FIG. 1. [Figure 17a] FIG. 2 is a first detailed view of the removal trough of the crimping system of FIG. 1 when removing the cable. [Figure 17b] FIG. 2 is a second detailed view of the removal trough of the crimping system of FIG. 1 when removing the cable. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0040] The figures are merely schematic and are not to scale. Like reference numerals refer to like or equivalent features in the various drawings.

[0041] 1 is a perspective view of an embodiment of a cable processing machine apparatus according to the invention in the form of a crimping system 1. The cable processing machine apparatus may be the crimping system 1. The cable processing machine apparatus thus comprises a cable processing machine 5 in the form of a crimping device 5 or a crimping press 8 and a handling robot 30.

[0042] Instead of the crimping device 5 or the crimping press 8 other cable processing machines for processing the cable 15 are possible.

[0043] The crimping device 5 is designed to connect the crimp contacts to the cables 15 by means of a crimp connection. The processed or connected cables 15 are stored in a cable tray 20 of the cable processing machine 5 or the crimping device 5. The cable tray 20 is tiltable so that the cables 15 present in the cable tray 20, for example one or more production batches of cables 15, fall into a lowered removal trough 22. The cable tray 20 and the removal trough 22 run parallel to each other and extend along a cable processing axis 6. The cables 15 are moved in the cable processing machine 5 in the direction of the cable tray 20, also called the cable processing axis 6.

[0044] The cable processing machine 5 cuts the cable 15 or cuts it at desired points to assemble the cable 15, i.e. to achieve a cable 15 of a given length with two ends.

[0045] To crimp the cable 15 with the crimp contacts, a portion of the cable 15 is pivoted away from the cable processing axis 6 and guided to a crimping press 8 (shown to the left of the cable processing axis 6 in FIG. 1). The crimp contacts are connected to a first end of the cable 15 by a first crimping press 8. A second crimping press 8 is arranged on the opposite side of the cable processing axis 6 (to the right in FIG. 1). A second end of the cable 15 opposite the first end is connected to the crimp contacts by the second crimping press 8.

[0046] Further workstations, to which the cable 15 is moved, are possible.

[0047] Figure 2 is a partial view of the crimping system 1 of figure 1. The crimping system 1 has a cable exchange device 110 capable of holding a number of cables 15. Furthermore, the crimping system 1 has an alignment unit 115 for aligning the cable 15 currently being used by the crimping device 5. Furthermore, the crimping system 1 or the crimping device 5 comprises a cable conveyor device 100 capable of transporting the cable 15, i.e. drawing more of the cable 15 into the crimping system 1 or transporting the cable 15 again from the crimping device 5.

[0048] Figure 3 shows a detailed view of the gripping unit 50 of the crimping system 1 of Figure 1. Figure 4a shows a detailed view of the gripping unit 50 according to Figure 3 in the open position of the gripping jaws 60, 61. Figure 4b shows a detailed view of the gripping unit 50 according to Figure 3 in the closed position of the gripping jaws 60, 61.

[0049] The handling robot 30 of the cable processing machine device can be attached to or connected to the cable processing machine 5 or the crimping machine or the crimping device 5. The handling robot 30 comprises a gripping unit 50 with a gripping arm 55. The gripping unit 50 or the gripping arm 55 is movable linearly parallel to the cable processing axis 6 by means of a carriage 31 of the gripping unit 50. For this purpose, the handling robot 30 has a linear guide 32 in which the carriage 31 is guided. The linear guide 32 runs on the cable processing axis 6, along which the cable 15 is moved in the cable processing machine 5.

[0050] The handling robot 30 enables the automation of many processes that were previously performed manually or manually.

[0051] The gripping arm 55 of the handling robot 30 can be moved on both sides of the cable processing machine 5 or crimping machine or crimping device 5, i.e. on the left and right side in FIG. 1. For this purpose, the crimping device 5 has a recess or a corresponding shape in the direction of the cable processing axis 6 that corresponds to an end of the crimping device 5 that is not visible in FIG. 1. The gripping arm 55 is, so to speak, movable around one end of the crimping device 5. The gripping arm 55 is thus movable on a first side of the linear guide 32 and on a second side of the linear guide 32 opposite the first side.

[0052] The gripping unit 50 is movable back and forth in the direction a along the linear guide 32. For this purpose, the crimping system 1 has a toothed belt drive 33 for the linear guide 32. The gripping arm 55 of the gripping unit 50 is attached to a rod 37. The gripping arm 55 is rotatable about a vertical axis by the rotary and linear unit 34 (indicated by the double arrow c in FIG. 3). The vertical axis passes through the centre of the rod 37. The gripping arm 55 is movable up and down together with the rod 37 (indicated by the double arrow d in FIG. 3). In this way, the height of the gripping arm 55 relative to the crimping device 5 can be changed. For this purpose, the rotary and linear unit 34 has two further toothed belt drives 35, 36.

[0053] By means of the pivot arm 39 of the gripping unit 50 the distance between the gripping arm 55 and the linear guide 32 can be varied. By rotating along the double arrow b the distance between the gripping arm 55 and the linear guide 32 can be increased or decreased. Furthermore, the gripping arm 55 can thereby be moved to the opposite side of the linear guide 32 or the crimping device 5. The rotation along the double arrow b can be performed by a third toothed belt drive 38.

[0054] The gripping arms 55 are able to pick up the cables 15 from the cable exchange device 110 and put them down again or hang them there. As a result, the cables 15 used by the crimping device 5 can be exchanged or replaced in an automated manner.

[0055] The gripping arm 55 is pneumatically actuated. It comprises two jaw carriers 63, 64 which close symmetrically. The gripping jaws 60, 61 fixed to the jaw carriers 63, 64 face each other in the open position shown in Fig. 4a. The gripping jaws 60, 61 are designed to grip a number of cables 15 or to release a cable 15. The gripping jaws 60, 61 each have a recess designed to receive and hold a production batch from the removal trough 22. The gripping jaws 60, 61 each comprise two elements spaced apart from each other in the open position.

[0056] In the closed position of the gripping jaws 60, 61 shown in FIG. 4b, there are two openings at the recesses of the gripping jaws 60, 61 in which a batch of processed cables 15 can be received and held.

[0057] Both jaw carriers 63, 64 each have a flange element 65, 66 with a hole. In the open position of the gripping jaws 60, 61, one of the flange elements 65, 66 is arranged, so to speak, on the back side of the jaw. The flange element 65, 66 is designed to grip and hold a crimping cassette 80.

[0058] In the closed position of the gripping jaws 60, 61 the flange elements 65, 66 are also in the closed position.

[0059] A two-part cable gripper 70 designed to grip and hold an individual cable 15 is arranged on one of the flange elements 65, 66 of the gripping unit 50 or gripping arm 55 (on the right flange element 65 in Fig. 4a or Fig. 4b). In Fig. 4a and Fig. 4b the cable gripper 70 is in an open position. The cable gripper 70 can grip and hold (tightly) a single cable 15, so that the cable 15 cannot slide relative to the cable gripper 70. The cable gripper 70 also has a semi-closed position in which the cable 15 is held by the cable gripper 70 so that the cable 15 can slide relative to the cable gripper 70. The cable 15 can therefore slide through the cable gripper 70. As a result, the cable gripper 70 can move along the cable 15.

[0060] The gripping arms 55 are designed to remove from the removal trough 22 a batch or a plurality of completed cables 15 that have been delivered to the removal trough 22 from the cable tray 20 .

[0061] Figure 5 is a detailed view of the cable tray 20 and removal trough 22 of the crimping system 1 of Figure 1. The processed or crimped cables 15 are stored in the cable tray 20. When a production batch of cables 15, i.e. a certain number of cables 15, are present in the cable tray 20, the cable tray 20 is tilted, for example by a pneumatic device (this is indicated by the curved arrow in Figure 5), and the cables 15 in the cable tray 20 fall into the removal trough 22 located below.

[0062] The gripping arm 55 can detach the cables 15 by means of the gripping jaws 60, 61 and remove them from the trough 22, for example to transport them to a holding device, box or the like.

[0063] The removal trough 22 can be pneumatically moved in the direction of the double arrow in FIG. 5 relative to the cable tray 20 so that the removal trough 22 is completely removed from the area of ​​the hood covering the cable processing machine 5 or part of the crimping device 5.

[0064] The removal trough 22 can be designed as a non-smooth channel and can have multiple notches or recesses that allow easy gripping of the cable 15 placed in the removal trough 22 by the gripping arms 55. The removal trough 22 shown in FIG. 5 is made up of individual segments. Other variations are possible, such as pressed sheet metal parts, deep drawn plastic, etc., to achieve an equivalent design.

[0065] The gripping jaws 60, 61 of the gripping unit 50 or gripping arm 55 are divisible so that they can engage more than one recess of the removal trough and grip the cable 15 or batch at multiple points simultaneously. The multiple recesses of the removal trough 22 also allow for longer batches of cables 15 to be gripped or held over a wide range of lengths, or with multiple grippers or gripping arms 55 if necessary.

[0066] In the following, it will be explained, by way of example, by means of various methods which the handling robot 30 or the gripping unit 50 or the gripping arm 55 can automatically carry out or execute on the crimping system 1 or the crimping device 5 .

[0067] Fig. 6 shows a detailed view of the cable conveyor arrangement 100 and the alignment unit 115 of the crimping system 1 according to Fig. 1. The crimping system 1 comprises an alignment unit 115 for aligning the cable 15. Furthermore, the crimping system 1 comprises a cable conveyor arrangement 100 with two conveyor belts 102, 103 for conveying the cable 15 after it has been introduced into the cable conveyor arrangement 100 by the alignment unit 115 via a guide tube 106. A clamping device 105 capable of clamping the cable 15 is arranged between the cable conveyor arrangement 100 and the alignment unit 115. A cable exchange device 110 for holding a number of cables 15 is arranged on the side of the alignment unit 115 opposite the cable conveyor arrangement 100.

[0068] One process that can be carried out by the handling robot 30 or the gripping arm 55 is the exchange of a cable, i.e. the exchange of a cable 15 used by the crimping device 5 .

[0069] A replacement of the cable is required when the cable bundle is empty or when processing an article with a different cable 15. In the first case, a second cable of the same type is provided in one of the three cable receptacles 111 to 113 of the cable holding device 110, while in the second case, free space is also required to accommodate the old cable.

[0070] The cable 15 to be replaced is introduced or screwed into the cable processing machine 5 as follows.

[0071] The cable conveyor arrangement 100 and alignment unit 115 are opened and the cable gripper 70 of the gripping unit 50 takes over the cable 15 in a program-controlled or computer-controlled manner from the correct gripper or holder of the cable receiving arrangement 110. This is shown in FIG.

[0072] Figure 7a shows a first detailed view of the alignment unit 115 of the crimping system 1 of Figure 1. Figure 7b shows a second detailed view of the alignment unit 115 of the crimping system 1 of Figure 1. Figure 7c shows a third detailed view of the alignment unit 115 of the crimping system 1 of Figure 1.

[0073] The gripping unit 50 is moved so that the cable 15 is inserted into the guide tube 106. The cable 15 can then be clamped in the clamping device 105 and "gripped" by the cable gripper 70 being moved to the semi-closed position, moved away from the guide tube 106 (where the cable 15 slides along within the cable gripper 70), and then moved back to the fully closed position again so that the cable 15 cannot slide relative to the cable gripper 70.

[0074] The clamping device 105 is then opened so that the cable 15 is no longer clamped, and the cable 15 is pushed further into the cable conveyor 100 by the gripping unit 50. This is repeated multiple times until the cable 15 can be firmly gripped by the conveyor belts 102, 103 when the cable conveyor device 100 is closed. This process is shown in Figures 7a to 7c.

[0075] As soon as the conveyor belts 102, 103 have firmly clamped the cable 15, the cable 15 can be tensioned. For this purpose, the clamping device is closed and the gripping unit 50 moves backwards (see FIG. 7c) until the cable gripper 70 is in front of the alignment unit 115. The gripping unit 50 also moves vertically up and down to avoid collisions and the clamping force of the cable gripper 70 is reduced (for example by a pressure regulating valve) so that the gripping unit 50 assumes a so-called semi-closed position so that the cable 15 can slide in the gripping arm 55.

[0076] The alignment unit 115 is then closed and the actual screwing process is completed.

[0077] To remove the cable 15, the cable 15 is transported backwards by the cable conveyor device 100 until the conveyor belts 102, 103 lose contact with the cable 15. Then the cable conveyor device 100 and the alignment unit 115 are opened and the gripping unit 50 interacts with the clamping device 105 to grip the cable 15 near the clamping device in order to pull the cable 15 out of the guide tube 106 in one grip. The gripping unit 50 is then moved to the cable exchange device 110 where the cable 15 is transferred to one of the cable grippers 70 or cable holders.

[0078] A further example of an automated process by the handling robot 30 is the exchange of the crimping cassette 80 or cassette exchange as described below.

[0079] In a manner equivalent to a cable exchange, the crimp cassette 80 must be exchanged if the crimp roller inserted in it is empty or if the article to be produced has different crimp contacts. If continuous production is possible without manual intervention by the machine operator, the required crimp cassette 80 will be provided in the crimp cassette receptacle 82.

[0080] Since the gripping unit 50 can be moved to both crimping presses 8, one crimping cassette receptacle 82 or crimping cassette holder on one side of the crimping device 5 is sufficient to supply both crimping presses 8 or to exchange the crimping cassettes 80 of both crimping presses 8. If a large number of crimping cassettes 80 are provided, the crimping cassette receptacle 82 can be designed such that the crimping cassettes 80 are actively moved from the crimping cassette storage device to a transfer position for transferring the crimping cassettes 80 to the gripping arm 55.

[0081] FIG. 8 is a detailed view of the crimping cassette receptacle 82 of the crimping system 1 of FIG.

[0082] In the simplest case, as shown in FIG. 8, the crimping cassette receptacle 82 has spaces for multiple crimping cassettes 80 arranged adjacent to each other, all of which are located within the range of movement of the handling robot 30.

[0083] Figure 9a is a first detailed view of the gripping unit 50 of the crimping system 1 according to Figure 1 when the crimping cassette 80 is picked up, and Figure 9b is a second detailed view of the gripping unit 50 of the crimping system 1 according to Figure 1 when the crimping cassette 80 is picked up.

[0084] A cassette is replaced, if necessary, by placing the old crimping cassette 80 in the crimping cassette receptacle 82 and gripping a new crimping cassette 80 by the gripping arms 55. Figures 9a and 9b show the interaction of the gripping unit 50 with a holder on the crimping cassette 80. Due to the centering function of the four retaining bolts 57, the position of the crimping cassette 80 may vary slightly, but the crimping cassette 80 can still be securely gripped by the gripping unit 50. In the flange elements 65, 66 of the gripping arms 55 there are openings corresponding to the retaining bolts 57. By engaging the retaining bolts 57 in the openings the crimping cassette 80 is gripped and held by the gripping arms 55.

[0085] The crimping cassette 80 is then moved to or into the crimping press 8 where it is gripped or clamped. The crimping cassette 80 has a base plate 85 on which the crimp connection is made.

[0086] The situation after this step is shown in figure 10. Figure 10 shows a further perspective view of the crimping system 1 according to figure 1 with a crimping cassette 80 used.

[0087] FIG. 11 shows a detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to FIG.

[0088] A further example of an automated process by the handling robot 30 is the checking of the finished cable 15 or cable samples, which is described below.

[0089] The cables 15 can be transported to the quality control device by the gripping unit 50. These can be taken over by the gripping unit 50 directly from the pivoted pivot unit 10 of the cable processing machine 5 or the crimping machine or the crimping device 5. In Fig. 11 the transfer from the pivot unit 10 of the cable processing machine 5 to the gripping unit 50 or to the cable gripper 70 of the gripping unit 50 is now taking place.

[0090] The handling robot 30 then conveys the cable 15 to a quality control device 90 or an inspection station. Figure 12 shows a detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to Figure 1 when checking the quality of the cable 15. Figure 12 shows an optical measurement of the crimp height as an example, where the crimp height can be measured in a simple manner at multiple points on the crimp contact, since the cable 15 can be freely positioned in space in different positions relative to the quality control device 90 by the gripping arm 55 or gripping unit 50.

[0091] Fig. 13a shows a first detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to Fig. 1 while the cable 15 is being guided. Fig. 13b shows a second detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to Fig. 1 while the cable 15 is being guided.

[0092] A further example of an automated process by the handling robot 30 is the removal of defective manufactured cables 15 (so-called defective cables) from the crimping device 5 which will be described below.

[0093] A defective manufactured cable 15 can be most easily removed from the machine if it is possible to grip both ends of the cable 15. To enable this, storage grippers already present on some machines can be used to facilitate cable storage 20.

[0094] The defective or faulty cable 15 is first transferred from the pivot unit of the crimping device 5 to a storage gripper which grips it at the rear end of the cable 15. The tip of the cable 15 is already in the cable tray 20 and needs to be removed from there again. For this purpose, the cable gripper 70 of the gripping unit 50 grips the defective cable just behind the storage gripper and, with reduced gripper pressure (semi-closed position), moves in the direction of the tip of the cable, which slides in the cable gripper 70. Figure 13a shows the situation when this step is completed. A variant of the gripping unit 50 is shown in which the cable gripper 70 can be rotated to improve accessibility.

[0095] The rear end of the cable is then transferred again to the pivot unit 10. This is shown in figure 13b.

[0096] The pivot unit 10 is then fully pivoted and the gripping unit 50 is rotated and moved until both ends of the cable are parallel and located outside the cable tray 20. This is shown in figure 14. Figure 14 shows a detailed view of the gripping unit 50 of the crimping system 1 according to figure 1 while a cable 15 is being held. The defective cable or cables 15 can be discarded outside the cable tray 20, for example by dropping it into a container.

[0097] FIG. 15 shows a detailed view of the cable tray 20 and the removal trough 22 of the crimping system 1 according to FIG.

[0098] A further example of an automated process by the handling robot 30 is the removal of a production batch or processed cable 15 from the removal trough 22, as described below.

[0099] Once the required number of cables 15 for a production batch reaches the cable tray 20 , the cable tray 20 is pivoted or tilted so that the batch or cables 15 drop into the removal trough 22 .

[0100] FIG. 16 shows a detailed view of the removal trough 22 of the crimping system 1 according to FIG.

[0101] The removal trough 22 is then moved longitudinally so that it is in an area reachable by the handling robot 30, and the gripping unit 50 is positioned above the removal trough 22 so that the gripping jaws 60, 61 are above the desired recess or depression in the removal trough 22. This is shown in Figure 16.

[0102] Figure 17a shows a first detailed view of the removal trough 22 of the crimping system 1 of Figure 1 when the cable 15 has been removed. Figure 17b shows a second detailed view of the removal trough 22 of the crimping system 1 of Figure 1 when the cable 15 has been removed.

[0103] The gripping unit 50 is then lowered (see FIG. 17a) and the gripping jaws 60, 61 are closed (see FIG. 17b) in order to grip and hold the production batch or cable 15. The gripping arms 55 or gripping unit 50 can now be raised in order to detach and remove the cable 15 from the trough 22.

[0104] When the production batches are removed or removed from the removal trough 22, they can be transferred to a suitable device, such as, for example, a transport rack from which the batches or cables 15 are suspended and / or a transport container in which the batches or cables 15 are placed.

[0105] The cable processing machine 5 may include a further pivot unit in addition to the pivot unit 10 shown in Fig. 11. The further pivot unit is capable of moving a portion of the cable 15 away from the cable processing axis 6 by pivoting or rotating the pivot unit.

[0106] Finally, it should be noted that terms such as "having", "including" and the like do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality of elements or steps. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with other features or steps of the other above embodiments. The signs in the claims should not be considered as limiting. [Explanation of symbols]

[0107] 1 Cable processing machine equipment (crimping system) 5 Cable processing machine (crimping device) 6 Cable processing axis 8 Crimping press 10 Pivot Unit 15 Cable 20 Cable Tray 22 Removal trough 30 Handling Robot 31 Carriage 32 Linear guide 33 Linear guide toothed belt drive 34 Rotary and Linear Units 35, 36 Toothed belt drives for rotary and linear units 37 Rod 38 3rd Toothed Belt Drive 39 Pivot Arm 50 Grasping Unit 55 Grasping Arm 57 Retaining bolt 58 Crimping cassette holder 60, 61 Grasping jaw 63, 64 Joe Carrier 65, 66 Flange elements 70 Cable Gripper 80 Crimping Cassette 82 Crimping cassette holder 85 Base Plate 90 Quality control equipment 100 Cable conveyor device 102, 103 Conveyor belt 105 Clamping device 106 Guide tube 110 Cable exchange equipment 111-113 Cable Receptacle 115 Alignment Unit

Claims

1. A cable processing machine device (1), comprising: a cable processing machine (5) for processing a cable (15), in particular a crimping machine for connecting the cable (15) to a crimp contact by a crimp connection; A handling robot (30); Equipped with the handling robot (30) is designed to grip a crimping cassette (80) with crimping tools and crimp contacts and to exchange the crimping cassette (80) used by the cable processing machine (5) for another crimping cassette (80); Cable processing machine equipment (1).

2. The cable processing machine apparatus (1) according to claim 1, further comprising a crimping cassette holder (58) for holding a plurality of crimping cassettes (80).

3. The cable processing machine device (1) according to any one of claims 1 to 2, wherein the cable processing machine device (1) is designed so that the gripping arms (55) can move on two opposite sides of the cable processing machine (5).

4. A cable processing machine apparatus (1) as claimed in any one of claims 1 to 3, wherein the gripping arm (55) is height adjustable relative to the cable processing machine (5), rotatable about its vertically extending axis and pivotally mounted about a second vertically extending axis.

5. The cable processing machine device (1) according to any one of claims 1 to 4, comprising a pivot unit (10) designed to move a part of the cable (15) outside the cable processing axis (6) through which the cable (15) passes while the cable (15) is being transported in the cable processing machine (5) and to transfer the cable (15) to a gripping arm (55).

6. a crimping cassette changing device (110) for holding a plurality of crimping cassettes; The cable processing machine apparatus (1) according to any one of claims 1 to 5, wherein the cable processing machine apparatus (1) is designed to replace a crimping cassette used by the cable processing machine (5) by a handling robot (30).

7. A method for exchanging a crimping cassette used by a cable processing machine (5) to receive crimping tools and crimp contacts for another crimping cassette provided with crimp contacts and a crimping tool, comprising: The method is: - gripping and holding a crimping cassette to be used by the cable processing machine (5) by means of a gripping arm (55), in particular a gripping arm (55) of a cable processing machine device (1) according to any one of claims 1 to 6; moving the crimping cassette held by the gripping arm (55) into a crimping cassette holder configured to hold a plurality of crimping cassettes; Releasing the crimping cassette by means of a gripping arm (55); gripping another crimping cassette with a gripping arm (55); and moving the other crimping cassette held by the gripping arm (55) to a position of the cable processing machine (5) where the cable processing machine (5) can use the other crimping cassette.

Images