Cable processing with infeed and outfeed

Abstract

To provide a cable processing system for performing cable processing at high speed with high reliability.SOLUTION: Provided is a cable processing system that includes: a cable processing machine (90) including a cable processing station (70a, 70b), and a cable transport device (10) having a movable gripper (20e, 20f) for transporting a cable (80a), the gripper (20e, 20f) removing the cable (80a) from a cable holder (32a) and feeding it to a further gripper (11c), wherein the further gripper (11c) is configured such that the cable (80a) can be transferred to a cable processing station (70a, 70b), and wherein the further gripper (11c) is configured as a double-transfer gripper for simultaneously receiving two conductors (83a, 83b), the double-transfer gripper (11c, 20e, 20f) having at least one rotational or linear movement shaft.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The invention relates to a cable processing system according to the preamble of claim 1, which comprises a cable processing machine with machine control for the automatic processing of cable ends of heavy and relatively rigid cables on a frame, as well as to an associated method for the automatic processing of cable ends of heavy and rigid cables according to claim 21 or to a supply system for such cables according to claim 42. This in particular comprises cable processing systems in which precut cable pieces or cable products of defined lengths are processed, preferably in one or two cable ends, i.e. cable processing systems for processing cable pieces supplied in the form of precut cables or piece products, rather than systems working only from rolls, i.e. almost infinitely. [Background technology]

[0002] In cable processing machines, the cables are frequently fed manually into the machine or into one or more cable processing stations. This is especially the case when the cable ends of heavy and relatively stiff cables have to be processed, which often have erratic and awkward behavior when moved, bent or twisted. This is especially the case for stiff or hard, rigid or inflexible cables, which can only be bent and twisted by force and are almost elastic. For example, a 2.5 mm 2 ~150mm 2 2.5 mm, coaxial cables or cables with a total diameter > 1 cm 2 ~6mm 2These include cables with multiple cores of 17-270 mm or more, with minimum bending radii, shielded, with thick inner conductors or with many individual conductors, and / or with special resistant sheaths, e.g. automotive power cables. While human operators can usually handle such cables intuitively or based on experience, automated or robotic systems may fail at least sporadically and repeatedly in such tasks, leading to machine stoppages or component defects. Such manual feeding and / or unfeeding is not only tedious and expensive, but also prone to errors, because faster, inaccurate or sloppy manual feeding does not allow the machine to process the cable accurately and reproducibly. This also requires that at least one operator be present at a machine during its operation.

[0003] For short and thin cables, US Pat. No. 5,299,623 or US Pat. No. 5,343,366 show machines in which the entire box containing the cables, individually suspended on a conveying device, moves through the machine during processing. US Pat. No. 5,299,623 also works with a special cable box for each cable so fed.

[0004] In US Pat. No. 5,399,633 a freely suspended cable end is guided around a rotating indexing table.

[0005] In cable processing machines, the cable is frequently fed manually into the machine or into one or more cable processing stations. This is especially the case when processing cable ends of heavy, relatively stiff cables, which often exhibit erratic and awkward behavior as they are moved, bent or twisted. Rigid or stiff, rigid or inflexible cables, which cannot be bent or twisted without the application of force and are nearly elastic, are particularly susceptible to such effects. Examples include 2.5 mm 2 ~150mm 2 2.5 mm, coaxial cables or cables with a total diameter > 1 cm 2 ~6mm 2These include multi-core cables with minimum bending radii of 17-270 mm or more, shielded, with thick inner conductors or with a large number of individual conductors, and / or with special resistant sheaths, e.g. automotive power cables. While human operators can usually handle such cables intuitively or based on experience, automated or robotic systems may fail at such tasks, at least sporadically and repeatedly, leading to machine stoppages or component defects. Such manual feeding and / or unfeeding is not only tedious and expensive, but also error-prone, since a faster, less accurate or sloppy manual feed will not allow the machine to process the cable accurately and reproducibly. This also requires that at least one operator be present at a machine during its operation.

[0006] Apart from the fact that they are not feasible for heavy, thick and stiff cables, such cable processing systems require improvement with regard to efficiency, precision and reliability of cable processing. A drawback of these known solutions is, for example, that such particularly stiff or rigid cables cannot be handled in the same way as conventional standard cables. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] U.S. Patent No. 5,125,154 [Patent Document 2] U.S. Patent No. 5,152,395 [Patent Document 3] DE 10201611645 A1 [Patent Document 4] European Patent Application Publication No. 2565992 Summary of the Invention [Problem to be solved by the invention]

[0008] It is therefore an object of the present invention to provide a cable processing system that does not have the aforementioned drawbacks, and in particular that provides fast and reliable cable processing, preferably also independently of the presence and skills of an operator. The cable processing sequence must also be easy to integrate into higher levels of automated electronic production or factory control systems, for example adapted to the fourth industrial revolution. [Means for solving the problem]

[0009] This object is solved by the features of the independent claims. Advantageous further developments are given in the drawings and in the dependent claims.

[0010] According to the invention, a cable processing system is provided, which comprises a cable processing machine with machine control for automatically processing the cable ends of a heavy, relatively rigid, pre-cut cable on a frame. The system according to the invention is specially configured to supply the cable in the form of a pre-cut cable piece, in which at least one, preferably both cable ends are processed. The cable can in particular be provided as a substantially straight section of a defined cable length or, in the case of longer cables, as a cable coil with a defined cable length, which coil is also transported, the end of which is kept at least approximately straight. By cable end is not meant only the blunt end of the cut surface of the cable, but the cable end region, i.e. for example the region at the end of the cable, in particular at 5 cm or 10 cm, or at most about 30 cm.

[0011] The machine has an input side for receiving the cable to be processed and an output side for unwinding the processed cable. The cable is processed between the input side and the output side, preferably, but not necessarily, the cable ends are processed, for example, by stripping, twisting, bending, crimping, mounting, finishing, etc., which is carried out in at least one, preferably at least two or more frame-supported cable processing stations. The cable processing machine is constructed on a frame, which means that the cable processing stations are combined as a unit in one machine and are not scattered in the factory building. For example, the cable processing stations can be connected to each other and / or by a frame structure to form a machine, preferably combined under a common housing.

[0012] The cable processing system according to the invention further comprises a cable conveying device for conveying at least one cable. In a cable processing machine, this cable conveying device comprises at least one, also frame-supported, movable gripper for the cable. Such a gripper is configured with sub-areas that are configured as a gripper system for releasably holding the cable or the cable end, for example a clamp-type gripper with movable jaws or another device for removable positive and / or non-positive clamping of the cable, a vacuum holder or adhesive, a removable holding device by magnetism or gravity, with or without a corresponding sensor system for determining whether and / or how the cable is currently held. The gripper is configured to be movable, which means that it is configured to move the cable relative to the machine base, i.e. relative to the frame, the cable processing station and / or the input or output side. The conveying system and / or the movable gripper thus have at least one axis of rotation or linear movement.

[0013] According to the invention, the cable transport device is equipped with a cable transport device configured as a multiple storage device, which has several cable holders for each one of the cables or at least one cable end of the cables. It is configured in particular as an actively transporting cable transport device, which actively transports a plurality of cables, i.e. moves the cables with an active function, moving the cables contained in the multiple storage device further within and relative to the multiple storage device. This is possibly a cable transport device in the form of a conveyor belt, a walking beam conveyor, a chain conveyor, preferably for separable chains with quick release fasteners in the segments, etc., as will in particular be described and / or outlined in more detail below.

[0014] The cable holder may be configured, for example, as a clamp, support, compartment or separator (pair) for one of the cables or one of the cable ends, which are moved together with the cable conveying device in the multiple storage device, as will be described below, in particular by way of example. Two cable holders spaced apart from one another are preferably used for the cable, one of which is configured as a clamp and the other as a support. A clamp is, for example, an element which clamps the cable in a partial area of ​​its circumference between two elastic, substantially parallel parts, exerting a force on the cable and partially enclosing it. The support may be configured, for example, as a concave shape, in which the cable comes to rest by gravity, and preferably holds the cable laterally in a predetermined position area by laterally separating webs, without exerting a force between the separating webs to clamp the cable.

[0015] According to the invention, at least one of the grippers is configured as a hand-over gripper, which is in particular configured to take the cables one by one from the respective cable holders and to pass them on to another gripper as a transfer gripper and / or to one of the cable processing stations. Such a transfer gripper and / or a transfer / hand-over gripper is configured to be movable together with a frame-supported transfer mechanism and performs a hand-over of the cable from one cable processing station to another. The at least one hand-over gripper is also moved by the transfer mechanism.

[0016] The hand-over gripper preferably has two pairs of gripper jaws for gripping first and second conductors of the cable, such that cables having multiple conductors can be stably picked up and transported.

[0017] In particular, the pair of gripper jaws is arranged on a gripper transport guide and can be moved along the gripper transport guide, so that their distance from one another can be adjusted. The distance between the pair of gripper jaws can be set individually and reproducibly depending on the type of cable and the distance between the two conductors of the cable.

[0018] In particular, the transfer gripper has two pairs of gripper jaws for gripping the conductor, which can simply transfer the cable taken out of the cable store to the transfer gripper, which feeds it to at least one, preferably at least two or more, cable processing stations for processing. The pair of gripper jaws of the handover gripper change their distance from each other before or during the handover, so that the conductor fits into the pair of gripper jaws of the transfer gripper and can then be easily fed individually to the cable processing stations.

[0019] The cable conveying device can preferably be coupled to the input side of the cable processing machine in a defined positional relationship by a docking mechanism, in particular at least during operation of the cable processing machine. Depending on the embodiment, the cable conveying device can be attached to the input side of the cable processing machine only substantially temporarily (e.g. as a wagon or the like) or substantially permanently (e.g. fixedly mounted).

[0020] The docking mechanism preferably has mechanical guides for a positioned docking of the multiple storage devices on the cable processing machine. For example, a mechanical, magnetic or electronic feed device for such a transporter can be used to preferably be positioned in a defined manner relative to the cable processing machine. In this case, for example, sensors for determining the docking and / or docking position, locking devices for locking and unlocking the docking, inlet dampers for the transporter, etc. can also be provided. By means of these, for example, a safe and defined docking of the transporter on the cable processing machine can be realized.

[0021] The cable conveying device is preferably supported on a floor or ceiling supported transporter that can move independently of the cable processing machine. For example, such a transporter can be configured as a wheeled transport system, e.g. a wagon or trolley, either free-floating or on rails. Another example is a ceiling or wall mounted transport system, e.g. a gondola.

[0022] A removable coupling is preferably formed between the multiple storage device and the cable processing machine. Such a coupling may be formed in particular in the region of the docking mechanism. This removable coupling is specially configured to mechanically operatively connect the drive of the cable processing machine with the cable conveying device when docking. This may be achieved, for example, by gears, which interact in a coupled state. In a preferred embodiment, perhaps one of these gears may be rotatably mounted in an intermediate gear holder, which is preferably rotatably mounted around another gear, this rotatable mounting being pretensioned by a passive force element. In this case, all gears may preferably be separated from the surroundings by a casing. This casing has an opening that is closed by a closure element during transport of the multiple storage device, which closure element has a mechanism for opening this opening when docking, making the gears required for the coupling accessible. The closure element may be, for example, a flap, a slider, etc.

[0023] As an alternative to a detachable coupling, the cable carrier has a local drive, which is preferably connected to a local controller, which operatively interacts with the machine controller.

[0024] In the combined state, the multiple storage device preferably has a cable removal area and / or insertion area, which are separated from the grippers and / or from each other by a housing of the cable processing machine and can preferably be operated manually.

[0025] In one embodiment, the multiple storage devices can be continuously coupled to the cable processing machine during operation, and the area outside the housing can continuously or periodically load or unload the cable during operation. If necessary, the docking mechanism that can be removed during operation can be omitted entirely, and the multiple storage devices can thus be a fixed part of the cable processing machine or a permanently installed module. This allows for a continuous operation of the machine. In particular, the multiple cable processing system according to the invention can be operated in parallel with the cyclic loading or unloading, for example in parallel with the alternating operation of the take-up area and / or the deposition area. If necessary, the filling level can be automatically monitored, for example to issue a warning if the filling level of the deposition area is low or if the take-up area is almost full.

[0026] In another embodiment, after docking, the multiple storage device may also be substantially completely contained within the housing of the cable processing machine. Loading or unloading of the multiple storage device may then be accomplished, for example, by undocking the multiple storage device, after which the same or another loaded multiple storage device is recoupled.

[0027] Each of the cable holders preferably has at least one web or drive, a support and / or a clamp. In this case, preferably one clamp and one support can be arranged in parallel on a common belt and / or chain or on two belts and / or chains running synchronously with each other. The clamps can include elastic elements, the pretension of which is preferably adjustable. The clamps can be fixed in receptacles and are guided along the conveying direction of the belts and / or chains by guides.

[0028] If necessary, a suspension or coil transport device is preferably additionally provided for transporting the cable coils. In such a case, each cable coil can be moved in a designated suspension or coil transport device, preferably synchronously with the movement of the associated cable end by means of a gripper. The cable processing machine is preferably configured in such a way that thin cables, standard cables and thick rigid cables can be processed on the same machine, in particular without significant modifications to the machine. In a preferred embodiment, both short cable pieces, for example of tens of centimeters, and long cables of several meters can be processed, in particular by using a suspension transport device of a cable processing machine for long cables in addition to a multiple storage device for cable ends. For example, the multiple storage device according to the invention can be configured in such a way that non-rigid cables can also be fed or transported therewith.

[0029] Preferably, the transporter is configured with a drive to move the transporter, as an alternative to the embodiment in which the transporter is moved by muscle power. For example, the transporter may be equipped as an autonomous or guided vehicle with its own drive control for at least partially autonomous navigation. The drive control of the transporter may be configured to communicate with a machine control and / or a higher level control system. If necessary, the transporter may also be configured to couple to an autonomous transport system of a factory and move in a controlled manner.

[0030] In one embodiment, at least one magazine is preferably arranged on the input side above at least a portion of the area of ​​the cable conveying device, the magazine being configured with an actuatable lower surface, and a cable placed in the magazine can be released downwards into the cable conveying device and / or into another magazine, for example by means of an actuating device having a flap, slider, etc. on the lower surface. The magazine or a group of several magazines can preferably be moved by means of a transporter and / or can preferably be coupled to the cable processing machine by means of a docking mechanism.

[0031] Preferably, at least one magazine for receiving the processed cable is arranged on the output side with an actuatable underside, which underside is configured such that the cable placed in the magazine can be released downwards by means of an actuator, for example in the same way as described above. In particular, the magazine can be configured with an actuatable underside, and the cable placed in the magazine can be released downwards by means of an actuator into a cable conveying device, into another magazine, and / or into a transporter or a storage box. Here too, the magazine or a group of several magazines can preferably be moved by means of a transporter and / or can preferably be coupled to the cable processing machine by means of a docking mechanism.

[0032] Preferably, the cable conveying device is configured with a further cable conveying device on the output side configured as a multiple storage device with several further cable holders. This cable conveying device may also be dockable by a docking mechanism on the output side in a defined positional relationship. A second movable gripper of the cable conveying device is configured to take the cables one by one from one of the cable processing stations in turn and feed them into the respective further cable holder. Preferably, the multiple storage devices on the input side and / or on the output side may be configured to be the same or at least of the same type and may be interchangeable.

[0033] At least one defective parts magazine is preferably arranged on the output side, which is provided for depositing therein cables that are recognized as defective by the cable processing machine and are preferably marked as "defective". The defective parts magazine is preferably arranged on or next to the multiple storage device on the output side so that it can be operated by the movable gripper. For example, the defective parts magazine can also be configured as an additional transporter. Thus, only cables that are recognized and / or marked as "good" by the cable processing machine are deposited in the output side cable holder.

[0034] In one embodiment, the cable conveying device is preferably configured as a multiple storage device with at least one chain, in particular an open chain, the chain segments or chain links of which are separable and each have at least one cable holder. The chain segments are particularly configured so that they can be easily separated from one another or easily connected to one another, i.e. without the use of special tools, possibly by suspending, removing or clipping additional chain links at the beginning or end of the chain by the user and / or by the automatic stations and / or assemblies of the cable processing machine. Thus, for example, the chain can be provided as a quasi-infinite multiple conveying device, whereby during the operation of the cable processing machine the chain is extended with further chain segments or shortened by already used chain links. The cable processing machine or the cable conveying device preferably comprises a drive, which is particularly configured so that the chains can be conveyed together when they are not tensioned, i.e. for example not closed and provided with open ends. For example, it has at least one lateral, preferably two or three lateral, chain guides and a driven chain conveyor element (chain gear, double toothed belt with outer teeth meshing with the chain, walking beam drive, ram, etc.). The chain segments are preferably fed to the machine on a conveying device such as a wagon or removed from the machine. Empty chain segments are preferably collected or stored in a chain feed collection container, for example a box or on a roller, in the area of ​​the cable conveying device. An additional sensor is preferably used here, preferably a camera, to monitor the filling level. Alternatively, the two cable conveying devices, input and output, can also be connected to each other, and the empty chain segments of the input side are conveyed directly to the output side. Another sensor is provided to detect the end of the chain on the input side, so that the machine can be stopped in time before the end of the chain.

[0035] Preferably, the overall system may also comprise at least one further gripper with an associated transport drive outside the housing of the cable processing machine, which is arranged and configured to serve as a pick-up and / or deposit area of ​​the multiple storage device. This further gripper may in particular provide transport of the cable between the pick-up or deposit area and an external ceiling- or floor-mounted transport system outside the cable processing machine, for example an external trolley or wagon from which the cable in the factory is manually or automatically picked up or fed. Alternatively and / or additionally, the further gripper with the associated transport system may also be used to move long coils of cable, and not only cables or cable ends.

[0036] The cable processing machine and / or the cable conveying device are preferably equipped with at least one sensor, which is configured to provide information about the number and / or location of the cables, in particular in the storage device, in the cable conveying device, in the alternative conveying devices and / or in the magazine, as described herein. For example, the sensor may be configured as a camera for image recognition, a counting device, an optical sensor, an inductive sensor and / or a capacitive sensor.

[0037] The cable processing machine preferably has an intermediate buffer storage for the cables on the input side and / or output side between the multiple storage device and the cable processing machine, which is configured with at least one additional cable holder for storing at least one of the cables in the cable processing machine and can be operated with a gripper. Such an intermediate buffer storage can be configured in particular to hold the cables to / from the cable processing station or the further gripper and / or the cables to / from the multiple storage device on the output side during a defined time window during docking and undocking of the multiple storage device.

[0038] Likewise, the invention further relates to a method for automatically processing cable ends of heavy and relatively stiff cables, which is achieved by storing or feeding at least some of the cables into several cable holders of a multiple storage device configured as a cable conveying device.

[0039] The multiple storage device may be a fixed part of the cable processing machine or, preferably, a mobile multiple storage device, which is arranged by docking the multiple storage device at the input side of the cable processing machine, which can be achieved in particular by introducing the multiple storage device, which is preferably configured mobile, at least partially into the housing of the cable processing machine.

[0040] In a variant of the first simple embodiment, at least one cable or one cable end of one cable is mechanically removed from the multiple storage device using a handover and transfer gripper of the cable processing machine. Furthermore, the supply of the cable or cable end to at least a first cable processing station by the handover and transfer gripper is achieved with at least one associated transfer drive. After the cable or cable end is processed at the first cable processing station, the cable or cable end is transferred from the first cable processing station to at least one second cable processing station by the handover and transfer gripper. After the cable or cable end is processed at the second cable processing station, the processed cable or cable end is removed from the second cable processing station by the handover and transfer gripper.

[0041] In a variant of the simple embodiment of the invention, a method can also be implemented in which all movements of the cable or cable end are performed only by a single handover and transfer gripper and its transfer drive. Thus, all of the aforementioned handover and transfer grippers can be configured as a single gripper and no handovers can occur between different grippers. For example, removal from multiple storage devices on the input side, feeding into one or more cable processing stations and depositing into multiple storage devices on the output side can be performed only by a single handover and transfer gripper and its transfer drive.

[0042] In a variant of the second extended embodiment, at least one cable or one cable end of one cable is mechanically removed from the multiple storage device using a first handover gripper and at least one associated transfer drive of the cable processing machine. Furthermore, the cable or cable end is transferred from the first handover gripper to a transfer gripper using the at least one associated transfer drive, and the cable or cable end is fed to at least a first cable processing station using the transfer gripper and the at least one associated transfer drive. The cable end is processed at the cable processing station and then transferred from the first cable processing station into at least a second cable processing station using the transfer gripper and the at least one associated transfer drive, and the cable or cable end is subsequently processed at the second cable processing station. If necessary, further cable processing stations can also be followed in the same way. After the last cable processing station, the processed cable or cable end is removed from the second cable processing station using a transfer gripper and at least one transfer drive associated therewith, and the cable or cable end is transferred from this transfer gripper to a second handover gripper using at least one transfer drive associated therewith.

[0043] In an extended embodiment variant, the method may be performed by moving the cable or cable end using multiple transport grippers, with at least one further handover gripper being provided for transferring the cable end between at least two of the transport grippers.

[0044] The cable conveying device is preferably moved from the cable processing machine to the multiple storage device by driving the cable conveying device by a power transmission, in which case in particular a mechanical coupling is performed during docking, through which a power transmission coupling is performed.

[0045] Alternatively, the cable transporter may be moved by driving the cable transporter with a local drive on the multi-storage device, in which case powering the local drive with a local power source and / or by electrical coupling of the cable transporter to the cable processing machine may be accomplished during docking.

[0046] Preferably, the cable or cable end can be clamped or placed in a cable holder, preferably manually and outside the housing of the cable processing machine.

[0047] Preferably, at least one suspended conveying device for the cable coil of each cable is moved together at least during the feeding and transport of the cables or cable ends in the cable processing machine.

[0048] Preferably, the method also includes a spatial movement along a floor or ceiling of the multiple storage devices in a factory environment. In particular, the movement also includes a preferably automatic docking and undocking at the cable processing machine. For example, the movement can be performed by an autonomously controlled transporter, in particular preferably by autonomous navigation and / or communication between the local control device of the multiple storage devices and the cable processing machine, in particular at least during docking. In this case, for example, when the transporter is introduced, a preferably automatic and precisely positioned docking of the multiple storage devices to the cable processing machine can be performed, in particular while a mechanical and / or electrical coupling between them is performed.

[0049] Preferably, as part of the method, the cable is also fed to a cable conveying device comprising at least one magazine for a plurality of cables. The cable can then be fed to the cable conveying device by gravity and / or passed by gravity to the magazine located below, for example by releasing the lower surface of the magazine by an actuator in the area of ​​the magazine.

[0050] Preferably, in the course of the method, the processed cable can additionally or alternatively be removed by means of at least one magazine for the cable. In this case, for example, the cable is passed by gravity to the magazine located below by releasing the lower surface of the magazine by an actuator in the area of ​​the magazine. The depositing of the processed cable in the top magazine is preferably carried out directly by a gripper, with no further cable conveying devices being present on the output side.

[0051] The cables are preferably fed and / or removed by actuating an actuatable underside. As a result of this actuation, for example of a flap, a pusher, etc. on the underside of the magazine, the dropping of the cables from one section of the magazine into an underlying cable holder or into another section of the magazine located below. In this case, the magazines are preferably assigned to multiple storage or cable transport devices.

[0052] Docking of the second multiple storage device at the output side of the cable processing machine is also preferably performed as part of the method. The cables or cable ends can be mechanically deposited in the cable holders of the second multiple storage device at the output side of the cable processing machine, in particular by a transfer gripper or a hand-over gripper, preferably by means of a second hand-over gripper and its associated transfer drive.

[0053] In this method, an automatic detection of defective parts is performed in the cable processing machine and these defective parts are deposited in a separate defective parts magazine, which can be performed by automatic marking and / or disabling of the defective parts, in particular at the output side of the cable processing machine, preferably in a cable processing station provided for this purpose.

[0054] Preferably, the cable can be fed and / or removed using a cable conveying device with at least one open chain as a multiple storage device. The chain links or chain segments of the chain include cable holders and can be easily separated from each other. If the chain segments contain raw or processed cable by separating and / or connecting the chain links or chain segments at the beginning or end of the chain, the cable is fed or removed, preferably by feeding the chain segments, for example on a wagon, which is connected to or separate from the chain section at the cable processing machine. The empty chain segment at the other end of the chain is preferably collected or stored in a chain-feed collecting container or directly on the wagon, or the two chains, input and output, are connected to each other and the empty chain segment at the input is transported to the output, where it acts as a storage.

[0055] Preferably, the cable may also be fed in and / or out using a cable conveying device with at least one external gripper on the outside of the housing, which transfers the cable between a conveying system attached to the ceiling or floor outside the cable processing machine and a pick-up and / or deposit area of ​​the multi-storage device located outside the housing.

[0056] Preferably, the multiple cables are temporarily stored in an intermediate buffer storage within the cable processing machine by means of a gripper between the multiple storage device and one of the cable processing stations.

[0057] In other words, an embodiment of the present invention further relates to a system for feeding a heavy and relatively stiff cable to a cable processing machine, in which automatic processing of the cable end of the cable takes place in at least one cable processing station or cable finishing device of the cable processing machine. The feeding system has a cable conveying device configured as a transporter attached to the floor or ceiling and can be coupled to the cable processing machine using a docking mechanism between the transporter and the input side of the cable processing machine. The cable transfer device includes a number of cable holders in the form of a multi-storage device, which are configured such that one of the cable ends is mechanically taken out of the cable conveying device of the cable processing machine and fed to several cable processing stations for processing of the cable end. The conveying device can in particular be configured such that the cable conveying device remains at the input side and the cable is moved separately from the cable conveying device to the cable processing station of the cable processing machine or from the cable processing station.

[0058] In other words, an embodiment of the present invention further relates to a system for unloading a heavy and relatively stiff cable from a cable processing machine, in which automatic processing of the cable end of the cable takes place in at least one cable processing station or cable finishing device of the cable processing machine. The unloading system has a cable conveying device configured as a transporter attached to the floor or ceiling and can be coupled to the cable processing machine using a docking mechanism between the transporter and the output side of the cable processing machine. The cable conveying device includes a plurality of cable holders in the form of a plurality of storage devices, the cable holders being configured such that one of the cable ends can be mechanically taken out by the cable conveying device from at least one of the cable processing stations of the cable processing machine and deposited in this cable holder. The conveying device can in particular be configured such that the cable conveying device remains on the output side and the cable is moved separately from the cable conveying device to or from the cable processing station of the cable processing machine.

[0059] The invention therefore also relates to a system comprising a cable processing machine and at least two cable conveying devices, comprising the infeed system and / or the outfeed system as described above.

[0060] International Patent Application No. PCT / IB2021 / 052229, filed on the same day by the same applicant and lead inventor, is also incorporated by reference and also relates to "Cable processing with infeed and outfeed". In particular, it contains a paragraph describing in further detail the suspended conveying apparatus and embodiments thereof, which may be applied to the present invention in a similar manner.

[0061] Further advantages, features and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described with reference to the drawings.

[0062] The reference numbers list is part of this disclosure, as are the technical contents of the claims and drawings. The figures are described consistently and comprehensively. The reference numbers and their descriptions should be considered throughout all figures, unless otherwise expressly distinguished. The same reference numbers indicate the same components, and reference numbers with different subscripts indicate functionally identical or similar components. The functional and logical relationships between the numerical ranges used are also clear to those skilled in the art. The drawings are symbolic representations. Of course, all load-bearing parts are appropriately connected to each other (e.g., via a frame structure) even if they cannot be explicitly recognized from the drawings in some places (e.g., to improve the distinguishability of other features). [Brief description of the drawings]

[0063] [Figure 1a] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1b] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1c] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1d] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1e] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1f] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1g] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1h] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 1i] 1 shows a schematic diagram of an embodiment of a system according to the present invention, including a cable processing machine and an associated cable processing conveying system. [Figure 2a] An isometric view of the embodiment according to FIG. 1c is shown with both cable carrying devices coupled to a cable processing machine. [Figure 2b] An isometric view of the embodiment according to FIG. 1c is shown with both cable carrying devices removed from the cable processing machine. [Figure 3a] A more detailed view of FIG. 2b is shown with some elements hidden to make it easier to see the cable holder on a cable carrier designed as a conveyor belt. [Figure 3b] A more detailed view of FIG. 2b is shown with some elements hidden to make it easier to see the cable holder on a cable carrier designed as a conveyor belt. [Figure 4a] Various cross-sections and details of Figures 2a and / or 2b are shown looking in the direction of the arrows depicted therein, with some elements hidden to facilitate viewing of the coupling and docking mechanisms. [Figure 4b] Various cross-sections and details of Figures 2a and / or 2b are shown looking in the direction of the arrows depicted therein, with some elements hidden to facilitate viewing of the coupling and docking mechanisms. [Figure 4c] Various cross-sections and details of Figures 2a and / or 2b are shown looking in the direction of the arrows depicted therein, with some elements hidden to facilitate viewing of the coupling and docking mechanisms. [Figure 4d] Various cross-sections and details of Figures 2a and / or 2b are shown looking in the direction of the arrows depicted therein, with some elements hidden to facilitate viewing of the coupling and docking mechanisms. [Figure 5a] 1 shows a special embodiment of a cable conveying device for conveying a coiled cable, similar to that shown in FIG. 1e. [Figure 5b] 1 shows a special embodiment of a cable conveying device for conveying a coiled cable, similar to that shown in FIG. 1e. [Figure 6]Here we show an isometric view of a cable coil conveying device or multiple conveying device for several suspended conveying devices, designed as a walking beam. [Figure 7a] The walking beam drive principle and the operating mode of a multiple transport device with a rotary drive, preferably an electric drive, are shown. [Figure 7b] The walking beam drive principle and the operating mode of a multiple transport device with a rotary drive, preferably an electric drive, are shown. [Figure 7c] The walking beam drive principle and the operating mode of a multiple transport device with a rotary drive, preferably an electric drive, are shown. [Figure 7d] The walking beam drive principle and the operating mode of a multiple transport device with a rotary drive, preferably an electric drive, are shown. [Figure 7e] The walking beam drive principle and the operating mode of a multiple transport device with a rotary drive, preferably an electric drive, are shown. [Figure 8a] The walking beam drive principle and the mode of operation of a multiple transport device with a translation drive, preferably a pneumatic drive, are shown. [Figure 8b] The walking beam drive principle and the mode of operation of a multiple transport device with a translation drive, preferably a pneumatic drive, are shown. [Figure 8c] The walking beam drive principle and the mode of operation of a multiple transport device with a translation drive, preferably a pneumatic drive, are shown. [Figure 8d] The walking beam drive principle and the mode of operation of a multiple transport device with a translation drive, preferably a pneumatic drive, are shown. [Figure 8e] The walking beam drive principle and the mode of operation of a multiple transport device with a translation drive, preferably a pneumatic drive, are shown. [Figure 8f] The walking beam drive principle and the mode of operation of a multiple transport device with a translation drive, preferably a pneumatic drive, are shown. [Figure 9]1a to 1h show schematic diagrams of a further embodiment of a system according to the invention comprising a cable processing machine and an associated cable processing conveying system. [Figure 10] 10 shows a schematic diagram of the cables of the system according to FIG. [Figure 11] 10 shows a perspective view of a multiple storage device of the system according to FIG. [Figure 12] 10 shows an embodiment of a handover gripper of the system according to FIG. 9 in a perspective view. [Figure 13] 10 shows an embodiment of a transfer gripper of the system according to FIG. 9 in a perspective view. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0064] 1a-1i show schematic diagrams of various embodiments of a system according to the present invention, including a cable processing machine 90 and an associated cable carrying system 10, which in some designs extends outside the cable processing machine 90.

[0065] In the embodiment of Fig. 1a, this cable transport system 10 consists of at least one transport gripper 11, two handover grippers 20a, 20b, transport mechanisms 12, 22a, 22b belonging to the grippers, and two groups of cable transport devices 30a, 30b for transporting a plurality of cables 80. These cable transport devices 30a, 30b are configured as wagons or trolleys and can move independently of the cable processing machine 90. The wagon 30a used for loading the cable processing machine 90 can be coupled to the input side 95a of the cable processing machine 90 by means of a docking mechanism 300a. The wagon 30b used for unloading the cable processing machine 90 can in this case be coupled to the output side 95b of the cable processing machine 90 by means of a docking mechanism 300b. Depending on the embodiment, wagons 30a and 30b may be configured differently, i.e., specifically for either the input side 95a or the output side 95b, or wagons 30a and 30b may also be configured similarly such that the same wagons 30a, 30b may be used on either the input side 95a or the output side 95b.

[0066] A number of cable holders 32a, 32b are provided on each of the two wagons 30a, 30b. These can be configured either as simple dividers (as shown in Fig. 1a) or as supports 324 (as shown in Fig. 3a), but also as spring-loaded cable clamps 323 (as shown in Figs. 1h, 3a and 3b). Several cable holders 32a, 32b are preferably used per cable 80, preferably in combination with clamps 323 and supports 324, as shown in Fig. 3a.

[0067] The cable 80 is successively taken from the cable holder 32a or the pair of cable holders 323, 324 of the load wagon 30a by the first handover gripper 20a for processing. The handover gripper 20a transfers the taken cable 80 to the transfer gripper 11, which feeds it to at least one, preferably at least two or more cable processing stations 70a, 70b for processing. For this purpose, in addition to the two grippers 20a and 11, the transfer mechanisms 12 and 22a respectively associated therewith also move. After all processing in the two cable processing stations 70a, 70b shown here as an example is completed, the cable 80 is transferred from the transfer gripper 11 and the transfer mechanisms 12 and 22b to another handover gripper 20b in the area of ​​the output side 95b, which then deposits or transfers it to the cable holder 32b or the pair of two cable holders 32b of the unload wagon 30b.

[0068] Alternatively, the cables may also be deposited directly into a finished cable shipping or packaging box.

[0069] Thus, the cables 80 can be processed one by one, fully automatically, until the load wagon 30a is empty and / or the unload wagon 30b is full, as represented by the thin arrows showing the movement of the cable 80, where the solid lines represent the actual movement and the dashed lines represent the alternative possible movements. All grippers 11, 20a, 20b and the associated drive shafts or transport mechanisms 12, 22a, 22b for their movement are part of the cable processing machine 90 and are connected to its controller 93, for example via various control cables (not shown). All transport mechanisms 12, 22a, 22b as well as all cable processing stations 70a, 70b etc. are mounted on a frame or framework 92 of the cable processing machine 90. To ensure the safety of the user, enclosures 91 or other safety devices such as light curtains may be provided. This is designed to cover the range of movement of at least all grippers 11, 20a, 20b and transport mechanisms 12, 22a, 22b, but not to impede the in and out movement (represented by the block arrows) of wagons 30a, 30b. Thus, safe loading and / or unloading of cable 80 can also be performed while the cable processing machine 90 is in operation.

[0070] The docking mechanism 300a, 300b is configured to allow easy and reliable docking of the wagon 30a, 30b to the cable processing machine 90 and to inform its controller 93 whether the wagon 30a, 30b is actually docked. Preferably, docking is performed at a predefined position from the wagon 30a, 30b to the machine 90, providing a known pick-up or deposit position for the cable 80. Additionally or alternatively, such positional relationship may be determined by a sensor 3042 and made available to the controller 93 of the cable processing machine 90, as shown for example in the exemplary embodiment of Figures 4a and 4b. Additional sensors 3042, locking devices 304 and / or mechanical guides 301, 303 and run-ins are preferably used for this purpose, as will be explained in more detail below.

[0071] The multiple storage devices 30a, 30b, i.e. the illustrated wagons 30a, 30b, can be designed in various embodiments, from very simple to "intelligent" or fully autonomous, where the actual transporter 34 can be designed to be separable from the multiple storage device area with the cable holders 32a, 32b and / or from the docking mechanism 300a, 300b. In Fig. 1 an embodiment as an intelligent wagon 30a at the input side 95a is shown diagrammatically, with for example its own controller 35, a drive motor 352 for moving the mobile elements 33, sensors 353 for navigation, a power supply 354 and cables 351 connecting all these elements. The controller 35 can be specially configured to communicate, preferably wirelessly, with the controller 93 of the cable processing machine 90, with the controllers 35 of the other wagons 30a, 30b or with a central overall controller. For example, a camera is used as a sensor 353, preferably supported by other sensors and software processes providing the information required for (indoor) vehicle navigation (LIDAR, RFID, proximity sensors, guidance systems, IPS ("indoor GPS"), triangulation, SLAM, etc.). A rechargeable battery is preferably used as power source 354, which can be charged, for example, in a coupled state. The power supply for operation and / or charging can be wireless or contactless, via induction or current collectors with sliding contacts.

[0072] Wheels are preferably used as the moving elements 33 in the case of floor wagons, with four wheels per wagon 30a, 30b being ideal. To maximize maneuverability in tight spaces, for example Mecanum wheels with additional rollers on the wheels (e.g. US Pat. No. 3,876,255) can be used, which are driven by one motor 352 each, preferably a geared electric servomotor. In addition, alternative drive principles can also be used, for example a ball similar to that found in old computer mice, classic wheels and swivels, and / or moving elements such as legs for overcoming steps and / or other obstacles. The wagons 30a, 30b can also be configured with wheels suitable for rails, air cushion bearings with appropriate drives, and / or magnetic levitation tracks. In another embodiment, in addition to the floor transport system, the wagons 30a, 30b can also be alternatively configured to be attached to a ceiling or wall.

[0073] In a minimal embodiment of the wagons 30a, 30b according to the invention, the drive elements and / or sensors may also be omitted entirely. Such wagons 30a, 30b may for example be moved and / or coupled or uncoupled by the operator himself, similar to a shopping cart in a supermarket. Any intermediate stages of the wagons 30a, 30b may be formed between this minimal embodiment and a fully autonomous embodiment and may be used together in the system as required.

[0074] It is particularly advantageous if the manufacturer of the cable processing machine 90 leaves most of this decision to the customer and provides only the cable holders 32a, 32b and the docking mechanisms 300a, 300b, with a simple and clearly defined mechanical interface 341 for the actual wagon 34, which can later be provided according to the needs of the customer and equipped with the aforementioned components. An embodiment of such a structure is shown diagrammatically on the left of the output side 95b of FIG. 1a. The multiple storage devices 30b, in particular the cable holders 32b and their support structure with the docking mechanisms 300b attached, are attached to a transporter 34, for example via an easily removable mechanical interface 341. This transporter 34 can be purchased by the customer himself, for example as a standard product, and / or an existing transport system can be used. Now the customer can decide for himself whether to push a very simple and inexpensive transporter 34 himself, to use an intelligent wagon 35 with control, drive and navigation, or to perform a mixed operation of these. When deciding on an intelligent wagon 35, one can choose a model of the same manufacturer as already used at another location at the same site, which is equipped according to the invention with multiple storage devices 30a, 30b and possibly with mechanical or practical / sensor-based docking mechanisms. Subsequent upgrades are also possible at any time, for example by transferring the cable holder 32b and / or the docking mechanism 300b to an electric and / or autonomous transport system, for example by means of the interface 341. If the wagon 30a is replaced immediately after the last cable has been removed, preferably while it is still being transported in the machine, downtimes of the machine 90 can be reduced or avoided. For this purpose, intermediate buffer storages 40a, 40b are preferably used, for example as shown subsequently in FIG. 1d.

[0075] FIG. 1b shows an alternative embodiment according to the invention with a cable carrier 10, where the cable holders 32a, 32b are not mounted in a fixed position (as shown in FIG. 1a) but are configured as cable carriers 320a, 320b, which in the illustrated example are on both sides of the cable processing machine 90, but this does not necessarily have to be the case. In another embodiment, for example, the illustrated input side 95a and output side 95b can be realized by simply depositing the finished cables in a transport box, possibly a wagon 34 (not shown). The cable carriers 320a, 320b shown here are part of the cable processing machine 90, in particular firmly connected to the frame 92 and controlled by a controller 93. Separate cable carriers 30a, 30b (as in FIG. 1a) separable from the machine 90 are not provided. The path of movement of the transport mechanisms 22a, 22b for the handover grippers 20a, 20b can be correspondingly shortened, as can the mechanical or virtual housing 91 for protecting personnel from moving machine parts.

[0076] These cable conveying devices 320a, 320b are preferably configured as conveying belts and comprise at least one drive belt 3203, 3204 and cable holders 32a, 32b fixed thereon, preferably implemented as clamps 323 on the first belt 3203 and implemented as supports 324 and fixed to the second belt 3204, as for example illustrated in the example of FIG. 3a.

[0077] As an alternative, as will be described in more detail in the embodiment of FIG. 1h, chains 3205a, 3205b can be used instead of the belts 3203, 3204, preferably comprising chain segments 3206 that are easily separable from one another, and in particular comprising a drive 3111 that functions without tension on the chains 3205a, 3205b.

[0078] As illustrated in FIGS. 7 and 8, the cable conveying devices 320a, 320b may also be implemented as walking beams, similar to the multiple conveying devices 52d for the suspended conveying device 53.

[0079] In the illustrated embodiment, the outer areas of the two cable conveyors 320a, 320b are always accessible to the operator. To load the machine 90, the operator places the raw cable 80 or cable pieces in the cable conveyor 320a on the input side 95a (represented by a bold block arrow in the depositing area 321a) and removes the processed cable 80 from the cable conveyor 320b on the output side 95b (represented by a bold block arrow in the removing area 321b). This can also be carried out during the operation of the machine 90, preferably not individually, but several times, for example following a warning in case of exceeding or falling below the filling level of the cable conveyor 320a or 320b. A corresponding sensor 322, preferably designed as a camera or a contactless proximity switch, is used for this filling level measurement, and / or several binary sensors (e.g. inductive sensors, capacitive proximity sensors, limit switches, light barriers, etc.) can also be arranged, the arrangement of which can be modified depending on the embodiment. Only the fill level sensor 322 at the input side 95a is shown here by way of example. Similarly, a corresponding sensor 322 can also be provided at the output side 95b.

[0080] In this operating mode, for example, one operator or robot may take over both loading and unloading and / or operate several machines 90. The exchange of wagons and the associated possible shutdown of the machines 90 may be omitted. However, the cables 80 have to be periodically added and removed, which in this particular embodiment is done in each case individually directly to the machines 90, not the same as loading several cables 80 to a wagon in the other embodiment, and the cables 80 are also loaded or unloaded from wagons 30a, 30b remote from the machines 90 and / or further processed and / or packaged. However, in this case, manual or automatic loading and / or unloading 321a, 312b to or from the wagons may also be performed. In the illustrated example, the cable 80 is transported within the cable processing machine 90 from, to and between cable processing stations 70a, 70b using grippers 11, 20a, 20b and associated transport mechanisms 12, 22a, 22b in the same manner as in FIG. 1a, but may be done according to other embodiments shown herein.

[0081] Figure 1c shows an embodiment which, so to speak, combines the main features and therefore advantages of the two variants shown so far. Here too, the cable holders 32a, 32b are fixed to cable conveying devices 320a, 320b. However, unlike in figure 1b, these cable conveying devices 320a, 320b are part of cable conveying devices 30a, 30b which move independently of the cable processing machine 90 and can be coupled and decoupled to the cable processing machine 90, for example similar to the wagon in figure 1a.

[0082] In this embodiment, both operating modes are possible during the loading and / or unloading process, i.e. with the complete wagons 30a, 30b suspended (as in FIG. 1a) and / or during deposition / removal of individual cables 80 from the cable conveying devices 320a, 320b (as in FIG. 1b), which are represented by the thick block arrows 321a, 321b, or the arrows of the wagons 30a, 30b.

[0083] According to the invention, there are preferably at least two options for driving the cable conveyors 320a, 320b. The first option is a dedicated drive for this purpose, connected directly on the wagon 30a, 30b, preferably to a dedicated controller 35 on the wagon 30a, 30b. This variant is advantageous in combination with intelligent wagons 30a, 30b (for example, FIG. 1a, right), which already have a dedicated controller 35 and power supply 354 and can also be used for driving and / or navigation outside the machine 90. If simple wagons 30a, 30b without their own control device are used, the drive 311 for the cable conveyors 320a, 320b can preferably be part of the cable processing machine 90. In particular, the drives for the cable conveyors 320a, 320b can be realized in a manner similar to Fig. 4c or 4d, in particular the blocks 310a, 310b shown here diagrammatically can be formed, for example, with the individual elements 311, 312a, 312b and / or 313a, 313b shown later. Energy can be transferred to the cable conveyors 320a, 320b electrically, but preferably purely mechanically via mechanical couplings 310a, 310b in the area of ​​the docking mechanisms 300a, 300b. In particular, but not only after docking, a dedicated sensor or the same sensor 322 used for measuring the filling level, preferably embodied as a camera, can be used to calibrate the position of the drive or the cable 80 relative to the grippers 20a, 20b. In one embodiment, the two coupling halves 312a, 312b and 313a, 313b may be configured, for example, as gears or as a type of power take-off shaft, which are engaged with each other during docking, as illustrated in Figures 4a and 4b.

[0084] FIG. 1d shows a system similar to FIG. 1a with two extensions that can be particularly advantageous for very long cable processing machines 90. The cable processing machine 90 consists of two or more modules, each having a frame 92a, 92b and a full frame or module length movable transfer mechanism 12a, 12b on which the transfer grippers 11a, 11b are mounted. A further hand-over gripper 20c with an associated transfer drive 22c is provided to transfer the cable 80 from the first transfer gripper 11a to the second transfer gripper 11b. With this arrangement, two or more cables 80 can be processed simultaneously in the machine 90, improving cycle times. In another embodiment, the cable processing machine 90 can also have three or more transfer grippers and correspondingly more hand-over grippers and transfer drives. Thus, a modular cable processing machine 90 can be provided by standardizing the length of the frames 92a, 92b and the associated transport mechanisms 12a, 12b for the transport grippers 11a, 11b.

[0085] In addition, an intermediate buffer store 40a with a further cable holder 32c is provided at the input side 95a. It is part of the cable processing machine 90 or a module thereof and is specially configured to fill the time of the wagon change. This is particularly advantageous if the change of the wagon takes longer than one processing cycle. During normal operation, the handover gripper 20a not only transfers the cables 80 taken from the cable holders 32a of the wagons 30a to the transport gripper 11a, but also deposits a part of it in the cable holders 32c of the intermediate buffer store 40a at the input side until it is full. The intermediate buffer store 40a is preferably filled during the waiting times between the feeding of the transport gripper 11a and is preferably processed preferentially. As soon as all the cables 80 have been taken from the cable holders 32a of the wagons 30a, a signal is issued to the user to change the wagons 30a or it is changed automatically. During the wagon change, the cable 80 temporarily stored in the intermediate buffer storage 40a is transferred to the transport gripper 11a. The cable processing machine 90 can thus continue to operate unhindered. If the sufficiently large storage capacity of the intermediate buffer storage 40a is adapted, in particular to the time of the wagon change, uninterrupted operation can be performed.

[0086] A similar intermediate buffer storage section 40b with associated cable holder 32d may also alternatively or additionally be provided on the output side 95b in a similar or reverse manner.

[0087] To monitor the current filling level in the intermediate buffer storage sections 40a, 40b, all deposition and removal processes can be stored in a control program and / or additional sensors (not shown) can be used, preferably one per cable holder 32c, 32d and / or camera system, e.g. attached to the handover grippers 20a, 20b.

[0088] Fig. 1e shows an expanded embodiment of the entire system for processing long, pre-cut cable pieces, which are wound in a space-saving manner at least once, preferably several times, in loops or turns on a cable coil 80c. In addition to the cable conveying device 10 for conveying the cable end regions 82, a suspended or coil conveying device 50 is provided here, comprising elements configured for this purpose in the cable processing machine 90 and in the two cable conveying devices 30a, 30b. At least one of the cable end regions 82 of the cable coil 80c is placed in a cable holder 32a, 32b or held by a gripper 11, 20a, 20b during its feed-in and / or feed-out. The cable coil 80c is conveyed by means of a suspended conveying device 53, which is guided, for example, in guides 51a, 51b, 51c and actively moved by the conveying devices 52a, 52b, 52c or, if necessary, can also be moved by the movement of the grippers. Each suspended conveying device 53 has a coil or suspended fastener 55, here implemented as a hook, in which a respective cable coil 80c is suspended. The suspended fastener 55 can preferably be rotatably attached to its suspended conveying device 53, for example by means of the illustrated rotatable attachment 54. In the example shown here, the middle guide 51c is connected to the cable processing machine 90, and the two outer guides 51a, 51b are connected to the cable conveying devices 30a, 30b, respectively. The conveying devices 52a, 52b, 52c of the suspended conveying device 53 are part of the cable processing machine 90 and connected to its controller 93. In the embodiment shown as an example, they each have a linear drive shaft with a guide and a drive, which can be telescopically extended to match the mating surface of the suspended conveying device 53. These are arranged so as to be offset from one another and overlap each other, so that when the suspended transport device 53 is transferred from one transport device 52a to the next transport device 52c, there is always a shape match on at least one side between at least one of the transport devices 52a, 52b, 52c and the suspended transport device 53.The movement of the conveying devices 52a, 52b, 52c is preferably substantially synchronous with the movement of the transfer gripper 11 and / or handover gripper 20a, 20b or associated transport mechanism 12, 22a, 22b, so as to ensure that the cable end region 82 and associated cable coil 80c move substantially synchronously and do not get entangled with adjacent cable coils 80c.

[0089] To further improve the reliable filling of the cable coils 80c from the load wagon 30a, a special multiple conveying device 52d can be provided there, which is also known as a "cable conveying device". In contrast to the simple conveying devices 52a, 52b, 52c, all the suspended conveying devices 53 are moved or conveyed simultaneously on the guide rails 51a, similar to the cables 80 of the cable conveying devices 320a, 320b. This multiple conveying device 52d can also be configured as a conveyor belt, a conveyor chain or a walking beam. Here, the design as a walking beam is particularly advantageous. Exemplary embodiments of such walking beams and their operating modes are described in Fig. 6, Fig. 7a-7e and Fig. 8a-8f. All the conveying devices 52a, 52b, 52c, 52d are part of the cable processing machine 90. Alternatively, at least some of them can also be attached to the wagons 30a, 30b like the associated guide rails 51a, 51b. Another multi-conveyor could also be installed on the unload wagon 30b. Attaching the cable holders 32a, 32b to the cable conveyors 320a, 320b as part of the wagons 30a, 30b (e.g. as in FIG. 1c) is a further embodiment here.

[0090] To achieve a reliable loading of the cable coil 80c into the load wagon 30a without any own drive, there are also other embodiments according to the invention, one of which is implemented with a passive force element, preferably implemented as a constant force spring, which pushes the rearmost suspended conveying device 53 towards the cable processing machine and thus all the others with it, like the cartridges in a gun magazine.

[0091] In one embodiment, for example, the movement range of the input conveying device 52a can be extended to the area of ​​the load wagon 30a, which is preferably equipped with at least one additional sensor and / or corresponding mechanism to move the next suspended conveying device 53 there, even if their positions are not precisely defined and slightly different each time. In a further embodiment, the multiple conveying device 52d can be part of the wagon 30a and can be mechanically coupled to the cable conveying device 320a to convey the cable end area 82, the drive of which can be part of the cable processing machine 90, for example using a coupling 310a as shown in Fig. 1c, 4c or 4d.

[0092] The housing 91 is specifically designed to not hinder the retraction and extension of the wagons 30a, 30b with the guide rails 51a, 51b attached thereto and the cable coil 80c suspended therefrom, whilst still protecting the user from dangerous movements of the cable processing machine 90, and in particular also the multiple conveying device 52d.

[0093] FIG. 1f shows an alternative embodiment according to the invention of the loading device 60a for the input side 95a, which requires only a very high storage capacity and little space and can preferably be used for very short cables 80. A cable conveying device 320a is used again here and is shown here (and for example in FIG. 1b) as part of the cable processing machine 90 or as for example in FIG. 1c as part of the external cable conveying device 30a. On top of the cable conveying device 320a there is a fastener on which several magazines 61a, 61b, 61c can be arranged vertically one above the other. These magazines 61a, 61b, 61c are used to accommodate several cables 80 and have an actuable lower surface 62a which can take two states. In the non-actuated state (shown by magazines 61b, 61c), this lower surface is closed so that all the cables 80 are placed and remain therein. When actuated (shown by magazine 61a), the lower surface 62a opens and all the cables 80 are dropped into the cable conveying device 320a below. An actuator 63a, preferably connected to the control 93 of the cable processing machine 90, is provided for actuating the individual magazines 61a, 61b, 61c or their undersides. In the illustrated example, this consists of a vertical drive shaft for moving the respective magazine 61a, 61b, 61c and a ram for actuating the underside. As a result of at least one sensor (not shown) in the area of ​​the cable conveyor 320a or based on the distance or number of movements of the cable conveyor, the controller 93 knows that the cable conveyor is empty and starts a subprogram for filling. For this purpose, the lowest magazine 61a is actuated first, so that the cable 80 therein falls into the cable conveyor 320a. Thereafter, all the magazines 61b, 61c located above are actuated in turn, so that the cable 80 always falls one step below. This ensures that the lowest magazine 61a is always full and the upper magazines 61b, 61c are emptied one after the other.By counting the cables 80 in the area of ​​the magazines and / or by additional sensors (not shown), the controller 93 always knows the number of cables 80 in stock and can give the user a warning signal in good time when an empty magazine 61a, 61b, 61c needs to be replaced by a new full magazine or when the magazine 61a, 61b, 61c needs to be filled. Magazine transport devices 64a can be used to transport the magazines, as indicated diagrammatically by two block arrows. These are advantageously designed as wagons or trolleys, with similar characteristics as already described for the wagons 30a, 30b. In an alternative embodiment, at least some of the magazines 61a, 61b, 61c can be attached to the machine 90. If necessary, automatic filling can also be performed, for example by using an autonomous transport system and / or a robot.

[0094] A similar device with a number of stacked actuable magazines 61d, 61e, 61f can also be used as an unloading device 60b on the output side 95b. Here, the magazines 61d, 61e, 61f are arranged at the places where the unloading wagon 30b and / or the cable holder 32b of the cable transport device 320b are provided in the other embodiments (e.g. Figs. 1a-1e). The cable 80 is placed at the appropriate place in the top magazine 61d directly by the left handover gripper 20b. As soon as this magazine 61d is full, the cable 80 therein is passed to the respective lower magazine 61f by means of the actuating device 63b. Here again, a magazine transport device 64b is preferably used to transport the magazines 61d, 61e, 61f.

[0095] Also, independently of the use of the operable magazines 61a, 61b, 61c, 61d, 61e, 61f at the input side 95a or the output side 95b, at least one further magazine 65 is provided at the output side 95b as a defective parts magazine or as a scrap box for incompletely produced cables 80f or defective parts. For this purpose, the movement path of the left handover gripper 20b is extended so that all positions of this additional magazine 65 can also be reached. The additional magazine 65 for incompletely produced cables 80f can also be used in all other embodiments of the output side 95b, for example in Figs. 1a-1i. The incompletely produced cables 80f are preferably marked and / or made unusable, for example by an additional cut in a defective parts cutting station (not shown) provided for this purpose, to eliminate any confusion with properly produced cables 80.

[0096] In addition to being deposited in individual magazine compartments, all poorly produced cables 80f can also be discharged into a common reject bin.

[0097] Figure 1g shows an expanded overall system according to the invention similar to that of figure 1b, in which loading and / or unloading is performed fully automatically, for which the system is expanded by an automatic loading device 400a in the deposition area 321a and an automatic unloading device 400b in the unloading area 321b.

[0098] In the illustrated example, the automatic loading device 400a consists of at least one gripper 4020, a transport mechanism 4022 for moving it, and a dedicated controller 4093. This gripper 4020 is also called external gripper 420 for distinction. A loading wagon 430a, to which a cable holder 432a is fixed and in which the cable 80 is placed, can be arranged in the area of ​​this loading device 400a. This loading wagon 430a is designed similarly to the transport wagons 30a, 30b described in FIG. 1a and can be equipped, if necessary, with a docking mechanism (not shown) for precise positioning in the cable processing machine 90, preferably mechanical positioning or alternatively virtual positioning by contactless position detection via sensors. A camera 4322 is preferably used to monitor the filling level. If necessary, a dedicated housing 4091 for the loading and / or unloading devices 400a, 400b can also be provided. The complete loading device 400a is in particular configured to be mounted on the cable processing machine 90 and to be detached again as quickly and easily as possible, allowing a changeover between manual individual loading (as in FIG. 1b) and fully automatic wagon loading. In addition to complete removal, alternatively, for example also by opening or removing the housing 4091, the gripper 4020 together with the transport mechanism 4022 can be brought to a parked position and deactivated therewith, and the deposition area 321a can be made accessible for manual operation.

[0099] In a fully automatic operation, the cable 80 is transferred sequentially from the cable holder 432a of the loading wagon 430a to the cable holder 32a of the input cable transfer device 320b by the gripper 4020 and the transfer mechanism 4022. The image of the camera 4322 supports this. With sufficient degrees of freedom of the transfer mechanism 4022 and the corresponding intelligence of the control software for interpreting the camera images, a positionally accurate docking of the wagon and therefore a docking mechanism can be omitted here. For this purpose, the transfer mechanism 4022 can be fully or partially implemented using a standard articulated arm industrial robot. All drive axes of the transfer mechanism 4022 and the gripper 4020 are preferably configured with a force measuring system, additional sensors and software, trained and certified to work in cooperation with humans. In this embodiment, the housing 4091 for the automatic loading device 400a is not necessary for the unloading device 400b and the associated unloading wagon 430b, as shown on the left. These elements are constructed similarly or identically to those described here.

[0100] Fig. 1h shows another possibility of providing two operating modes: individual loading (similar to Fig. 1b) and reloading of a complete wagon load of cables 80 (similar to Fig. 1a). For this purpose, the two cable conveying devices 320a, 320b are designed with chains 3205a, 3205b instead of belts, whose chain segments 3206 can be easily opened, closed or connected and separated by the operator, preferably without tools or energy chains / drag chains (e.g. Kabelschlepp or Igus), ideally automated by the cable processing machine 90. Here, the drives 3111a, 3111b are configured to be able to transport the chains 3205a, 3205b and the cable holders 32a with the cables 80 attached thereto, even when the chains 3205a, 3205b are not tensioned, like for example feed drives for crimp terminals or other consumables attached to the belts / chains in the cable processing station 70. For this purpose, as shown on the input side 95a, a suitable mating surface 3112a may be provided directly opposite the drive wheel 3111a, thus ensuring a permanent and reliable connection between the chain 3205a and the drive wheel 3111a. This simple design is quite adequate for the input side 95a, since it only requires pulling. Alternatively, and particularly conveniently, on the output side 95b, where the chain 3205b loaded with the cable 80 is mainly pushed, there is a special drive 3111b, where instead of the drive wheel 3111a with teeth, a drive belt with internal and external teeth is used and there is a matching linear mating surface 3112b. This type of drive, or a drive of functionally similar design, can be used in straight parts of the conveyor section, thus having the advantage that the majority of the chain can still be located where it is mainly pulled rather than pushed, making it more reliable. Alternatively (not shown), a simple drive could also be installed on the output side 95b as well as the input side 95a and the chain 3205b could run in a guide, thereby preventing undesirable buckling of the chain links when pushed.

[0101] To load a complete wagon load, the open portion of the chain 3205c can be placed on the transport wagon 34a and equipped with the cable 80, which can be performed remotely from the cable processing machine 90. This transport wagon 34a is brought into the area of ​​the inlet side 95a and a user or machine connects the chain 3205c on the transport wagon 34a to the chain 3205a in the cable transport device 320a, which is represented by the arrows between the chain 3205a on the machine and the chain segments 3206 at the respective ends of the chain 3205a on the transport wagon 34a.

[0102] The chain thus extended or assembled allows the processing of all the cables 80 transported on the transport wagon 34a. In the case of a suspended wagon, the machine does not have to be stopped, for example as shown in FIG. 1c, since part of the chain 3205a remains on the machine and supplies the cables during the exchange period of the transport wagon 34a. There is no restriction for short cables, the same as in the case of loading the magazine in FIG. 1f. Thus, a complex handover gripper with associated transport system, as shown in FIG. 1g, can also be omitted. In such an embodiment with separable chains 3205a, 3205b, 3205c, the connection and release of the chain segments 3206 as well as the filling and emptying of the area under the cable transport devices 320a, 320b can be performed in a simple manner, preferably manually by the user and / or at least partially automated, if necessary.

[0103] The output side 95b can be constructed in a functionally similar manner, but correspondingly in the reverse order. Here, the chain 3205b is not assembled by the user, but a suitable length portion is cut, for example corresponding to the length of the transport wagon 34b, here indicated by an arrow with a scissors symbol. By corresponding configuration of the separation and connection mechanism of the chain segments 3206, automatic separation can also be performed using the drive device (not shown) of the cable processing machine 90. The transport wagons 34a, 34b can be constructed very simply with a minimum of configuration, a flat support surface and wheels are sufficient, and if necessary, rails or guides for the chain 3205b can also be provided. The precise docking to the cable processing machine 90 can also be omitted in a simple design, with only a device that prevents at least the output side transport wagon 34b from being pushed away by the chain 3205b, for example a device for hooking it to a machine or the like and a foot-operated stop brake on one of the rollers (both not shown).

[0104] For handling the empty chain segments 3206, preferably chain feed and recovery devices 329a, 329b are provided below the cable conveying devices 320a, 320b, preferably designed as boxes 329a on the input side and preferably as rollers 329b on the output side. Their filling level can be monitored by corresponding sensors 322b (shown here only as an example on the outlet side 95b). In addition to these filling level sensors 322b and the cable filling level sensor 322, another sensor 322a is preferably also provided on the input side 95a, which detects the end of an open chain 3205a and in this case generates a reload signal and / or a stop signal.

[0105] Instead of providing two chain supply and return devices 329a, 329b on both sides, the chains 3205a, 3205b can also be connected to each other on both sides so that an empty chain link 3206 is transported from the input cable conveying device 320a to the output cable conveying device 320b.

[0106] If the chain segments 3206 are constructed so that they can also be opened mechanically, the empty chain sections can also be placed on the input side chain feed collector 329a already prepared to a length suitable for the wagons 30a, 30b. The emptied and prepared to a length chain links 3206 can also be deposited again directly in the lower wagon area of ​​the input side transport wagon 34a (instead of the chain feed collector 329a). Similarly, the supply of empty chain links 3206 on the output side can also be taken from the lower part of the transport wagon 34b (instead of from the chain feed collector 329b). In both cases, manual or automatic connection and disconnection of the chain takes place at the appropriate points (e.g. below and / or above) during the change of the wagon. Thus, both new and used chain links can be supplied and removed when the wagon is changed.

[0107] For better fixing of the cables 80, the chains 3205a, 3205b are preferably designed wide, so that several cable holders 32a can be attached per cable 80 and / or several chains run parallel (similar to the belts 3203, 3204 in FIG. 3a). It may also be advantageous to equip only those chain links or chain segments 3206 (or only the respective correct sides) with mechanisms for easy opening and closing of the chain connection, in particular as multi-link chain parts, the length of which corresponds to the wagon. Thus, not only are manufacturing costs saved, but also the user is prevented from creating "incorrect" lengths that do not correspond to the length of the transport wagons 34a, 34b. As already mentioned, such mechanisms may be configured in addition to or as an alternative to manual opening and closing, so that automatic opening and closing is also possible. In embodiments with automatic chain separation / connection, a fully automatic operation may also be realized, for example with automatic wagon exchange and / or autonomous driving of the wagons.

[0108] In one embodiment, the cable conveying devices 320a, 320b with the automated conveyor system with chains 3205a, 3205b described above can be easily configured to be convertible to a "simple" mode of operation for loading and / or unloading individual cables 80, for example similar to FIG. 1b. This can be achieved, for example, by the cable conveying devices 320a, 320b being configured in such a way that the chains 3205a, 3205b can be provided as cut chains with open ends as described above, or can be joined together to form closed chains, in particular with guides or paths (not shown) corresponding to the respective chain configurations that can be used, rearranged or converted as needed. For example, the chains 3205a, 3205b can be joined together, preferably manually, to form a closed loop or loops, as optionally indicated by the dashed arrows, so that the cable conveying device can be reconfigured into a continuously circulating multiple storage device, which can be individually loaded or unloaded with cables 80, similar to that shown in FIG. 1b.

[0109] Fig. 1i shows a simplified design similar to Fig. 1a, where the entire cable transport is realized by a single gripper, the transfer and handover gripper 20d. A single transfer drive 22d belonging to the gripper 20d, and therefore the working area of ​​the gripper 20d, extends over the entire machine 90. The machine 90 is thus configured for free-transport cable transport by the single gripper 20d from the input side multiple storage device 32a through the cable processing stations 70a, 70b to the output side second multiple storage device 32b.

[0110] Figures 2a and 2b show isometric views of an embodiment like that of figure 1c, where in figure 2a both cable carrier devices 30a, 30b are shown coupled to the cable processing machine 90 and in figure 2b detached, and in figure 2a the viewing direction of figures 4a and 4c is shown and in figure 2b the viewing direction of figures 3a and 4b is shown and is represented by arrows 3A, 4A, 4B and 4C.

[0111] FIG. 3a shows a detailed view of FIG. 2a along the arrow 3A, hiding some elements to make it easier to see the cable holders 32a and the cable conveying devices 320a that move them, here configured as conveyor belts. In the example shown, each cable holder 32a comprises a clamp 323 and a support 324. The conveyor belt 320a consists of two belts or toothed belts 3203, 3204 driven via a common shaft 327. A common shaft (not shown) is also located opposite the area of ​​the docking mechanism 300a (see also FIG. 4a) and the coupling 310a (see also FIG. 4c). To make the two cable conveying devices 320a, 320b identical on the input and output sides, gears are preferably attached to both shafts.

[0112] The clamps 323 are attached to a belt 3203 and the supports are attached to another belt 3204. The cables 80 (only one of which is shown here) are fixed to each clamp 323 and the associated support 324, the cable ends being worked up in the area of ​​the clamp 323. Opposite the area of ​​the support 324, even for long cables 80, a guide 328 is provided to prevent adjacent cables from getting entangled and getting stuck, here implemented as a plate with a smooth support surface. Alternatively, a variant with multiple rollers can also be used.

[0113] Alternatively, supports 324 on both sides can also be used for very short cables 80 to simplify the stacking of the cables, which is advantageous if the conveyor belt 320a is loaded fully automatically, for example with the magazine loading device 60 of FIG. 1f. Clamps 323 can also be used on both sides. Instead of the (toothed) belts 3203, 3204, chains 3205a, 3205b, 3205c can also be used, preferably with easily separable chain segments 3206 and a drive 3111 that also works without chain tension, as explained in FIG. 1h. Instead of the two belts 3203, 3204 or chains 3205a, 3205b, 3205c, one wide belt or one wide chain can also be used, or three or more or a single conveyor belt with corresponding wideness. In one embodiment, when only supports 324 are used instead of clamps 323 (e.g. for very short cables), it is also possible to use a walking beam drive for cable transport, for example similar to that used for the multiple transport device 52d for the suspended transport device 53 described in Figures 7 and 8.

[0114] Figure 3b shows a detailed view of figure 3a, where a section according to section 3B is drawn through the belt 3203 and the guide elements 3201, 3202a, 3202b provided thereon, here made in the plate 3201 and the two sheets 3202a, 3202b. Cable clamps 323 are attached to the belt 3203. They consist, for example, of two clamp jaws 3233a, 3233b, two holders 3232a, 3232b and a receptacle 3231. The two clamp jaws 3233a, 3233b are made of elastic material and are attached to the two holders 3232a, 3232b, here fixed in the C-shaped contour of the receptacle 3231. They form an "M" similar to the "golden arch" of the McDonald's logo, for which reason these clamps are also colloquially called "McDonald's clamps", also known by a similar shape as tool clamp strips, etc. In the embodiment shown, by moving the holders 3232a, 3232b in a C-shaped profile, the pretension of the clamp jaws can be adjusted to suit the type and diameter of the cable 80. The receptacle 3231, and therefore the cable clamp 323, is fixed to the belt 3203 by means of two screws, which are arranged transversely to the conveying direction. This allows the cable clamp 323 to move smoothly along the curve of the shaft 327 (see also FIG. 3a). The attachment of the support 324 to the belt 3204 (see also FIG. 3a) and the guidance of this belt 3204 are also performed in a similar manner.

[0115] Figures 4a-4d show various cross-sectional and detailed views of Figure 2 as viewed in the directions of arrows 4A, 4C in Figure 2a, arrow 4B in Figure 2b, and arrow 3D in Figure 3c, with some elements partially hidden to make it easier to see the input coupling 310a and the input docking mechanism 300a.

[0116] Figures 4a and 4b show the input docking mechanism 300a. In Figure 4a, it is in a "locked together" state, similar to Figure 2a. In Figure 4b, it is in an "open" state, similar to Figure 2b. The viewing directions correspond to the two arrows 4A, 4B shown in Figures 2a and 2b.

[0117] In the illustrated embodiment example, the locking pin 302 and the guide 301, here implemented as a rectangular profile, are placed on the wagon 30a. At the input side 95a of the cable processing machine 90, the corresponding counter parts, the locking device 304 and the guide 304, here implemented as a U-shaped profile, are placed. The two parts of the guides 303, 304 are pressed into each other during docking, so that the wagon 30a is mechanically positioned or precisely centered with respect to the cable processing machine 90. To compensate for initial inaccuracies, sufficient run-in areas are provided on both sides of the guides 303, 304. To increase ease of use and to avoid damage, a damper 305 may also be provided, here implemented as a shaft with a spring-loaded disk and attached to the cable processing machine 90. When the wagon 30a is correctly positioned with respect to the cable processing machine 90, this is detected by a sensor 3042 and the locking device 304 is activated. In the illustrated example, this consists of a slide plate 3041 and a drive 3040, implemented here as a pneumatic cylinder. The slide plate 3041 is moved and locked by the drive 3040, so that their active surfaces move into the grooves of the locking pins 302, thus creating a positive connection that fixes the wagon 30a to the cable processing machine. To release this fixation, the slide plate 3041 moves out again. Exactly the same mechanism is additionally installed on the output side 95b.

[0118] In another embodiment, the lock pin 302 and the damper 305 can also both be fixed to the wagon 30a, 30b or both to the cable processing machine 90. If both are on the same side, they can also be configured as a common functional element (not shown).

[0119] In other words, in a partial aspect of the present invention, a cable transport wagon 30a or a coupling attachment thereof is provided, configured with a docking mechanism 300a, which comprises a guide element preferably configured as an extension with substantially parallel sides, and a preferably rotationally symmetric locking pin 302, which has at its free end a preferably wedge-shaped running-in geometry (chamfer) and a groove or diameter reduction (groove) behind the free end. Respectively, a cable processing machine 90 or a functional module therefor is provided, configured with a docking mechanism 300a, which has a tapered run-in area for the side of the guide element of the wagon and at least one preferably circular opening for the locking pin 302 of the wagon, behind which there is a locking device 304, which is configured to hold the locking pin 302 in a tightly locked position and to release it in the open position, and which also has a slope for the buffer element of the wagon, which locking device is preferably configured as an unlocking device by which the inserted locking pin 302 is automatically locked and which can be actuated in a controlled manner, and which also comprises a sensor for detecting the coupled wagon if necessary. In addition to the above preferred embodiment, the skilled person is also familiar with functionally equivalent embodiments of such a docking mechanism for positioning and preferably locking the docking of the wagon in various variants, for example electromagnets or switching magnets.

[0120] Fig. 4c shows a more detailed view of Fig. 2a, with a viewing direction according to the arrow 4D, where some elements are hidden to make it easier to see the coupling 310a. In the embodiment shown as an example, this coupling 310a is composed of a power transmission from the cable processing machine 90 to the multiple storage devices 30a, 30b. It is designed as a group of several gears 312a, 312b, 313a, 313b. The drive device 311 is designed as an electric motor with a transmission. It is attached to the cable processing machine 90 and has a first gear wheel 312a flange-mounted on its shaft. The second gear wheel 312b is rotatably mounted in an intermediate wheel holder 315, which can rotate around the main axis of the drive device 311 and is pretensioned by a passive force element 314. Depending on the cable transport direction, one or more gears 12a, 312b are also placed on the wagon 30a, one of which is connected to the conveyor belt 320a. As soon as the wagon 30a is coupled to the cable processing machine 90, the second gear 312b is operatively connected to the gear 313a or to the gear 313b. To allow engagement at any time, i.e. even if the gears 312b, 313a, 313b are in an unfavorable position relative to one another, i.e. "tooth-to-tooth", the gear 312b can be slightly bounced back by rotating the intermediate wheel holder 315 and is immediately returned to the starting position by the passive force element 314. Now the entire transmission is configured such that in the preferred transport direction the drive torque points in the same direction as the action direction of the passive force element 314. In the case of the input side 95a shown here, the cable conveyor 320a conveys in the right direction, i.e. into the cable processing machine 90. Gears 313a, 312b rotate clockwise and gears 313b, 312a rotate counterclockwise. Thus, the driving torque assists gear 312b to move in the direction of gear 313b and thus towards the latched position.

[0121] At the output side 95b (not shown), the conveying direction is reversed, i.e. out of the cable processing machine 90. Therefore, the intermediate gear 313b should preferably not be installed on the wagon side, and the gear 312b should be directly operatively connected to the gear 312a.

[0122] Figure 4d shows a cross-sectional view of the main elements of figure 4c, according to the cross-sectional view indicated using the pair of arrows 4D. Here again it can be seen how the gears 312a, 312b and the intermediate wheel holder 315 are rotatably mounted relative to each other and to the drive unit 311.

[0123] Optionally, the gears or cable conveyors 320a, 320b can also be fixed, preferably in combination with elements of the docking mechanism 300a, 300b, such as the locking device 304 or the sensor 3042 (Fig. 3a, 3b), so that the cable conveyors 320a, 320b are blocked when the wagon is not coupled and cannot be moved accidentally. Optionally, in addition to or instead of the camera or sensor 322 (Fig. 1b), position monitoring can also be provided on the cable conveyors 320a, 320b and / or the cable processing machine 90, configured to determine the position of the cable conveyors 320a, 320b and thus the position of the cable 80 located therein, so that the cable 80 can always be properly gripped or the cable 80 is always located in a known position relative to the cable processing machine 90, regardless of how the gears mesh (e.g. tooth-to-tooth overlap or another displacement).

[0124] Figures 5a and 5b show a special embodiment of a cable conveying device 30a for conveying a coiled cable 80c, similar to the one shown diagrammatically in figure 1a. All cable coils 80c are in each case suspended in a suspended conveying device 53 and guided by guide rails 51a. The cable ends to be processed are clamped in respective cable clamps 323 and are guided in the direction of the cable coils 80c on supports 324, similar to the case of short uncoiled cables 80 as in figure 3a.

[0125] FIG. 5a shows a special design of a cable carrier 30c, which also includes a guide rail 51a.

[0126] FIG. 5b shows a further design of a wagon for transporting a cable coil 80c. Here, the guide rails 51a for the suspended transport device 53 are attached to a separate suspended transporter or reserve wagon 30e, which can be moved independently of the main wagon 30a. This main wagon 30a is preferably designed identically to the wagons 30a, 30b already used for the shorter cable 80, for example as shown in FIGS. 2-4. To correctly position the reserve wagon 30e, another docking mechanism (not shown) similar to 300a, 300b can be provided either between the two wagons 30a, 30e or between the reserve wagon 30a and the cable processing machine 90. In addition to being less complicated and less varied, the design with two separate wagons 30a, 30e also simplifies the "individually reloaded" operating mode. In this case, the main wagon 30a remains coupled at all times and the user drives the cable coil 80c closer to the spare wagon 30e and places the cable ends of the cable coil 80c individually into the cable clamps 323. Wagons can be used on the unload side as well as the load side.

[0127] Also shown are two basic possibilities as to how the cable coil 80c is preferably suspended. In Fig. 5a, the rear exit of the cable coil 80c, which is directed away from the cable clamp 323, is clamped and processed, and in Fig. 5b, the front exit facing the cable clamp 323 is processed. When using the rear exit as in Fig. 5a, the cable 80 can be rotated more easily and with less torque and accurately aligned for subsequent processing. On the other hand, the length of the unfixed cable between the clamp 323 and the cable coil 80c is longer and may be prone to winding up the adjacent cable or the cable coil 80c. Depending on the type of cable, i.e. the torsional and bending stiffness, the user is free to choose the type of suspension he prefers. A swivel joint 54 (shown in Fig. 1e) is provided at least in each suspended conveying device 53 to support simple cable rotation.

[0128] FIG. 6 shows an isometric view of a cable coil conveying device or multiple conveying device 52d for several suspended conveying devices 53, implemented here with a walking beam drive. The multiple conveying device 52d comprises several drives 521, which are arranged at a distance from the suspended conveying devices 53 on the guide rails 51a of the wagon 30c or the spare wagon 30e, for example as in FIG. 5a, 5b. These drives 521 are configured so that they can reliably transmit forces to the suspended conveying devices 53. In contrast to the conveyor belts (similar to 320a, 320b), the walking beam drives 521 do not rotate for conveying, but move back and forth a given distance, thereby conveying or transporting the suspended conveying devices 53 only in one direction and returning in the opposite direction empty. Exemplary drive variants are shown in the next two figures. Alternatively or additionally, the cable conveying devices 320a, 320b (e.g. FIG. 1c) can be implemented with such a walking beam drive, in which case the cable 80 is then conveyed instead of the suspended conveying device 53. For this purpose, the entire walking beam drive can be designed to be as wide or as large as twice as wide, similar to the previously described variants using conveyor belts or chains.

[0129] 7a-7e show the walking beam transport principle and the operating mode of the multiple transport device 52d with a rotating, preferably electric, drive 525e. For this purpose, two disks 523a, 523b rotate synchronously and are connected via a chain or toothed belt 524. The connecting beam 522, to which the drive 521 is attached, is eccentrically fixed to these two disks 523a, 523b. Due to the parallelogram thus formed, the rotation of the two disks 523a, 523b results in a circular movement of the non-rotating connecting beam 522, which is similar to the "flying carpet" of an amusement park ride. The length of the drive 521 and the distance between the multiple transport device 52d and the guide rail 51a are selected so that a form fit between the drive 521 and the suspended transport device 53 is formed or dissolved in the area where the moving components of the connecting beam 522 are reversed along the conveying direction, as can be seen in the subfigures a, c and d. Thus, when the disks 523a, 523b rotate counterclockwise, the suspended transport device 53 is transported to the right (Fig. 7c to 7e) and during the remaining movement (Fig. 7a to 7c) the drive 521 is returned to the starting point without interfering with the suspended transport device 53. Fig. 8a-8b shows in an exemplary embodiment the walking beam transport principle and the operation mode of a multiple transport device 52d with a translational, preferably pneumatic drive 525p and a spring-loaded drive 521. Here too the drive 521 is fixed to the connecting beam 522. However, it only moves back and forth in the transport direction and is preferably driven by a pneumatic cylinder 525p. In order to prevent the suspended transport device 53 from being transported backwards when the drive is returned to its starting point (Fig. 8a-8d), the drive 521 is rotatably mounted on the connecting beam 522 and spring-loaded. As soon as they come into contact with the suspended transport device 53 against the conveying direction (Fig. 8b), they are folded back (Fig. 8c) and then folded back again (Fig. 8c) when they have passed or when the connecting beam 522 is in its leftmost position (Fig. 8d). The rotatable mounting does not allow movement in the opposite direction, which is why the suspended transport device 53 is reliably retracted in the conveying direction (Figs. 8d-8f).The spring force in the swivel joint between the drive 521 and the connecting beam 522 is selected in such a way that a reliable turning is ensured (FIGS. 8c-8d) and undesirable transport in the wrong direction is prevented. For this purpose, the spring force must be selected to be smaller than the static friction force between the suspended transport device 53 and the guide rail 51a.

[0130] Instead of a passive suspension of the drives 521 in the connecting beams 522, they can also be actively moved transversely to the conveying direction, using a separate pneumatic cylinder or a pair of cylinders, which preferably move the entire connecting beam 522 transversely. It is also conceivable to generate the transverse movement via at least one link guide.

[0131] Figure 9 shows a schematic diagram of a further embodiment of the system according to the invention previously shown in figures 1a to 1i, which is structurally and functionally equivalent to the previous embodiment and is applicable.

[0132] In the embodiment of Fig. 9, this cable conveying system 10 consists of at least one (double) transport gripper 11c, two (double) handover grippers 20e, 20f, transport mechanisms 12, 22a, 22b belonging to the two grippers, and two groups of cable conveying devices 30a, 30b for conveying a number of cables 80a. These cable conveying devices 30a, 30b are designed as wagons or trolleys, as previously described in Fig. 1c. Otherwise, this cable conveying system remains structurally and functionally unchanged.

[0133] The cable 80a shown in Fig. 10 includes at least two conductors 83a, 83b at the cable end 81a, which are spaced apart from each other. As previously described in Fig. 3a, this cable 80a can be placed in the cable holders 32a, 32b of the multiple storage devices 30a, 30b, and according to Fig. 11, the two conductors 83a, 83b are clamped in cable clamps 323 at a distance X1 from each other, and the opposite cable end 81b is placed in a cable support 324.

[0134] FIG. 12 shows a hand-over gripper 20e arranged on the cable transport system 10. The hand-over gripper 20e is a double hand-over gripper, arranged on the transport mechanism 22a as previously described in FIG. 1a or 1b, and is also used, for example, in the cable transport system according to FIG. 1a or 1b. The hand-over gripper 20e has two pairs of gripper jaws 221a, 221b for gripping the conductors 83a, 83b. The pair of gripper jaws 221a, 221b is arranged on a gripper transport guide 221 and is movable along the gripper transport guide 221 so that the distance X2 relative to one another is adjustable. For this purpose, a corresponding gripper drive 222 is arranged on the transport gripper 20e. Opposite the pair of gripper jaws 221a, 221b, the hand-over gripper 20e has a receiving clamp 223, in which the cable end 81b of the cable 80a opposite the conductors 83a, 83b is arranged. During operational use, the handover gripper 20e moves towards the multiple storage device 30a and the distance X2 of the pair of gripper jaws 221a, 221b, which corresponds to the distance X1 of the cable clamp 323, advantageously does not change.

[0135] Figure 13 shows a transfer gripper 11c arranged in the cable transport system 10. The transfer gripper 11c is a double transfer gripper and is otherwise structurally and functionally identical to the transfer gripper 11a previously described in Figure 1a or 1b and used, for example, in the cable transport system according to Figure 1a or 1b. The transfer gripper 11c has two pairs of gripper jaws 111a, 111b for gripping the conductors 83a, 83b, which are spaced apart by a distance X3. Opposite the pair of gripper jaws 111a, 111b, the transfer gripper 11c has a receptacle 112 in which the cable end 81b of the cable 80a opposite the conductors 83a, 83b is arranged.

[0136] The hand-over gripper 20e transfers the removed cable 80a to the transfer gripper 11c, which feeds it to at least one, preferably at least two or more, cable processing stations 70a, 70b for processing. The pair of gripper jaws 221a, 221b changes its distance from X2 to X3 before or during the transfer. For this purpose, the two hand-over grippers 20e and the transfer gripper 11c as well as their associated transport mechanisms 12 and 22a are moved as previously shown in FIG. 1a.

[0137] As will be apparent to one skilled in the art, the embodiments and methods shown in the figures or described herein may also be combined and interchanged within the scope of the present invention.

[0138] For example, the present invention enables a cable processing system to include a cable processing machine 90 having a frame 92, 92a, 92b with machine controls for automatically processing cable ends of a heavy, rigid, pre-cut cable 80, 80a, the cable processing machine 90 having (i) an input side 95a for receiving the cable 80, 80a, (ii) at least two frame supported cable processing stations 70a, 70b, (iii) one cable conveying apparatus 10 for conveying at least one cable 80, 80a, the cable conveying apparatus 10 in the cable processing machine 90 having at least one frame supported moveable gripper 11, 11a, 11b, 11c, 20a, 20b, 20c, 20e, 20f for the cable 80, 80a, and (iv) an output side 95b for delivering the processed cable 80, 80a, the cable conveying apparatus 10 being a multiple storage device having a plurality of cable holders 32, 32a, 32b. At least one of the grippers 20a, 20d, 20e, 20f is configured as a hand-over gripper and, using a transfer mechanism 22a, 22d preferably supported by a frame, sequentially removes the cables 80, 80a from the respective cable holders 32, 32a, 32b and transfers them to at least one of the cable processing stations 70a, 70b, and and / or further grippers 11a, 11b, 11c, 20b, 20c, 20e, 20f which are configured to be movable together with a further frame-supported transport mechanism 11, 12a, 12b, 22b, 22c to transport the cable 80, 80a to one of the cable processing stations 70a, 70b, and the multiple storage devices 30a, 30b are configured as autonomous or guided transporters 34.

[0139] As a further example, the present invention provides a system for feeding heavy and stiff cables 80, 80a to a cable processing machine 90, according to the previous example, for automatically processing cable ends of the cables 80, 80a in at least one cable processing station 70a, 70b of the cable processing machine 90, comprising a multiple storage device 30a, the multiple storage device 30a being configured as an autonomous or guided transporter 34, which can be removably coupled to the cable processing machine 90 by means of a docking mechanism 300a between the transporter 34 and the input side 95a of the cable processing machine, the multiple storage device 30a being configured as a multiple The cable holder 32a is configured such that one of the cable ends can be mechanically removed therefrom by the cable conveying device 10 of the cable processing machine 90 and supplied to the multiple cable processing stations 70a, 70b where the cable end can be processed, and the transporter 34 is configured such that during cable processing, the multiple storage device 30a remains coupled to the input side 95a as long as the cables 80, 80a are still contained therein, and the cables 80, 80a can be moved between the cable processing stations 70a, 70b in the cable processing machine 90 separately from the multiple storage device 30a.

[0140] However, according to the present invention, the feeding system can also be used independently of the cable processing machine 90 according to the first example.

[0141] As yet another example, the present invention provides a system for feeding a heavy and relatively stiff cable 80, 80a from a cable processing machine 90, according to a first example for automatically processing cable ends of the cable 80, 80a in at least one cable processing station 70a, 70b of the cable processing machine 90, comprising a multiple storage device 30b, the multiple storage device 30b being configured as an autonomous or guided transporter 34 that can be removably coupled to the cable processing machine using a docking mechanism 300a between the transporter 34 and an output side 95b of the cable processing machine 90, the multiple storage device 30b comprising a plurality of cable holders 30b. 2b, the cable holder 32b is configured so that one of the cable ends can be mechanically deposited thereon by the cable conveying device 10 of the cable processing machine 90 and removed from processing of the cable end by at least one of the cable processing stations 70a, 70b, and the transporter 34 is configured so that during cable processing, the multiple storage device 30b remains coupled to the output side 95b as long as there is still space for at least one cable 80, 80a, and the cables 80, 80a can be moved between the cable processing stations 70a, 70b in the cable processing machine 90 separately from the multiple storage devices 30b of the cable conveying device.

[0142] According to the present invention, the delivery system can be used independently of the cable processing machine 90 according to the first example. [Note] [1] A cable processing system, comprising: a cable processing machine (90) having machine controls for automatically processing cable ends of a heavy, rigid, pre-cut cable (80, 80a), the cable processing machine including a frame (92, 92a, 92b), an input side (95a) for receiving said cables (80, 80a); at least two frame supported cable processing stations (70a, 70b); A cable conveying device (10) for conveying at least one cable (80, 80a), the cable conveying device (10) having at least one frame-supported movable gripper (11, 11a, 11b, 11c, 20a, 20b, 20c, 20e, 20f) for said cable (80, 80a) in said cable processing machine (90), and an output side (95b) for discharging the processed cables (80, 80a), wherein the cable conveying device (10) is equipped with a cable conveying device (320a, 320b) configured as a multiple storage device (30a, 30b) having a multiple cable holders (32, 32a, 32b), and at least one of the at least one grippers (20a, 20d, 20e, 20f) is configured as a transfer gripper and is adapted to take the cables (80, 80a) one by one from the respective cable holders (32, 32a, 32b) by means of a preferably frame-supported transfer mechanism (22a, 22d) and to transfer them to the cable processing slot; a cable processing machine (90) having an output side (95b) for supplying the cable (80, 80a) to at least one of the cable processing stations (70a, 70b) and / or to a further gripper (11a, 11b, 11c, 20b, 20c, 20e, 20f), the further gripper (11a, 11b, 11c, 20b, 20c, 20e, 20f) being movable by means of a further frame-supported transport mechanism (11, 12a, 12b, 22b, 22c) to transport the cable (80, 80a) to one of the cable processing stations (70a, 70b), the plurality of storage devices (30a, 30b) being configured as an autonomous or guided transporter (34); A cable processing system comprising: [2] The cable processing system according to [1], characterized in that the cable conveying devices (320a, 320b) are configured as conveyor belts to which the cable holders (32a) are attached, preferably at least two cable holders (32a) being spaced apart from one another along the cable (80) for at least one respective cable end of the cable (80). [3] The cable processing system described in [1] or [2], characterized in that the cable conveying devices (320a, 320b) can be coupled to the input side (95a) and / or the output side (95b) of the cable processing machine (90) in a predetermined positional relationship by a docking mechanism (300a), and wherein the cable conveying devices (320a, 320b) are configured to be movable relative to the cable processing machine (90). [4] The cable processing system described in any one of [1] to [3], characterized in that the docking mechanism (300a, 300b) has mechanical guides (301, 303) for positioning and coupling the multiple storage devices (30a, 30b) to the cable processing machine (90). [5] The cable processing system according to any one of [1] to [4], characterized in that the transporter (34) can be moved independently of the cable processing machine (90) and is configured in particular as a wagon, trolley or gondola. [6] The cable processing system according to any one of [1] to [5], characterized in that the transporter (34) is configured with a travel drive for the movement of the transporter (34), in particular equipped as an autonomous or guided vehicle with its own controller (35) for autonomous navigation, wherein the drive controller (35) of the transporter (34) is configured to communicate with the machine controller and / or a higher level control system, or the transporter (34) is configured to move in conjunction with an autonomous transport system of a factory. [7] The cable processing system according to any one of [1] to [6], characterized in that the multiple storage devices (30a, 30b) and the cable processing machine (90) have removable couplings (310a, 310b) configured to mechanically operably connect a drive device (311) of the cable processing machine (90) to the cable conveying device (320a, 320b), particularly in the area of ​​the docking mechanism (300a, 300b), and transport the cable (80, 80a) within the multiple storage devices (30a, 30b) when docked. [8] 10. A cable processing system according to claim 9, characterized in that the mechanically operable connection is achieved by means of gears (312a, 312b, 313a, 313b) interacting in a coupled state, one of which (312b) is preferably rotatably mounted in an intermediate gear holder (315), which is itself preferably rotatably mounted around another gear (312a), this rotatable mounting being pretensioned by a passive force element (314), and / or that all of the gears (312a, 312b, 313a, 313b) are preferably separated from the surroundings by a casing and have an opening that is closed by a flap during transportation of the multiple storage devices (30a, 30b), the flap preferably having a mechanism for folding back upon docking to release the gears (313a, 313b) provided for the coupling. [9] The cable processing system according to any one of [1] to [8], characterized in that the cable conveying devices (320a, 320b) have local drives for conveying the cables (80, 80a) within the multiple storage devices (30a, 30b) and are connected to a preferably local controller (35) that interacts with the machine controller in an operational state.

[10] 10. The cable processing system according to claim 1, wherein in the combined state, the multiple storage devices (30a, 30b) have removal and / or insertion areas (321b) for the cables (80, 80a), the areas (321a, 321b) being separated from one another and in particular from the at least one gripper (11a, 11b, 11c, 20b, 20c, 20e, 20f) by a housing (91) of the cable processing machine (90), preferably accessible from outside the housing (91) and in particular operable manually.

[11] The cable processing system according to any one of [1] to

[10] , characterized in that the area (321a, 321b) outside the housing (91) can be continuously or periodically loaded or unloaded with the cable (80, 80a) during operation, and in particular, the multiple storage devices (30a, 30b) are continuously coupled to the cable processing machine (90) at least during operation.

[12] The cable processing system described in any one of [1] to

[11] , characterized in that the multiple storage devices (30a, 30b) in the combined state are substantially completely contained within a housing (91) of the cable processing machine (90).

[13] 1. A cable processing system according to claim 1, wherein each cable holder (32a, 32b) has at least one web or drive and / or is configured as a support (324) and / or a clamp (323), preferably one clamp (323) and one support (324), respectively, are arranged in parallel on one or two synchronously running belts (3203, 3204) or chains (3205), the clamps (323) having elastic elements, the pretension of which is adjustable, are fixed in receptacles (3231) and are guided by guides (3201, 3202a, 3202b) along the conveying direction of the belts (3203, 3204) or chains (3205).

[14] At least one magazine (61a, 61b, 61c) for receiving a plurality of cables (80, 80a), preferably in individual sections, is arranged on the input side (95a) on at least one partial area of ​​the cable conveying device (320a, 320b), the magazine having an actuatable underside (62a) and capable of moving the cables (80, 80a) placed in the magazine (61a, 61b, 61c) downwards to the cable conveying device (320a, 320b) by means of an actuating device (63a). and / or configured to release into another magazine (61a, 61b, 61c), wherein the magazine (61a, 61b, 61c) or a group of several magazines (61a, 61b, 61c) can be moved, preferably by means of a magazine transport device (64a, 64b), and / or fixed to the cable processing machine (90), preferably by means of a docking mechanism (300a, 300b).

[15] At least one magazine (61d, 61e, 61f) with an actuable lower surface (62a) for receiving a processed cable (80, 80a) is arranged on the output side (95b), the lower surface (62a) being configured to be able to release downwards the cable (80, 80a) placed in the magazine (61d, 61e, 61f) by means of an actuator (63b), in particular, the magazine (61d, 61e, 61f) with the actuable lower surface (62a) is arranged to be able to release downwards the cable (80, 80a) placed in the magazine (61d, 61e, 61f) by means of an actuator (63b), The cable processing system according to any one of claims [1] to

[14] , characterized in that the cable (80, 80a) can be released downwardly into the cable conveying device (320a, 320b) and / or into another magazine (61d, 61e, 61f), wherein the magazine (61d, 61e, 61f) or a group of several magazines (61d, 61e, 61f) can be preferably moved using a magazine transport device (64a, 64b) and / or can be preferably fixed to the cable processing machine (90) using a docking mechanism.

[16] 10. The cable processing system according to claim 1, wherein the cable conveying device (10) is formed with a further cable conveying device (320b) configured as a multiple storage device (30b) having a plurality of further cable holders (32a, 32b) at the output side (95b) and can be coupled to a predetermined positional relationship at the output side (95b) by a docking mechanism (300a, 300b), wherein the further multiple storage device (30b) is configured as an autonomous or guided transporter (34), and wherein a second movable gripper (20b) is configured to take the cables (80, 80a) one by one from the cable processing stations (70a, 70b) and supply them to the further cable holders (32a, 32b), respectively.

[17] 16. The cable processing system according to claim 1, further comprising at least one defective parts magazine (65) arranged on the output side (95b) for storing cables (80f) which are recognized as defective parts (80f) by the cable processing machine (90) and preferably marked as "defective", wherein the defective parts magazine (65) is preferably arranged on or next to a plurality of storage devices (30a, 30b) on the output side (95b) and can be operated by the movable grippers (11a, 11b, 20a, 20b), wherein the defective parts magazine (65) is in particular configured as a further transporter.

[18] The cable processing system according to any one of [1] to

[17] , characterized in that the cable conveying device (320a, 320b) is composed of at least one chain (3205a, 3205b) as a multiple storage device, the chain segments (3206) of which are separable and each have at least one cable holder (32b).

[19] The cable processing system according to

[18] , characterized in that the chain (3205a, 3205b) can be supplied as a slack, in particular an unclosed, chain and moved by a drive device configured to transport such a slack chain.

[20] A cable processing system according to any one of [1] to

[19] , characterized in that the system includes at least one external gripper (4020) in the area of ​​the cable conveying device (320a, 320b), preferably outside the housing (91), arranged and configured to operate the removal area (321b) and / or the deposition area (321a), in particular to transfer cables (80, 80a) between load or unload wagons (430a, 430b) attached to the ceiling or floor outside the cable processing machine (90). [twenty one] 20. The cable processing system according to claim 1, wherein the cable processing machine (90) and / or the cable conveying device (10) are equipped with at least one sensor (322), preferably a camera for image recognition and / or a counting device, configured to provide information regarding the number and / or position of the cables (80, 80a) in the multiple storage devices (30a, 30b) and / or the cable conveying devices (320a, 320b) and / or magazines (61a, 61b, 61c, 61d, 61e, 61f, 65). [twenty two] The cable processing machine (90) has intermediate buffer storages (40a, 40b) for the cables (80, 80a) at the input side (92a) and / or the output side (95b) between the multiple storage devices (30a, 30a) and the cable processing stations (70a, 70b), and at least one cable holder (32a, 32b) is configured to store at least one of the cables (80, 80a) in the cable processing machine (90) and to process the cables (80, 80a) by using grippers (20a, 20b, 20c, 20e, 20f). 20. The cable processing system according to claim 1, wherein the intermediate buffer storage (40a, 40b) is configured to store the cable (80, 80a) to / from the cable processing station (70a, 70b) and / or the further grippers (11a, 11b, 20a, 20b, 20c) and / or the output storage device (30b) during a defined time frame, in particular during docking and undocking of the storage devices (30a, 30b). [twenty three] The cable processing system according to any one of [1] to

[22] , characterized in that the suspended conveying device (50) additionally comprises a transporter for the cable coils (80c), each cable coil (80c) being capable of being moved in a respective suspended conveying device (53) provided for this purpose, preferably synchronously with the movement of the cable end using one of the grippers (11a, 11b, 20a, 20b, 20c). [twenty four] A method for automatically processing a cable end of a heavy, stiff cable (80, 80a), comprising the steps of: loading the plurality of cables (80, 80a) into a plurality of cable holders (32a, 32b) of a plurality of storage devices (30a) configured as a cable conveying device (320a), the plurality of storage devices (30a) being configured as an autonomous or guided transporter (34); mechanically removing at least one cable (80, 80a) or one cable end of the cables (80, 80a) from the plurality of storage devices (30a) by handover and transfer grippers (20d, 20e, 20f) of the cable processing machine (90); feeding said cable (80, 80a) or cable end to at least a first cable processing station (70a) by said handover and transfer grippers (20d, 20e, 20f); processing the cable (80, 80a) or a cable end at the first cable processing station (70a); transferring said cable (80, 80a) or cable end from said first cable processing station (70a) to at least a second cable processing station (70b) by said handover and transfer grippers (20d, 20e, 20f); processing the cable (80, 80a) or a cable end in the second cable processing station (70b); removing the processed cable (80, 80a) or cable end from the second cable processing station (70b) by the handover and transfer gripper (20d, 20e, 20f), where a single gripper is configured as the handover and transfer gripper (20d, 20e, 20f) as required; A method comprising: [twenty five] The mechanical removal using a first gripper as a hand-over gripper (20a, 20e) of the cable processing machine (90) is achieved by transferring the cable (80, 80a) or cable end from the first hand-over gripper (20a, 20e) to a first transport gripper (11) and feeding the cable (80, 80a) or cable end to the first cable processing station (70a) by the first transport gripper (11), where after processing the cable, the cable (80, 80a) or cable end is transferred from the first cable processing station (70a) to the at least one second cable processing station (70a). The method according to

[24] , characterized in that the processed cable (80, 80a) or cable end is transferred by a second transfer gripper (11) to a station (70b) and the processed cable (80, 80a) or cable end is removed from the second cable processing station (70b) by a third transfer gripper (11) and a handover of the cable (80, 80a) or cable end is performed from the last-mentioned transfer gripper (11) to a second handover gripper (20b, 20f), in particular in that the movement of each of the grippers (11, 20a, 20b, 20e, 20f) is achieved by at least one transport drive (12, 22a) associated therewith.

[26] 2. The method according to claim 1, further comprising: moving the multiple storage devices (30a) outside the cable processing machine (90) and docking the multiple storage devices (30a) at an input side (95a) of the cable processing machine (90).

[27] Mechanical removal of at least one cable (80, 80a) or cable end from the plurality of storage devices (30a) is accomplished using a first handover gripper (20a, 20e) of the cable processing machine (90), the cable (80, 80a) or cable end is handed over from the first handover gripper (20a, 20e) to one of the transfer grippers (11), the cable (80, 80a) or cable end is fed by the transfer gripper (11) to at least one first cable processing station (70a), and the cable (80, 80a) or cable end is transferred to the at least one first cable processing station (70a). The method according to any one of

[24] to

[26] , characterized in that the transfer from the first cable processing station (70a) into at least one second cable processing station (70b) is achieved by the transfer gripper (11), the processed cable (80, 80a) or cable end is removed from the second cable processing station (70b) by the transfer gripper (11), and the handover of the cable (80, 80a) or cable end from the last-mentioned transfer gripper (11) to a second handover gripper (20b, 20f) is achieved.

[28] The method according to any one of

[24] to

[27] , characterized in that a plurality of transfer grippers (11a, 11b) are provided and at least one further handover gripper (20c) is provided for the transfer of the cable (80, 80a) or cable end between the plurality of transfer grippers (11a, 11b).

[29] The method according to any one of

[24] to

[28] , characterized in that the movement of the cable conveying devices (320a, 320b) is achieved by driving the cable conveying devices (320a, 320b) by power transmission from the cable processing machine (90) to the multiple storage devices (30a, 30b), in particular by means of a mechanical coupling during docking.

[30] The method according to any one of claims 24 to 29, characterized in that movement of the cable conveying devices (320a, 320b) is achieved by driving the cable conveying devices (320a, 320b) by local drives on the multiple storage devices (30a, 30b).

[31] The method according to any one of

[24] to

[30] , characterized in that the cables (80, 80a) are manually clamped or inserted into the cable holders (32a, 32b) outside the housing (91).

[32] The method according to any one of

[24] to

[31] , characterized in that at least when feeding and transporting the cables (80, 80a) in the cable processing machine (90), the engagement of at least one suspended conveying device (53) is achieved for the cable windings (80c) of each cable (80, 80a).

[33] The method according to any one of

[24] to

[32] , characterized in that the spatial movement of the multiple storage devices (30a, 30b) along the floor or ceiling is performed in a factory environment by an autonomously controlled transporter (34), the transporter (34) being configured to dock and undock on the cable processing machine (90).

[34] 13. The method according to any one of claims 1 to 12, characterized in that the cable (80, 80a) is fed to the cable conveying device (320a) comprising at least one magazine (61a, 61b, 61c) for the cable (80, 80a), and in that the cable (80, 80a) is guided by gravity to the cable conveying device (320a) and / or passed to the magazine (61a, 61b, 61c) located below, by releasing a lower surface (62a) of the magazine (61a, 61b, 61c) by an actuator (63a) in the area of ​​the magazine (61a, 61b, 61c).

[35] The method according to any one of

[24] to

[34] , characterized in that the processed cable (80, 80a) is removed together with at least one magazine (61d, 61e, 61f) for said cable (80, 80a), in that the cable (80, 80a) is passed by gravity to the lower magazine (61d, 61e, 61f) located below by releasing the lower surface of the magazine (61d, 61e, 61f) by an actuator (63b) in the area of ​​the magazine (61d, 61e, 61f).

[36] 13. The method according to any one of

[24] to

[35] , characterized in that the cables (80, 80a) are supplied and / or removed by actuating an actuable lower surface (62a) through which the cables (80, 80a) fall from a section of the magazine (61a, 61b, 61c, 61d, 61e, 61f) into the cable holder (32a, 32b) below or into another section of the magazine (61a, 61b, 61c, 61d, 61e, 61f) below, the magazine (61a, 61b, 61c, 61d, 61e, 61f) being preferably associated with the multiple storage devices (30a, 30b) or the cable conveying devices (320a, 320b).

[37] The method according to any one of

[24] to

[36] , characterized in that the mechanical deposition of the cables (80, 80a) or cable ends in a cable holder (32a, 32b) of a second plurality storage device (30b) configured as an autonomous or guided transporter (34) on the output side (95b) of the cable processing machine (90) is achieved by handover or transfer grippers (11a, 11b, 11c, 20a, 20b, 20c, 20e, 20f), preferably in combination with docking of the second plurality storage device (30b) on the output side (95b) of the cable processing machine (90).

[38] The method according to any one of

[24] to

[37] , characterized in that the defective parts (80f) are automatically detected in the cable processing machine (90) and the defective parts (80f) are deposited in a separate defective parts magazine (65), in particular at the output side (95b) of the cable processing machine (90), preferably together with automatic marking of the defective parts (80f).

[39] The method according to any one of

[24] to

[38] , characterized in that the cable (80, 80a) wound to form a cable coil (80c) and / or the cable ends of the cable are fed into and / or fed out of a cable conveying device (320a, 320b) as a multiple storage device with at least one open chain (3205a, 3205b), chain links or chain segments (3206) comprising the cable holder (32a) and separations and / or connections of the chain links or chain segments (3206) at the start or end of the chain (3205a, 3205b), the chain segments (3206) comprising raw or processed cable (80, 80a) or being empty.

[40] The method according to any one of

[24] to

[39] , characterized in that the infeed and / or outfeed of the cable (80, 80a) is performed using at least one external gripper (4020) outside the housing (91), which external gripper (4020) transports the cable (80, 80a) between a loading or unloading wagon (430a, 430b) attached to an external ceiling or floor outside the cable processing machine (90) and an unloading area (321b) and / or an insertion area (321a) of the multiple storage devices (320a, 320b) located outside the housing (91).

[41] The method according to any one of

[24] to

[40] , characterized in that at least one of the cables (80, 80a) is intermediately buffered in an intermediate buffer storage section (40a, 40b) in the cable processing machine (90) by handover and / or transfer grippers (20d, 20e, 20f).

[42] A system for feeding a heavy and stiff cable (80, 80a) to a cable processing machine (90) according to [1], the cable processing machine (90) for automatically processing cable ends of the cable (80, 80a) in at least one cable processing station (70a, 70b) of the cable processing machine (90), characterized by a multiple storage device (30a) configured as an autonomous or guided transporter (34) and capable of being removably coupled to the cable processing machine (90) by means of a docking mechanism (300a) between the transporter (34) and an input side (95a) of the cable processing machine, wherein the multiple storage device (30a) stores a plurality of cables. a cable holder (32a) configured such that one of the cable ends can be mechanically removed therefrom by a cable conveying device (10) of the cable processing machine (90) and the cable end can be supplied to a plurality of cable processing stations (70a, 70b) for processing, and wherein the transporter (34) is configured such that the plurality of storage devices (30a) remain coupled to the input side (95a) during cable processing as long as a cable (80, 80a) is still contained therein, and the cable (80, 80a) can be moved between the cable processing stations (70a, 70b) in the cable processing machine (90) separately from the plurality of storage devices (30a).

[43] A system for feeding a heavy and relatively stiff cable (80, 80a) from a cable processing machine (90) according to [1], the cable processing machine (90) for automatically processing a cable end of the cable (80, 80a) in at least one cable processing station (70a, 70b) of the cable processing machine (90), characterized by a multiple storage device (30b) configured as an autonomous or guided transporter (34) and capable of being removably coupled to the cable processing machine (90) by means of a docking mechanism (300b) between the transporter (34) and an output side (95b) of the cable processing machine, wherein the multiple storage device (30b) is provided with a plurality of cable holders (300b), 2b), and the cable holder (32b) is configured such that one of the cable ends can be mechanically deposited by a cable conveying device (10) of the cable processing machine (90) and removed from processing of the cable end by at least one of the cable processing stations (70a, 70b), and the transporter (34) is configured such that the multiple storage devices (30b) remain coupled to the output side (95b) during cable processing as long as there is still space for at least one cable (80, 80a), and the cable (80, 80a) can be moved between the cable processing stations (70a, 70b) in the cable processing machine (90) separately from the multiple storage devices (30b).

[44] A cable processing system comprising: a cable processing machine (90) according to [1]; and a feeding system according to

[42] and / or an unfeeding system according to

[43] . [Explanation of symbols]

[0143] 3A-B, 4A-D Arrows for specifying observation direction / section (pair) 10 Cable carrier device 11,11a-b Transfer (Gripper) 11c Transfer (Gripper) 111b Pair of gripper jaws 112 Receptacle 12, 12a-b Transfer mechanism (multiple drive shafts) 20a-c Handover (Gripper) 20d Handover and Transfer Gripper 20e, 20f Handover (Gripper) 221a, 221b Pair of gripper jaws 221 Gripper transfer guide 222 Gripper drive unit 223 Receptor Clamp 22a-d Transfer mechanism (multiple drive shafts) 30a-b Multiple storage devices (cable transport devices, trolleys, trolleys, multiple transporters) 30c Multiple storage device with guide rails for suspended transport device 30e Spare wagon, (cable) (multiple) suspended conveyor 300a-b Docking mechanism 301 Guide (male, contour) 302 Locking element (lock pin) 303 Guide (Mating Part, Female) 304 Locking device 3040 Lock drive device (cylinder) 3041 Slide plate 3042 Sensor 305 Damper 310a-b coupling 311 Driving devices (for transport devices) 3111a-b (Chain) Drive (Wheel) 3112a-b Opposite side 312a-b Coupling half (gear, drive side) 313a-b Coupling half (gear, conveyor belt side) 314 Passive force elements (springs) 315 Intermediate wheel holder 32a-d Cable holders (clamps, supports, dividers) 320a-b (Cable) Transport equipment (conveyor belts, walking beams) 3201 Plate (Guide element) 3202a-b Sheet (Guide element) 3203,3204 Belt 3205a-c Chain with easily separable segments 3206 Chain Segment 321a Deposition area 321b Extraction area 322 (Cable Fill Level) Sensor (Camera) 322,322ab (Chain Segment) Sensor (Camera) 323 (Cable) Clamp 3231 (holder) receptacle 3232a-b (clamp jaw) holder 3233a-b Clamp jaws 324 (Cable) Support 327 Shaft 328 Guide 329a-b (Chain feed) Collecting device (box, roller) 33 Moving elements (wheels) 34 Transporter (wagon) 34a-b Transport wagon 341 Mechanical Interface 35 Controller, (partially) autonomous drive system 351 (Control) Cable 352 Driving device (for self-mobility) 353 Sensor (camera) 354 Power supply (battery, rechargeable battery) 40a-b Intermediate buffer storage (additional cable holder) 400a Automatic Loading Device 400b Automatic unloading device 4020 Handover (Gripper) 4022 Transport mechanism (robot) 4091 Case 4093 Controller 4099 Sensor (camera) 430a-b Loading or unloading wagons (transporters, wagons, trolleys) 432 Cable holder (clamp, support, partition) 50 Suspension type transport device (coil transport device) (coil handling) 51a-c Guides, guide rails, rails 52a-c Conveyor (for suspended conveyor 53) 52d Multiple transport devices (walking beams, transport devices) 521 Drive unit 522 Connecting beam (beam) 523a-b disk 524 Toothed Belt 525e (rotary) drive unit (electric) 525p (translation) drive unit (pneumatic) 53 Suspended transport devices (carriages, transport wagons) 531 Carriage (Transport Wagon) 54 (rotatable) mounting fixture 55 Suspension fastener (hook) 60a (magazine) loading device 60b (Magazine) Unloading Device 61a-f (load / unload) magazine 62a (operable) bottom 63a-b Actuation device 64a-b Magazine transport device 65 (Defective / Faulty Parts) Magazine (Scrap Box) 70a-b Cable Processing Station 80 Cable 80a cable 80f (incomplete) cable (bad part, defective part) 80c1, 81c2 Cable pieces (incomplete cable coils) 81 Cable End 81a, 81b Cable end 82 Cable End Area 83a, 83b Conductor 90 Cable processing machine 91 Housing (cladding) 92,92a-b Frame (framework, module) 93 Controller 95a Input side 95b Output side X1: Distance between conductors 83a and 83b in cable holder 32a X2: Distance between conductors 83a and 83b in handover gripper 20e X3: Distance between conductors 83a and 83b in the transport gripper 11c

Claims

1. A cable processing system, comprising: a cable processing machine (90) having machine controls for automatically processing cable ends of a heavy, stiff, pre-cut cable (80, 80a), the cable processing machine including a frame (92, 92a, 92b), an input side (95a) for receiving said cables (80, 80a); at least two frame-supported cable processing stations (70a, 70b); A cable conveying device (10) for conveying at least one cable (80, 80a), the cable conveying device (10) having a frame-supported first gripper (20a, 20d, 20e) and a frame-supported second gripper (11, 11a, 11b, 11c, 20b, 20c, 20f) for the cable (80, 80a) in the cable processing machine (90); and an output side (95b) for discharging the processed cable (80, 80a); The cable carrier (10) is equipped with a cable carrier (320a, 320b) configured as a multiple storage device (30a, 30b) having a plurality of cable holders (32, 32a, 32b), said first grippers (20a, 20d, 20e) are configured as transfer grippers and are adapted to take said cables (80, 80a) one by one from their respective cable holders (32, 32a, 32b) and feed them to said second grippers (11, 11a, 11b, 11c, 20b, 20c, 20f); the second gripper (11, 11a, 11b, 11c, 20b, 20c, 20f) is configured to be moved by a frame-supported transfer mechanism (12, 12a, 12b, 22b, 22c) so as to be able to transfer the cable (80, 80a) to one of the cable processing stations (70a, 70b); the second gripper (11c, 20f) is configured as a double transfer gripper for receiving two conductors (83a, 83b) or two cable ends (83a, 83b) simultaneously, and further has a recessed receptacle (112) capable of receiving a cable end (81b) of the cable (80a) opposite the conductors (83a, 83b); said double transfer gripper (11c, 20f) having at least one axis of rotation or linear movement; A cable processing system comprising:

2. 2. The cable processing system according to claim 1, characterized in that, in a combined state, the multiple storage devices (30a, 30b) have a removal area (321b) and / or an insertion area (321a) for the cables (80, 80a), the removal area (321b) and the insertion area (321a) being separated from each other from the double transport grippers (11c, 20e, 20f) by a housing (91) of the cable processing machine (90) and being accessible from outside the housing (91) and can be operated manually.

3. 3. A cable processing system according to claim 1 or 2, characterized in that the combined storage devices (30a, 30b) are completely housed within a housing (91) of the cable processing machine (90).

4. 4. The cable processing system according to claim 1, wherein the cable conveying device (10) is formed with a further cable conveying device (320b) configured at the output side (95b) as a multiple storage device (30b) having a plurality of further cable holders (32b) and can be coupled to a predetermined positional relationship at the output side (95b) by a docking mechanism (300a, 300b), wherein the further multiple storage device (30b) is configured as an autonomous or guided transporter (34), and wherein a second handover gripper (20f) is configured to take the cables (80, 80a) one by one from one of the cable processing stations (70a, 70b) and supply them respectively to the further cable holders (32b).

5. 5. The cable processing system according to claim 1, wherein the cable processing machine (90) and / or the cable conveying device (10) are configured to provide at least one sensor (322) comprising a camera for image recognition and / or a counting device, the sensor being configured to provide information regarding the number and / or position of the cables (80, 80a) in a plurality of storage devices (30a, 30b) and / or cable conveying devices (320a, 320b) and / or magazines (61a, 61b, 61c, 61d, 61e, 61f, 65).

6. a mechanical removal of at least one cable (80a) or cable end from the plurality of storage devices (30a) is achieved by means of a first handover gripper (20e) of the cable processing machine (90), the cable (80a) or cable end is transferred from the first handover gripper (20e) to one of the double transport grippers (11c) of the cable processing machine (90) to realize a transfer of the cable (80a) or cable end from the first handover gripper (20e) to one of the double transport grippers (11c), the cable (80a) or cable end can be supplied by the double transport gripper (11c) to at least one first cable processing station (70a), and a transfer of the cable (80a) or cable end from the first cable processing station (70a) into at least one second cable processing station (70b) is achieved by the double transport gripper (11c), the processed cable (80a) or cable end is removed from the second cable processing station (70b) by the double transfer gripper (11c), 6. A cable processing system according to claim 1, characterized in that the cable (80a) or the cable end is transferred from the double transfer gripper (11c) to a second handover gripper (20f).

7. 7. The cable processing system according to claim 1, characterized in that, in operation, the mechanical deposition of the cable (80a) or cable end in a cable holder (32b) of a second multiple storage device (30b) configured as an autonomous or guided transporter (34) on the output side (95b) of the cable processing machine (90) is achieved by the double transport grippers (11c, 20e, 20f) in combination with docking of the second multiple storage device (30b) on the output side (95b) of the cable processing machine (90).

8. 8. A cable processing system according to claim 1, characterized in that the cable processing system is designed and controlled in such a way that, during operation, it automatically detects defective parts at the cable processing machine (90) and deposits the detected defective parts (80f) in a separate defective parts magazine (65) at the output side (95b) of the cable processing machine (90).

9. 7. The cable processing system of claim 6, characterized in that the cable processing system is designed and controlled such that, during operation, the two conductors (83a, 83b) of the cable (80a) are clamped in a cable clamp (323) spaced apart from each other by a distance (X1) and the opposite cable end (81b) is positioned within a cable support (324).

10. 10. The cable processing system according to claim 9, characterized in that the first handover gripper (20e) is a double handover gripper arranged on a transport mechanism (22a), the first handover gripper (20e) has two pairs of gripper jaws (221a, 221b) for gripping the conductor (83a, 83b), the two pairs of gripper jaws (221a, 221b) are arranged on a gripper transport guide (221) and are movable along the gripper transport guide (221) such that the distance (X2) relative to each other can be adjusted.

11. 11. The cable processing system according to claim 10, characterized in that the first hand-over gripper (20e) has a receiving clamp (223) on the opposite side of the two pairs of gripper jaws (221a, 221b), in which a cable end (81b) of the cable (80a) opposite the conductors (83a, 83b) is placed, the first hand-over gripper (20e) is movable towards the multiple storage device (30a) during operational use, and the two pairs of gripper jaws (221a, 221b) have a distance (X2) between each pair of gripper jaws (221a, 221b) that corresponds to the distance (X1) of the cable clamps (323) and remains unchanged.

12. the transfer gripper (11c) has two pairs of gripper jaws (111b) for gripping the conductors (83a, 83b), the conductors being spaced apart from each other by a distance (X3); 12. The cable processing system according to claim 11, characterized in that, in operation, the first handover gripper (20e) transfers the taken cable (80a) to the transfer gripper (11c), which in turn supplies the cable (80a) to at least one cable processing station (70a, 70b) for processing the cable (80a), and the distance between a pair of the gripper jaws (221a, 221b) changes from a distance (X2) to a distance (X3) before or during the transfer.

13. A cable processing system as claimed in any one of claims 1 to 12, characterized in that level sensors (322) are provided on the input side (95a) and / or the output side (95b) to enable an operating mode in which one operator or robot can take on both loading and unloading and / or operate multiple machines (90).

Images