System and method for automatically coiling and binding cable

Abstract

System and method for automatically coiling and binding a cable. Coiling and binding a cable are typically performed manually as a labor-intensive process. In contrast, the coiling and binding of a cable are performed automatically. The automatic process may use a coiler to perform the coiling, a binder to perform the binding or tying, and one or more mechanical separators. The mechanical separators may comprise one or more fingers to separate different coiled sections of the cable. The mechanical separators may be deployed at least partly during the coiling process, such as after the first section of the cable has been coiled. Further, after automatically coiling of the different parts of the cable, the different parts may be automatically tied. Similar to the coiling, the state of the tying may dictate the automatic retracting of the fingers.

Description

SYSTEM AND METHOD FOR AUTOMATICALLY COILING AND BINDING CABLEREFERENCE TO RELATED APPLICATION

[0001] The present application claim priority benefit to US Provisional Application No. 63 / 638,079 (filed on April 24, 2024), incorporated by reference herein in its entirety.TECHNICAL FIELD

[0002] The present disclosure generally relates to the cable and connector industry, and more particularly to automatically coiling and binding at least one cable, such as one continuous cable.BACKGROUND

[0003] This section is intended to introduce various aspects of the art, which may be associated with exemplary embodiments of the present disclosure. This discussion is believed to assist in providing a framework to facilitate a better understanding of particular aspects of the present disclosure. Accordingly, it should be understood that this section should be read in this light, and not necessarily as admissions of prior art.

[0004] Electronic devices may communicate with one another. Connectivity amongst the different electronic devices may be facilitated by using physical connectors (such as cables). The connectors may have various parameters such as: size, labeling, interface parameters, structure, etc. Interface parameters may include: number of connectivity pads (e.g., pins), the layout of the connectivity pads and their physical size, etc.

[0005] Further, there are many different types of connectors. Examples of different standard connector types include, but are not limited to: an eight position-eight conductor (8P8C) modular connector with eight positions, which may be used in Ethernet® communications; a D-subminiature electrical connector commonly used for the RS- 232 serial port on: modems, computers, telecommunications, test and measurement instruments; an HDMI (High- Definition Multimedia Interface) connector compact audio / video interface for transferring uncompressed video data and compressed / uncompressed digital audio data from a HDMI-compliant device (“the source device”) to a compatible computer monitor, video projector, digital television, or digital audio device; a Universal Serial Bus (USB) connector (e.g., USB 2.0 has a 4-pin connector; USB 3.0 has 9 pins surrounded by a shield); a Power connector which may include a safety ground connection as well as the power conductors for different household equipment; a RF Connector used at radio frequencies having constant impedance of its transmission line; a R-TNC (Reverse threaded Neill-Concelman) connector used for Wi-Fi antennas; a BNC connector for used in radio and test equipment; DC connector which may supply direct current (DC) power; Hybrid connectors which may have housings with inserts that allow intermixing of many connector types, such as those mentioned above; optical fiber connectors; and many more different types of connectors.

[0006] Each field / system / device may have a standard or custom electrical cable that has different parameters. Example of electrical cable’s parameters may include any one, any combination or all of: length; cable diameter; number of inner-wires; inner-wire coloring; inner-wire diameter; cable color; labeling; insulation / shielding; and winding / twisting.

[0007] In processing the cable, the cable may be coiling and bound. However, this process can be very labor- intensive.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various aspects of the invention and together with the description, serve to explain its principles. Wherever convenient, the same reference numbers will be used throughout the drawings to refer to the same or like elements.

[0009] FIG. 1 A is a block diagram of a first example of a coiling and binding machine.[001 OJ FIG. IB is a block diagram of a second example of a coiling and binding machine.

[0011] FIG. 1C is a block diagram of a third example of a coiling and binding machine.

[0012] FIG. 2 is a block diagram of one example layout in which a coiling and binding machine may be placed within a plurality of other machines as part of a production line.

[0013] FIG. 3 is an illustration of a coiled continuous cable that is separated into at least 2 distinct coils, with each of the at least 2 coils tied by one or more (such as at least 2) cable ties in preparation for testing and / or cutting (e.g., manual and / or automatic cutting).

[0014] FIGS. 4A-C are illustrations of coiling the continuous cable into at least 2 distinct coils separated by at least a predetermined amount using separating hardware.

[0015] FIG. 4D is a block diagram of a fourth example of a coiling and binding machine.

[0016] FIG. 4E is a flow chart of controlling the coiling of a cable.

[0017] FIG. 4F is a flow chart of controlling the tying of a coiled cable.

[0018] FIGS. 5A-C are illustrations of one sequence for coiling, unfolding, binding, and folding of the continuous cable.

[0019] FIGS. 6A-F are illustrations for performing the sequence illustrated in FIGS. 5A-C in order to perform the coiling, unfolding, binding, and folding of the continuous cable using a coder, a manipulator, and a tying machine.

[0020] FIGS. 7A-B are illustrations of another sequence for coiling and binding of the continuous cable.

[0021] FIGS. 8A-G are illustrations for performing the sequence illustrated in FIGS. 7A-B in order to perform the coiling and binding of the continuous cable.

[0022] FIG. 9 is a block diagram of an exemplary computer system that may be utilized to implement the methods described.DETAILED DESCRIPTION

[0023] As discussed in the background, a cable may be coiled (into at least one coil, at least two coils, at least three coils, at least four coils, etc.) and bound (such as using one or more ties or the like). Coiling typically involves putting the cable in the form of a curve, helix, or spiral in order to store the cable in a compact and reliable form. The coiling and binding is typically performed manually, which is a labor-intensive process.

[0024] Various types of coiling are contemplated. As one example, straight coiling may coil the cable in the same direction coil after coil. As another example, over-under coiling comprises twisting the cable in one direction to make a first loop, and un-twisting it to make the next loop, and repeating this alternation until all the cable is neatly coiled. As still another example, coiling using a dancer, accumulator, or the like is contemplated, as discussed in further detail below. Regardless, after coiling, the cable is wound, such as spirally wound, in a plurality of vertically stacked layers (such as at least two layers, at least three layers, at least four layers, at least five layers, etc.). After coiling, the coiled cable may be bound. Various types of binding are contemplated. Binding may use a fastener such as one or more of a clamp, a tie, a band, or the like. In practice, the binding may result in at least 180° of the coiled cable, at least 270° of the coiled cable, at least 360° of the coiled cable (e.g., a circumference of the coiled cable), at least 450° of the coiled cable, at least 540° of the coiled cable, at least 630° of the coiled cable, or at least 720° of the coiled cable being bound by the fastener.

[0025] In one or some embodiments, one or both of coiling or binding may be performed at least partly automatically (such as fully automatically). Further, in one or some embodiments, the coiling and the binding may be performed using any one, any combination, or all of: a coiler (e.g., one or more coiling machines); one or more binders (e.g., one or more binding machines or tying machines); or one or more mechanical separators (e.g., any one,any combination, or all of: one or more fingers (or the like); one or more dancers (or the like); or one or more manipulators (or the like)). Any discussion herein regarding a coiling machine and a tying machine may comprise an apparatus for coiling and tying, which may comprise a single machine to perform coiling and tying or separate machines to perform the coiling and tying.

[0026] For example, in one or some embodiments, at least one coiling / binding apparatus may: coil a first part (or first section) of the continuous cable; thereafter, move the one or more mechanical separators; thereafter, coil a second part (or second section) of the continuous cable; and bind one or both of the coiled first part of the continuous cable or the coiled second part of the continuous cable.

[0027] In one or some embodiments, the one or more mechanical separators, which may separate the coiled first part of the continuous cable from the coiled second part of the continuous cable, may be moved after the first part of the continuous cable is coiled. In a first specific embodiment, the one or more mechanical separators may be moved after the first part of the continuous cable is coiled but before completing the coiling of the second part of the continuous cable. In a second specific embodiment, the one or more mechanical separators may be moved after the first part of the continuous cable is coiled and after completing the coiling of the second part of the continuous cable. Regardless, the one or more mechanical separators may separate the coiled first part of the continuous cable from the coiled second part of the continuous cable during coiling and / or during tying.

[0028] Thus, in one or some embodiments, the use of the mechanical separators may be controlled in combination with the coiling of the cable (e.g., based on a state of coiling of the cable). As discussed in more detail below, the coiling of the cable may be controlled using a mechanical device, such as any one, any combination, or all of dancer(s), accumulator(s), or the like. For example, a dancer may be pneumatic-driven, servo-driven, electromagnetic-driven, or other type of motive-force driven, and may be configured to perform any one, any combination, or all of: control the tension of the cable; control the speed of winding of the cable; or control the distance between windings of the coiled cable. A dancer is disclosed in US Patent No. 5,791,134, US Patent Application Publication No. 20110259072 Al, and US Patent Application Publication No. 2018 / 0273339 Al, each of which is incorporated by reference herein in their entirety.

[0029] As discussed in more detail below, a dancer control system may be configured to control the dancer, such as to control any one, any combination, or all of: the tension of the cable; the speed of winding of the cable; or the distance between windings of the coiled cable. Regardless, the dancer control system may control the dancer in order to control the coiling of the cable in order to generate the two separate codings, such as the coiled first part of the continuous cable, the coiled second part of the continuous cable, and the separation between the coiled first part of the continuous cable and the coiled second part of the continuous cable.

[0030] As one example, the dancer control system may: first control the dancer to a first dancer setting (in order to coil the first part of the continuous cable); then control the dancer to a second dancer setting (in order to create the separation after the coiled first part of the continuous cable); and then control the dancer to a third dancer setting (in order to coil the second part of the continuous cable). In one or some embodiments, the first dancer setting may be equal to the third dancer setting (so that the coiled first part of the continuous cable is identical to the coiled second part of the continuous cable). Further, in one or some embodiments, the respective dancer settings may be selected in order to configure the coiled cable into the two separate coiled parts. As one example, the first dancer setting and the third dancer setting may be selected for a predetermined number of rotations of the cable in each of the respective coiled parts (e.g., selecting the respective dancer setting, whether the first / third dancer settings comprise an amount to implement (e.g., X # of seconds) or a Y number of rotations, so that Y number of rotations of the cable are in eachof the coiled first part and the coiled second part and so that the windings in each of the coiled first part and the coiled second part are no greater than Z mm or are in physical contact with one another). As another example, the second dancer setting may be selected so that the spacing between windings is at least 25% more than first / third dancer setting, at least 50% more than first / third dancer setting, at least 75% more than first / third dancer setting, at least 100% more than first / third dancer setting, at least 200% more than first / third dancer setting, at least 300% more than first / third dancer setting, or at least 400% more than first / third dancer setting. Further, the amount of time implementing the second dancer setting may comprise: an amount of rotation of the cable (e.g., at least 14 rotation, at least ' / z rotation, at least % rotation, at least 1 rotation and / or no greater than 14 rotation, no greater than Yi rotation, no greater than % rotation, no greater than 1 rotation); and / or a time amount (e.g., at least and / or no greater than .5 sec; at least and / or no greater than 1 sec).

[0031] In one or some embodiments, the dancer control system may work in combination with the mechanical separator control system, which may be configured to control the mechanical separator(s). In one embodiment, the dancer control system and the mechanical separator control system are separate control systems. Alternatively, the dancer control system and the mechanical separator control system may be part of a single control system. Regardless, the integrated control of the dancer and the mechanical separator) s) may comprise timing movement of the mechanical separator(s) responsive to the coiling, such as responsive to switching the dancer from the first dancer setting to the second dancer setting (e.g., after the gap between ceilings begins, the mechanical separator(s) may be extended); responsive to switching the dancer from the second dancer setting to the third dancer setting (e.g., after the second coiling level begins, the mechanical separator(s) may be extended); or responsive to switching the dancer ending the third dancer setting (e.g., after the second coiling level is completed, the mechanical separator(s) may be extended). In this regard, the mechanical separator control system may control the mechanical separator(s) responsive to the status of the coiling (which may be determined based on input from the dancer control system).

[0032] Alternatively, or in addition, the retraction of the mechanical separator(s) may be dependent on the status of the tying of the coiled first part and / or the coiled second part. In particular, in one or some embodiments, the mechanical separator(s) may be retracted in any one, any combination, or all of: responsive to motion(s) in preparation for tying (e.g., responsive to initiation of the tying, such as the manipulator physically contacting the coiled cable); responsive to tying only one coiled part of the cable (e.g., responsive to tying the coiled first part or the coiled second part); or responsive to tying more than one coiled part of the cable (e.g., responsive to completion of the tying, such as responsive to tying both the coiled first part and the coiled second part; or responsive to tying each coiled first of the cable, in the event that there are three or more coiled parts). In this regard, the mechanical separator control system may control the mechanical separator(s) responsive to the status of the tying (which may be determined based on input from the tying control system).

[0033] In one or some embodiments, with regard to binding, any one, any combination, or all of the following may be performed: bind the coiled first part of the continuous cable immediately after the first part of the continuous cable is coiled; after moving the one or more mechanical separators (but before coiling the second part of the continuous cable), bind the coiled first part of the continuous cable; at least partly during coiling the second part of the continuous cable, bind the first part of the continuous cable; or after coiling the second part of the continuous cable, binding one or both of the first part of the continuous cable or the second part of the continuous cable.

[0034] In one or some embodiments, same separator(s) may be used for separation during the coiling as used for binding. For example, finger(s) may be used for separation during the coiling (e.g., between the coiled first part of the continuous cable and the coiled second part of the continuous cable) as for binding. Alternatively, or in addition,at least one different separator (such as a different type of separator) may be used during at least one of coiling or binding than is used during binding or coiling. As one example, a manipulator may be used at least partly during binding that is not used during coiling. In this regard, a single type of separating hardware (e.g., fingers) may be used for coiling and binding. Alternatively, multiple types of separating hardware may be used at different stages, such as the fingers during coiling and the manipulator during tying. Regardless, mechanical separation may be performed at least partly during coiling and at least partly during tying.

[0035] Further, different procedures may be performed for one or both of the coiling or the binding. As one example, during binding, at least a part of the coiled continuous cable may be unfolded and / or folded. In particular, prior to binding, one part of the coiled continuous cable may be unfolded, after which binding of one or multiple coiled sections may be bound, after which, the coiled continuous cable may be folded.

[0036] Thus, similar to control of tire fingers during coiling (in which the state of coiling may determine whether the fingers are deployed or moved), the state of the tying may dictate the control of the fingers. For example, depending on the state of tying (e.g., whether the tying process has begun, such as deploying of a manipulator to contact the cable; whether the tying process has completed), the fingers may be automatically retracted.

[0037] In one or some embodiments, a single machine may be used in order to perform both the coiling and the binding. Alternatively, multiple machines may be used to perform the coiling and the binding, such as a coiling machine (or alternatively termed coder) to perform the coiling and a binding machine (or alternatively termed binder) to perform the binding.

[0038] Various types of cables are contemplated. As one example, the cable may be configured for M8 and M12 connectors. It is noted, however, that these solutions are merely examples. In this regard, the disclosed automated method and automated system are not limited to those connectors and may be used with other connectors, such as other crimp-contact based connectors such as D-Type connectors, military connectors, etc.

[0039] Referring to the figures, FIG. 1 A is a block diagram of a first example of a coiling and binding machine 100. Coiling and binding machine 100 may include any one, any combination, or all of: coiling / binding functions 110; processing functions 120; motor(s) and / or robotics 128; and sensor(s) 130. In one or some embodiments, coiling / binding functions 110 may be performed by a single machine or by multiple machines, such as discussed further below. In addition, coiling / binding functions may be performed using one or more mechanical separators 112 (e.g., finger(s), manipulator(s), or the like, as discussed further below) and / or one or more dancers 114. In one or some embodiments, processing functions 120 may comprise at least one processor 122, at least one memory 124, and at least communication functionality 126. The processing functions may include any one, any combination, or all of: the dancer control system; the mechanical separator control; or the tying control system. A more detailed example of the processing functions 120 is disclosed in FIG. 9. In one or some embodiments, motor(s) and / or robotics 128 may be used in order to move and / or manipulate one or more devices, such as discussed further below. In one or some embodiments, sensor(s) 130 may comprise camera(s) or the like and may be used to provide feedback to the processing function 120 as to positioning of one or more parts of the cable and / or the machinery (e.g., the robotics).

[0040] FIG. IB is a block diagram of a second example of a coiling and binding machine 140. In particular, different separators (e.g., separator 1 and separator 2) may be used for the coiling function 142 and for the binding function 146. For example, one or more fingers may be used as mechanical scparator(s) at least partly during coiling and one or more manipulators may be used as mechanical separator(s) at least partly during binding.[0041 J Alternatively, a same type of separator may be used at least partly during coiling and binding. This is illustrated in FIG. 1C of a third example of a coiling and binding machine 150, with coiling function 152 and binding function 154 using a same separator 156 (or a same type of separator).

[0042] FIG. 2 is a block diagram 200 of one example layout in which a coiling and binding apparatus 210 may be placed within a plurality of other machines as part of a production line. Other machines in the example layout may include cutting machines, testing machines, or the like.

[0043] FIG. 3 is an illustration of a coiled continuous cable 300 that is separated into at least two distinct coils 310, 312, with each of the at least two distinct coils 310, 312 at least partly on top of one another and tied by one or more (such as at least two) cable ties 320, 322, 324, 326 in preparation for testing and / or cutting (e.g., manual and / or automatic cutting).

[0044] FIGS. 4A-C are illustrations 400, 440, 442 of coiling the continuous cable 410 (which may include ends 412, 414) into at least two distinct coils separated by at least a predetermined amount 444 using separating hardware (e.g., fingers 420, 422, 424, 426). In particular, prior to coiling, fingers 420, 422, 424, 426 may be folded inward, such as illustrated in FIG. 4 A. After coiling a part of cable 410, fingers 420, 422, 424, 426 are moved as shown in FIG. 4B (such as by using one or more motors to swivel fingers 420, 422, 424, 426 about posts 430, 432, 434, 436). After which, coiling of continuous cable 410 may continue, such as illustrated in FIG. 4C so that fingers 420, 422, 424, 426 may separate two distinct coils (e.g., a coiled first part and a coiled second part that are at least partly on top of one another, such as entirely on top of one another effectively forming a cylinder).

[0045] FIG. 4D is a block diagram of a fourth example of a coiling and binding machine 450, which may include one or more grippers 451, one or more dancers 452, structure to wrap the cable 453 (e.g., posts or the like), fingers 454 (such as fingers 420, 422, 424, 426), one or more control systems 455, one or more motors 456, and one or more tying structures 457. In one or some embodiments, one or more parts of the cable may be held, such as by gripper 451. As one example, only one end of the cable is held by the gripper during coiling and / or during tying. As another example, both ends of the cable (such as ends 412, 414) are held by the grippers 451 during coiling and / or during tying.

[0046] Dancer(s) 452 may be used in order to separate or segment different rotations of the cable, as discussed above. Further, structure to wrap the cable 453 may comprise posts or the like, which are different and separate from the posts 430, 432, 434, 436 that are used to rotate fingers 454 (such as fingers 420, 422, 424, 426). Instead, structure to wrap the cable 453 comprises structure around which the cable may be wrapped.

[0047] Further, one or more control systems 455 are configured to control any one, any combination, or all of: the gripper(s) 451, the dancer(s) 452, the finger(s) 454, the motor(s), or the tying structure 457. As one example, flow charts 460, 470 may be used by control systems 455 to control tire various structures.

[0048] In addition, one or more motors 456 may be used, such as motor(s) to control any one, any combination, or all of: the gripper(s) 451, the dancer(s) 452, the finger(s) 454, or the tying structure 457. As one example, a first motor may be used to rotate the structure to wrap the cable 453, a second motor may be used to move dancer(s) 452, a third motor may be used to move finger(s) 454, and a fourth motor may be used to move the one or more tying structures 457. As another example, one motor may be used to perform movement for more than one of the gripper(s) 451, the danccr(s) 452, the fingcr(s) 454, or the tying structure 457.

[0049] FIG. 4E is a flow chart 460 of controlling the coiling of a cable. At 461, one or both ends of the cable are grabbed, such as by gripper(s) 451 . At 462, the cable may be spooled, such as spooled around structure to wrap the cable 453. At 463, the dancer may be controlled in order to generate the coiled first part (e.g., see coil 312). Thecoiling of the first part may continue until the predetermined number of rotations for the coiled first part is complete. For example, at 464, it is determined to switch the dancer setting to create a gap. If yes, at 465, the dancer is controlled to generate the gap (e.g., between coil 310 and coil 312). The width of the gap may be controlled by determining, at 466, whether to switch the dancer setting to generate the coiled second part. If yes, at 467, the dancer is controlled to generate the coiled second part. After which, at 468, it is determined whether generating the coiled second part has finished (e.g., whether the predetermined number of rotations for the second coiled part is complete). If yes, at 469, the spooling is stopped and control of the dancer is stopped.

[0050] FIG. 4F is a flow chart 470 of controlling the tying of a coiled cable. As discussed above and further below, tying may be performed by one or more types of tying devices, such as illustrated in FIGS. 6A-F (which uses a manipulator 610 and tying machine 614) or in FIGS. 8A-G (which uses binder 802). Thus, in one or some embodiments, the fingers may be controlled based on the state of tying. As one example, the fingers may be controlled based on each coiled level or part has been tied (such as tied on opposite sides of each coiled level or part). As another example, the fingers may be controlled based on whether a part of the tying machine has contacted the cable. In one particular example, responsive to the manipulator 610 contacting the cable, the fingers may be retracted. In this regard, at 471, the state of the tying is determined. And, at 472, responsive to the state of tying, the fingers may be controlled.

[0051] FIGS. 5A-C are illustrations 500, 520, 540 of one sequence for coiling, unfolding, binding, and folding of the continuous cable 410. In particular, FIG. 5A illustrates the coiling of the cable 410 prior to binding. FIG. 5B illustrates unfolding of the cable 410, after which cable ties 530, 532, 534, 536 are bound to cable 410. FIG. 5C illustrates the folding of the cable 410 after binding.

[0052] FIGS. 6A-F are illustrations 600, 630, 640, 650, 660, 670 for performing the sequence illustrated in FIGS. 5A-C in order to perform the coiling, unfolding, binding, and folding of the continuous cable using a coder, a manipulator, and a tying machine. In particular, FIG. 6A illustrates manipulator 610, coder 612, and typing machine 614. In one or some embodiments, manipulator 610 may include a gripper (discussed further below) and may be moved along a track 616 or the like. In practice, after the coder 612 coils the cable 410, manipulator 610 and / or the coiled cable 410 may be moved relative to one another. As shown in FIG. 6B, manipulator 610 moves along path 632 in order to contact the coded cable 410. For example, manipulator 610 may include one or more grippers 644 (shown in FIG. 6C) in which to grab at least a part of the coiled cable 410 (though fingers are not illustrated in FIGS. 6A-F, the fingers may be retracted responsive to the manipulator 610 contacting the coiled cable 410). In this way, when motor(s) move manipulator 610 along hinge 634 in an arc 642, gripper 644 may hold at least a part of the coiled cable in order to unfold the coiled cable 410, such as illustrated in FIG. 6C. In this regard, manipulator 610 is an example of a hinged device. After which, manipulator 610 and / or tying machine 614 may be moved relative to one another (e.g., manipulator moving laterally 652 toward tying machine 614 in order to attach cable ties. After which, one or more motors may fold manipulator 610 along hinge 634 (such as illustrated in FIG. 5C). After which, manipulator 610 and / or coiled cable 410 may move away relative to one another (e.g., manipulator 610 moves along 672 away from coiled cable 410.

[0053] FIGS. 7A-B are illustrations 700, 750 of another sequence for coiling and binding of the continuous cable using a twist and tie.

[0054] FIGS. 8A-G arc illustrations 800, 810, 820, 830, 840, 850, 860 for performing the sequence illustrated in FIGS. 7A-B in order to perform the coiling and binding of the continuous cable. In a first phase (illustrated in FIG. 8A), the cable is coiled in two levels (such as illustrated in FIG. 4C). In a second phase (illustrated in FIG. 8B), a binder 802 (or the like) is moved relative to the cable in order to tie one side of the cable. For example, the binder802 may be moved along 812 so that at least a part of the binder 802 may contact the cable with pincer 804, 806 or the like. Still in the second phase (illustrated in FIG. 8C), the binder 802 is moved upward 822 to the upper level of the coiled cable in order to install a cable tie after installing cable tie 824 on the lower level of the coiled cable. Still in the second phase, the binder 802 may be moved relative to the cable in order to install the cable ties at another portion of the cable. In particular, FIG. 8D illustrates rotating binder 802 along arc 834 (such as 180 degrees), so that binder 802 is opposite cable ties 824, 832. After which, the binder 802 may install the cable tie(s) 854, 864 on the lower level of the coiled cable (shown in FIG. 8E) and on the upper level of the coiled cable (shown in FIG. 8F). After which, the binder 802 may be moved relative to the coiled cable (such as along 862 away from coiled cable, as shown in FIG. 8G). Though the fingers are not illustrated in FIGS. 8A-G, the fingers may be controlled responsive to the state of tying of the coiled cable.

[0055] In all practical applications, the present technological advancement must be used in conjunction with computing functionality, such as a computer, programmed in accordance with the disclosures herein. For example, FIG. 9 is a block diagram of an exemplary computer system that may be utilized to implement the methods or block diagrams described herein, including implementing the processing function 120 (e.g. control system) illustrated in FIGS. 1 A-C. A central processing unit (CPU) 902 is coupled to system bus 904. The CPU 902 may be any general- purpose CPU, although other types of architectures of CPU 902 (or other components of exemplary computer system 900) may be used as long as CPU 902 (and other components of computer system 900) supports the operations as described herein. Those of ordinary skill in the art will appreciate that, while only a single CPU 902 is shown in FIG. 9, additional CPUs may be present. Moreover, the computer system 900 may comprise a networked, multi-processor computer system that may include a hybrid parallel CPU / GPU system. The CPU 902 may execute the various logical instructions according to various teachings disclosed herein. For example, the CPU 902 may execute machine-level instructions for performing processing according to the operational flow described.

[0056] The computer system 900 may also include computer components such as non-transitory, computer- readable media. Examples of computer-readable media include computer-readable non-transitory storage media, such as a random-access memory (RAM) 906, which may be SRAM, DRAM, SDRAM, or the like. The computer system 900 may also include additional non-transitory, computer-readable storage media such as a read-only memory (ROM) 908, which may be PROM, EPROM, EEPROM, or the like. RAM 906 and ROM 908 hold user and system data and programs, as is known in the art. The computer system 900 may also include an input / output (I / O) adapter 910, a graphics processing unit (GPU) 914, a communications adapter 922, a user interface adapter 924, a display driver 916, and a display adapter 918.

[0057] The I / O adapter 910 may connect additional non-transitory, computer-readable media such as storage device(s) 912, including, for example, a hard drive, a compact disc (CD) drive, a floppy disk drive, a tape drive, and the like to computer system 900. The storage device(s) may be used when RAM 906 is insufficient for the memory requirements associated with storing data for operations of the present techniques. The data storage of the computer system 900 may be used for storing information and / or other data used or generated as disclosed herein. For example, storage device(s) 912 may be used to store configuration information or additional plug-ins in accordance with the present techniques. Further, user interface adapter 924 couples user input devices, such as a keyboard 928, a pointing device 926 and / or output devices to the computer system 900. The display adapter 918 is driven by the CPU 902 to control the display on a display device 920 to, for example, present information to the user such as subsurface images generated according to methods described herein.

[0058] The architecture of computer system 900 may be varied as desired. For example, any suitable processorbased device may be used, including without limitation personal computers, laptop computers, computer workstations, and multi-processor servers. Moreover, the present technological advancement may be implemented on application specific integrated circuits (ASICs) or very large scale integrated (VLSI) circuits. In fact, persons of ordinary skill in the art may use any number of suitable hardware structures capable of executing logical operations according to the present technological advancement. The term “processing circuit” encompasses a hardware processor (such as those found in the hardware devices noted above), ASICs, and VLSI circuits. Input data to the computer system 900 may include various plug-ins and library files. Input data may additionally include configuration information.

[0059] It is intended that the foregoing detailed description be understood as an illustration of selected forms that the invention can take and not as a definition of the invention. It is only the following claims, including all equivalents which are intended to define the scope of the claimed invention. Further, it should be noted that any aspect of any of the preferred embodiments described herein may be used alone or in combination with one another. Finally, persons skilled in the art will readily recognize that in preferred implementation, some, or all of the steps in the disclosed method are performed using a computer so that the methodology is computer implemented. In such cases, the resulting physical properties model may be downloaded or saved to computer storage.

Claims

CLAIMS1. A method for automatically coiling and binding a cable, the method comprising: automatically coiling the cable in order to create at least two coiled sections that are at least partly on top of one another with the at least two coiled sections separated from each other by at least a predetermined amount using separating hardware; and after automatically coiling the cable, automatically tying at least one of the at least two coiled sections with one or more cable ties.

2. The method of claim 1, wherein the separating hardware comprises one or more fingers.

3. The method of claim 2, wherein the one or more fingers are used: at least partly during the automatic coiling in order to separate the at least two coiled sections by the predetermined amount; or at least partly during the automatic tying of the at least one of the at least two coiled sections.

4. The method of claim 1, wherein the separating hardware is used both at least partly during the automatic coiling in order to separate the at least two coiled sections by the predetermined amount and at least partly during the automatic tying of the at least one of the at least two coiled sections.

5. The method of claim 4, wherein the separating hardware is controlled to separate the at least two coiled sections based on a state of the coiling; and wherein the separating hardware is controlled based on a state of the tying.

6. The method of claim 5, wherein the at least two coiled sections comprises a first coiled section and a second coiled section; and wherein the separating hardware is controlled to separate the at least two coiled sections responsive to completing the coiling of the first coiled section.

7. The method of claim 6, wherein the separating hardware is controlled to separate the at least two coiled sections responsive to completing the coiling of the first coiled section and prior to beginning coiling of the second coiled section.

8. The method of claim 6, wherein at least one dancer is controlled to generate the first coiled section, the second coiled section, and a gap therebetween.

9. The method of claim 5, wherein the separating hardware is controlled to retract responsive to initiation of the tying.

10. The method of claim 9, wherein the tying includes using a hinged device; and wherein the separating hardware is controlled to retract responsive to the hinged device physically contacting with one or both of the at least two coiled sections.

11. The method of claim 5, wherein the separating hardware is controlled to retract responsive to completion of the tying.

12. The method of claim 1, wherein the separating hardware comprises a first type of separating hardware and a second type of separating hardware; wherein the first type of separating hardware is used at least partly during the automatic coiling in order to separate the at least two coiled sections by the predetermined amount; and wherein the second type of separating hardware is used at least partly during the automatic tying of the at least one of the at least two coiled sections.

13. The method of claim 12, wherein the first type of separating hardware comprises one or more fingers; andwherein the second type of separating hardware comprises a manipulator that is hinged.

14. The method of claim 13, wherein, after creating the at least two coiled sections that are at least partly on top of one another, the manipulator and the at least two coiled sections are moved relative to one another in order for the manipulator to contact at least one of the at least two coiled sections; and wherein the manipulator, while contacting the at least one of the at least two coiled sections, automatically unfolds the at least two coiled sections.

15. The method of claim 14, wherein after automatically unfolding the at least two coiled sections, the at least one of the at least two coiled sections is automatically tied; and wherein after automatically tying the at least one of the at least two coiled sections, the manipulator folds the at least two coiled sections.

16. Apparatus configured to perform automatic coiling and automatic tying of a continuous cable: a coiling machine; a binding machine; and at least one processor configured to: automatically control the coiling machine to coil the continuous cable in order to create at least two coiled sections that are at least partly on top of one another with the at least two coiled sections separated from each other by a predetermined amount using separating hardware; and after automatically coiling the continuous cable, automatically control the binding machine to tie at least one of the at least two coiled sections with one or more cable ties.

17. The apparatus of claim 16, wherein the separating hardware comprises one or more fingers.

18. The apparatus of claim 17, wherein the at least one processor is configured to control the one or more fingers: at least partly during the automatic coiling in order to separate the at least two coiled sections by the predetermined amount; or at least partly during the automatic tying of the at least one of the at least two coiled sections.

19. The apparatus of claim 16, wherein the at least one processor is configured to control the separating hardware both at least partly during the automatic coiling in order to separate the at least two coiled sections by the predetermined amount and at least partly during the automatic tying of the at least one of the at least two coiled sections.

20. The apparatus of claim 19, wherein the at least one processor is configured to control: the separating hardware to separate the at least two coiled sections based on a state of the coiling; and the separating hardware based on a state of the tying.

21. The apparatus of claim 20, wherein the at least two coiled sections comprises a first coiled section and a second coiled section; and wherein the at least one processor is configured to control the separating hardware to separate the at least two coiled sections responsive to completing the coiling of the first coiled section.

22. The apparatus of claim 21, wherein the at least one processor is configured to control the separating hardware to separate the at least two coiled sections responsive to completing the coiling of the first coiled section and prior to beginning coiling of the second coiled section.

23. The apparatus of claim 22, wherein the coiling machine comprises at least one dancer; and wherein the at least one processor is configured to control the at least one dancer to generate the first coiled section, the second coiled section, and a gap therebetween.

24. The apparatus of claim 20, wherein the at least one processor is configured to control the separating hardware to retract responsive to initiation of the tying.

25. The apparatus of claim 24, wherein the binding machine comprises a hinged device; and wherein the at least one processor is configured to control the separating hardware to retract responsive to the hinged device contacting with one or both of the at least two coiled sections.

26. The apparatus of claim 20, wherein the at least one processor is configured to control the separating hardware to retract responsive to completion of the tying.

27. The apparatus of claim 16, wherein the separating hardware comprises a first type of separating hardware and a second type of separating hardware; wherein the at least one processor is configured to control the first type of separating hardware at least partly during the automatic coiling in order to separate the at least two coiled sections by the predetermined amount; and wherein the at least one processor is configured to control the second type of separating hardware at least partly during the automatic tying of the at least one of the at least two coiled sections.

28. The apparatus of claim 27, wherein the first type of separating hardware comprises one or more fingers; and wherein the second type of separating hardware comprises a manipulator that is hinged.

29. The apparatus of claim 28, wherein, responsive to creating the at least two coiled sections that are at least partly on top of one another, the at least one processor is configured to control the manipulator and the at least two coiled sections to move relative to one another in order for the manipulator to physically contact at least one of the at least two coiled sections; and wherein the at least one processor is configured to control the manipulator, while contacting the at least one of the at least two coiled sections, to automatically unfold the at least two coiled sections.

30. The apparatus of claim 29, wherein responsive to automatically unfolding the at least two coiled sections, the at least one processor is configured to control automatic tying of the at least one of the at least two coiled sections; and wherein responsive to automatically tying the at least one of the at least two coiled sections, the at least one processor is configured to control the manipulator to fold the at least two coiled sections.

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