DE102016111521B4 - Device for producing a cable harness - Google Patents

Abstract

The present application discloses a device (1) for manufacturing a wiring harness, with
- A Baubrettaufnahme (18) for receiving a building board (4); and
A processing machine (40) with at least one robot arm (22),
wherein the construction material support (18) is provided on a frame (10) such that the construction material (4) is fixed or fixable in a defined position relative to the frame (10), and wherein the processing machine (40) is fixed to the frame (10). is mounted or mounted, and the automatic processing machine (40) and the Baubrettaufnahme (18) in a defined position to each other positioned or positioned such that one end of the at least one robot arm (22) each or substantially every point in at least one sub-area on a Surface of the building board (4) reached repeatable.

Description

Technical area

The present invention relates to a device for manufacturing a wiring harness, which can be used for example in an electrical system of a vehicle.

State of the art

A wiring harness and a method for its production are for example from DE 10 2007 022 764 B3 known. In principle, a wire harness can be understood as a summary of individual wires into bundles. Via these lines, signals and / or electrical energy are transmitted in a vehicle equipped with it. Such a wiring harness may include various branches, for example in the form of intersections of individual wires, and connectors for tying the wire harness in a vehicle. In places or sections, the individual lines are summarized by, for example, fabric straps, clamps, cable ties or hoses to form a cable harness. Frequently, these harnesses are custom configured so that a variety of different harness variants can be manufactured.

Usually, the manufacture or production of such a wiring harness takes place on a horizontally arranged construction board. On this construction board a plurality of upstanding support forks are arranged, the individual lines are hooked on their way from the start to the target connector in the support forks, to summarize it in a cable harness. Each line of the wiring harness is inserted manually, that is, by hand, usually up to twenty or more support forks. It is known that holding parts are provided at individual stations of a building board and the holding parts are manually attached. To attach the holding parts always in the same place, holding devices are required on the Baubetttern, which receive the holding parts. One station attaches the holding parts, another one mounts them and a third station checks them.

Devices in which a cable harness can be machined using a construction board and a processing machine for harness manufacturing, for example, from EP 0 300 141 A1 . DE 35 23 308 A1 . US 2014/0 290 050 A1 or US 5 537 741 A known.

In addition, from the DE 10 2011 084 786 A1 a method of manufacturing a wiring harness is known, in which a laying path of a cable with an optically variable character is displayed on a construction board.

Finally, from the DE 20 2013 104 860 U1 and the DE 10 2009 014 766 A1 It is known how robots can be improved in terms of mechanical load capacity or control.

Description of the invention

The object of the present invention is to provide a device which simplifies and supports the manual production of a wiring harness on a building board.

The object is achieved at least in some aspects by the features of independent claim 1. Advantageous developments and preferred embodiments form the subject of the dependent claims.

According to the present invention, an apparatus for manufacturing a wire harness is provided. The device has a Baubrettaufnahme for receiving and / or preferably positionally accurate positioning of a building board; and a processing machine with at least one robot arm. The Baubrettaufnahme is provided on a frame such that the Baubrett is fixed or fixable in a defined position relative to the frame. The processing machine is mounted or mountable on the rack. The automatic processing machine and the construction board receiver are positioned or positionable in a defined position relative to one another in such a way that one end of the at least one robot arm reaches each or substantially every point in at least one partial area on a surface of the building board repeatably.

With such a device, it is possible for the robotic arm not only to approach a single station of the building board to provide parts, but repeatably any position directly on the surface of the building board itself. In embodiments, it may also be possible for the robotic arm to repeatably Position directly on the surface of the building board to assist a person in the manufacture of the wiring harness when the person is on the construction board. In principle, a robot arm may be sufficient. If more than one robot arm, in particular two robot arms, are provided, the robot arms can subdivide subtasks such as parts provisioning and processing, and both automation of parts provision and assembly as well as support of a person in semiautomatic production can be advantageously realized. In this way, the manual production of a wiring harness can not only can be simplified and supported, but the production of the wiring harness can be automated as much as possible, at the same time a cooperative production between the processor and the machine is made possible.

According to the invention, the at least one robot arm is arranged above the building board. If the robot arm is located above the building board, it can reach the intensively used upper surface of the building board for mounting. In addition, a particularly efficient motion pattern results if the at least one robot arm is arranged in a suspended manner.

In addition, the frame according to the invention comprises at least one portal arch. Under a portal arch can be understood a support member having two columns and a cross member connecting the upper ends of the columns; As a rule, but not necessarily, the columns and cross members are straight or linear, that is unbent, designed. There are machines with a single portal arch conceivable that can be moved, for example, on a machine bed. Particularly preferred are two portal arches, between which an xy unit is mounted for moving the at least one robot arm. Gantry robots have proven to be an efficient design for robotic processing equipment.

Furthermore, according to the invention, an H-shaped or U-shaped building board is accommodated or can be accommodated in the construction boot receptacle. Such Baubretter have at least one recess in its surface, so that the surface of the building board for a worker is also accessible from the inside, which also facilitates the processing and allows ergonomic work.

In embodiments, the processing machine may be mounted or mountable on the rack so that the machine operator can assist a person in a defined position on the building board in manufacturing the wiring harness without affecting accessibility of the building board by the person assists the person in making the wiring harness. Thus, a collaborative working between the processing machine and a worker is possible, with the worker staying in the area of the building board.

In embodiments, the processing machine may comprise at least two robot arms, which are movable jointly or individually linearly in at least one direction. Accordingly, in embodiments, the processing machine may include an at least one-axis traversing device for moving the at least one robotic arm. Preferably, the robot arms are jointly or individually linearly movable in two axis directions; This can for example be realized by a biaxial traversing device, such as an xy-linear unit, wherein both robot arms on a linear axis guide in the axial direction together (for example, on a common basis) or individually (for example on respective traversing units) are linearly movable and the linear axis guide with both Robot arms in a direction transverse to it is movable. In principle, a lifting device for the entire xy linear unit is conceivable. Furthermore, individual xy units are conceivable for each robot arm. In this way, any positions can be easily approached with respect to the Baubrettoberfläche.

• – Kabelbaumabschnitte,
• – Kabelbaumeinzelteile, Etikettenträger,
• – Befestigungselemente,
• – Bündelungselemente,
• – Schrumpfelemente,
• – Halteteile,
• – Clips und
• – Gehäuse

aufweist, ausgewählt sein. Kabelbaumeinzelteile können insbesondere Leitungen, Stecker, Kabelschuhe, Leitungsverbinder, Endhülsen, Etikettenträger umfassen. Befestigungselemente können insbesondere Schrauben, Clips, Niete umfassen. Bündelungselemente können insbesondere Klebebänder, Wickelbänder, Kabelbinder, Bündelbänder, Bandagen, Abbinder umfassen. Schrumpfelemente können insbesondere Schrumpfschläuche umfassen. In embodiments, the processing machine may comprise the at least one robot arm such that it is designed to grip and / or position parts on the construction board and to which a parts magazine is assigned. The parts magazine can preferably be arranged on a base of the robot arm. The parts can be from the group, which

• - harness sections,
• - harness parts, label carriers,
• - fasteners,
• - bundling elements,
• - shrinking elements,
• - holding parts,
• - Clips and
• - Casing

has to be selected. Wiring harness parts may in particular include cables, plugs, cable lugs, cable connectors, end sleeves, label carriers. In particular, fasteners may include screws, clips, rivets. Bundling elements may in particular comprise adhesive tapes, wrapping tapes, cable ties, bundle tapes, bandages, binders. Shrink elements may in particular comprise heat shrink tubing.

• – ein Schraubwerkzeug,
• – eine Wickelmaschine,
• – eine Kabelbinderzange,
• – ein Abbindergerät,
• – ein Bündelgerät,
• – ein Bandagiergerät,
• – einen Staubsauger,
• – eine Kamera,
• – eine Ultraschallzange,
• – ein Heißluftgebläse,
• – eine Nietzange,
• – eine Crimpzange und
• – eine Lötvorrichtung aufweist,

ausgewählt sein. Das wenigstens eine Werkzeug kann an dem Roboterarm austauschbar sein. Die Kabelbinderzange kann insbesondere eine unter dem Handelsnamen Panduit oder Autotool verfügbare Kabelbinderzange umfassen. Der Staubsauger kann insbesondere für eine Reinigung des Baubretts oder für eine Absaugung vorgesehen sein. In embodiments, the processing machine may include the at least one robotic arm configured to handle at least one tool. The at least one tool may preferably be of the group which

• - a screwing tool,
• A winding machine,
• - a cable tie pliers,
• A setting device,
• - a bundling device,
• A taping device,
• - a vacuum cleaner,
• - a camera,
• - an ultrasonic tongs,
• A hot air blower,
• - a rivet tongs,
• - a crimping tool and
• Having a soldering device,

be selected. The at least one tool may be replaceable on the robot arm. The cable tie pliers may in particular comprise a cable tie pliers available under the trade name Panduit or Autotool. The vacuum cleaner may be provided in particular for cleaning the building board or for a suction.

In embodiments, the apparatus may further comprise a monitoring device for monitoring a movement space of the at least one robot arm. The monitoring device may comprise one or more laser scanning units for scanning the movement space of the at least one robot arm. Such a monitoring device can contribute considerably to safety. For example, no protection separation is required when monitoring the movement space.

In embodiments, the apparatus may further include a controller for controlling the robotic arms. In this case, the control device for coordinated movement of the robot arms in several or all directions and for cooperation of the robot arms with each other and / or be formed with at least one person. The control device may e.g. a computing unit, a microcontroller or the like.

In embodiments, the control device may be configured to receive and process supervisory signals from a monitoring device to detect the presence of persons and / or objects within a range of motion of the at least one robotic arm, and movements of the robotic arms based on a detected presence of persons and persons / or to control objects and to prevent a collision with persons and / or objects. The monitoring device may be designed as described above.

In embodiments, the controller may be configured to learn procedures. The processes may in particular be selected from the group comprising movement, handling, processing and assembly processes. In further developments, the learning can include the approach of a learning position and the subsequent guidance to an end position with regard to at least one degree of freedom.

In embodiments, the at least one robotic arm may be configured to grip and position conduits. In this case, the control device can be designed to control movements of the at least one robot arm during the positioning of the line. In further developments, the control device can be designed to control movements of the at least one robot arm in a force-sensitive manner during positioning of the line. The force-sensitive control makes it possible to position and fasten the cables without undue tensile and / or bending or bending loads.

In embodiments, the apparatus may further comprise at least one camera for scanning the building board. In this case, the control device may be configured to receive and process image signals from the at least one camera in order to detect a position of markers on the construction board, from the position of the markers on the construction board, a position of the construction board in the device and a deviation from one Determine target position and compensate for the deviation from the target position in the control of the movements of the at least one robot arm at least partially.

In embodiments, the controller may be configured to receive and process image signals from the camera to check a predetermined assembled arrangement of parts on the build table and output a hint when a part is improperly mounted or missing or redundant, based on a harness model of the wiring harness is. Thus, an automated or semi-automatic production monitoring can be realized.

Short description of the figures

Embodiments of the invention will be explained in more detail with reference to figures. For better clarity, in the figures below, unless otherwise stated, a true to scale or proportion representation is omitted. In the figures, unless otherwise indicated, like reference numerals designate like parts with the same meaning.

1 shows a basic structure of an apparatus for manufacturing a wire harness according to an embodiment of the present invention in a perspective view;

2 shows an arrangement of a camera system on the device according to a Embodiment of the present invention in a perspective view; and

3 shows a safety monitoring arrangement on the device according to an embodiment of the present invention in a perspective view.

1 shows a basic structure of a device 2 for producing a wiring harness according to an embodiment of the present invention in a perspective view.

The production of the wiring harness (not shown in detail) takes place with the aid of a horizontal in the device 2 arranged construction boards 4 , The construction board 4 has two cuts 6 on which the approach and the stay by a person 8th enable. In other words, the construction kit 4 has an H-shaped layout. The invention is not limited to the H-shape; in modifications can only be an incision 6 be provided so that the construction kit 4 has a U-shaped layout, or more cuts or no cut or any shape.

The device 2 has a frame 10 with two porch arches 12 on. Each archway has two columns 14 and a crossbeam 16 on. The frame 10 defines a local Cartesian coordinate system whose z-axis points vertically downwards (to a hall floor on which the stand stands), whose x-axis is along a cross member 16 the archways 12 extends and its y-axis from one to the other archway 12 extends. Without limiting the generality, let the origin of the local coordinate system be in an outer upper corner of one of the portal arcs 12 Are defined; Of course, the origin can be set arbitrarily.

A construction tape recording 18 is on the frame 10 provided to the construction board in a defined position relative to the frame 10 record and fix. The construction tape recording 14 For example, has support elements and locking elements (not shown in detail) on the columns 14 the archways 12 are attached. position marker 20 in at least two places on the construction board 2 are mounted, facilitate the positioning of the building board on the frame 10 ,

Two robot arms 22 (Mehrgelenkarme) are in a hanging position above the building board 2 on the frame 10 appropriate. The robot arms 22 are by means of an xy-linear unit 24 in the direction of the two axes x and y linearly movable. The xy-linear unit 24 has two first, fixed (x) linear guides 26 that go along the crossbeams 16 the portal arches 12 extending in the direction of the x-axis extending fixed, respective first (x) carriage 28 attached to one of the x linear guides 26 run and synchronously movable, a second, movable (y) linear guide 30 attached to the x-carriage 28 is fixed and extends between them in the direction of the y-axis, and a second (y-) carriage 32 , on the y-linear guide 30 is running and movable. Respective bases 34 the robot arms 22 are on the y-carriage 32 mounted, the robot arms 22 in their respective base 34 are received rotatably about a rotation axis. Every robotic arm 22 has a tool holder 36 at its distal end. The tool holders 36 are for receiving various tools (not shown) formed. A tool may be, for example, a gripper for components or a specific assembly or machining tool. The y-carriage 32 also serves as a recording for a magazine 38 which can accommodate tools and / or components. The x linear guides 26 with x-carriage 28 may also be referred to as the x-track unit, and the y-linear track 30 with y-carriage 32 can also be referred to as the y-displacement unit, the xy-linear unit 24 Overall, as a biaxial traversing device. The xy-linear unit 24 including the robot arms 22 Can also be used as a processing machine 40 be designated. The traversing units and the robot arms have traversing or adjusting motors as drive elements in a manner known per se, around the carriages 28 . 32 on their linear guides 26 . 30 to move or the axes and joints of the articulated arms 22 as well as any tools to operate. However, other drive elements, such as magnetic, hydraulic or pneumatic type are conceivable, the latter in particular in gripping devices. The x-carriages 28 are controlled synchronously in order to ensure the same traverse paths. The carriages 28 . 30 For example, they can be designed as roller carriages or sliding carriages (carriages) or cassettes. The drive can be configured, for example, as a pinion / rack system or as a spindle / helical sleeve system.

As in 1 shown are the robot arms 22 upside down on the xy-linear unit 24 opposite the construction board 4 suspended at a height that the robot arms 22 a surface of the building board 4 to reach. Thus, the processing machine 40 on the frame 10 assembled. The processing machine 40 and the building material record 14 are positioned in a defined position relative to each other such that the distal ends of the robot arms 22 with the tool holders 36 any or substantially any point in at least a portion of the surface of the building board 4 achieve repeatable.

To control the processing machine 40 is a control device (not shown) provided. The control device is designed for coordinated movement of the robot arms in several or all directions and for cooperation of the robot arms with each other and / or with at least one person. For this the control device controls drive elements of the xy linear unit 24 (ie, the x-travel units and the y-travel unit) and the axes of rotation and joints of the robot arms 22 based on a predetermined control program and receives for actual / nominal adjustment, for example, sensor signals from encoders of the xy linear unit 24 (that is, from the x-travel units and the y-travel unit) and encoders of rotation axes and joints of the robot arms 22 , Also events and / or conditions such as tool change and operation, force or torque values and the removal of components from the magazine 38 can be sensed / detected and triggered and monitored by the control device.

With the device 2 can the robot arms 22 under the control of the control unit both individual stations of the building board to provide parts as well as repeatable a position directly on the surface of the building board 4 drive yourself. In semi-automated production, the automatic processing machine 40 with the two robot arms 22 like that person 8th assist in the manufacture of the wiring harness when the person 8th on the construction board 4 located. At the same time, an automation of parts provision and assembly can be realized.

The control device may include a teach-in mode for learning operations such as various movement, handling, machining, and assembly operations under manual guidance. In this case, a learning position is first approached and then certain functions or degrees of freedom are switched soft so that the robot arms and / or tools can be guided manually to specific end positions. This way, hard-to-reach positions can be taught effectively. For this purpose, handles on tools can be arranged.

Tools can be designed for grasping and positioning lines. Accordingly, the control device may have a mode of operation for movements of the robotic arm 22 to control when positioning the line. This mode may also provide for movements of the robot arm 22 be controlled in a force-sensitive manner during positioning of the line.

2 shows an arrangement of a camera system on the device 2 according to an embodiment of the present invention in a perspective view. The device 2 This embodiment is essentially according to the embodiment of 1 built or an extension of the same, so that reference is made in full to the relevant description.

As shown in 2 can the construction board 3 a translational offset 42 in xy plane as well as an angular offset 44 around the z axis opposite the frame 10 exhibit. Such an offset 42 . 44 can be used in automatic or semi-automatic production by the automatic processing machine 40 Be disturbing, since the control device (not shown), which is a control program for the machine 40 has no reliable geometric reference point.

To compensate the offsets 42 . 44 is a camera system with two cameras 46 provided, the above the building board 4 are arranged and their directions of view 48 to the construction board 4 clues. The control device receives image signals from the cameras 46 and evaluate these to the position markers 20 on the construction board 4 are intended to recognize. From the knowledge of the positions of the position markers 20 The control device can do the offsets 42 . 44 calculate and thus a reliable reference point for the control of the processing machine 40 provide.

The camera system can also be used to verify proper assembly of the wiring harness on the construction board 4 be used. For this purpose, target comparison images can be stored for each production step and the control program can use the target assembly images from the cameras 46 Compare the images supplied to see if the manufacturing step was performed correctly or incorrectly. Even before a manufacturing step, a comparison can be made to see if the conditions for the planned production step are given; This may be particularly advantageous in semi-automatic, assisted manufacturing when the person 8th preparatory steps on the semi-finished wiring harness or on the construction board 4 has to make. In the event of an error, a note is issued and the further processing is stopped so that the person 8th make the necessary corrections and acknowledge them.

3 shows a safety monitoring arrangement on the device according to an embodiment of the present invention in a perspective view. The device 2 This embodiment is essentially according to the embodiment of 1 built or an extension of the same, so that reference is made in full to the relevant description.

As shown in 3 the person is holding himself 8th within the incision 6 of the construction board 4 on. To collisions of the robot arms 22 with the person 8th To avoid, a safety program of the control device can provide that the robot arms 22 an area above the incisions 6 generally avoid. However, the person can 8th over the construction board 8th tend so that in the manner described collisions and corresponding injury risks can not be completely excluded.

To avoid such situations is a safety monitoring system with four laser scanners 50 provided at the columns 12 of the frame 10 are attached and the range of motion of the robot arms 22 cover completely together. The control device receives monitoring signals from the laser scanners 50 and evaluate these to see if a person such as the person is 8th or an unexpected obstacle in a path of movement of one of the robotic arms 22 located.

With this safety concept, the space within the robot cell can also be used reliably for manual tasks, and manual work can also be carried out in cooperation with the automatic processing machine. The laser scanners form a monitoring device in the sense of the invention.

The present invention makes it considerably easier to complete unfinished wiring harnesses, to attach holding parts such as clips, cable ties, etc., and to assist the worker in the work. Thanks to the robot support components can be mounted very accurately and difficult work can be facilitated. The system can be easily adapted to future construction rescuers, for example, the Baubrettaufnahme 18 and the control program with nominal reference positions of the position markers 20 is provided. The individual functions can easily be integrated for a human / robot collaboration. All tasks and routes can be stored in advance in a control program and / or trained and on the basis of the cameras 46 and laser scanner 50 be monitored. By means of the robot arms 22 on the rack 10 upside down over the construction board 4 are mounted, can all the required positions on the construction board 4 be reached by each of the robot arms and parts are supplied and / or mounted. Parts can be repeatedly fed to and mounted in the same positions. In this case, dangerous devices with danger of crushing or danger of burns are preferably operated by the automatic processing machine. With a suitable design of the tools, holding parts, components and control programs, the production of a wiring harness at one and the same station can be carried out completely or largely, so that a large number of stations is not required.

• – Verriegeln des Baubretts 4 an der Baubrettaufnahme 18;
• – Prüfen der Position des Baubretts 4 anhand der Positionsmarker 20 auf dem Baubrett 4 mittels der Kameras 46 und Erkennen eines eventuellen Versatzes 42, 44;
• – Aufnehmen eines Halteteils und Verbringen an eine vorgegebene Position, Halten durch einen Roboterarm 22 und Anbringen eines Befestigungsmittels wie etwa eines Abbinders zur Fixierung durch den andere Roboterarm 22;
• – Kollaborierendes Betreiben des Bearbeitungsautomaten durch koordiniertes Ansteuern aller Achsen und Gelenke zur Kooperation mit Werkern;
• – Überwachen des Arbeitsraums durch Laserscanner 50;
• – Anlernen von Positionen durch nichteindeutiges Anfahren einer Lernposition und dann Führenlassen durch einen Werker bis zur Endposition;
• – Verlegen von Leitungen unter Überwachung des mechanischen Widerstands.

The two robot arms 22 are upside down on the axle portal (frame 10 ) so that they can work collaboratively. The magazine 38 is constructed so that one of the robot arms 22 Has access to various holding parts, fasteners and components and the other robot arm 22 Has access to various tools such as a winding machine, an automatic cable tying tong, a Abbindergerät, ultrasonic tongs or a crimping tool. Once a construction kit 4 in the mounting position on the Baubrettaufnahme 18 the process begins, which is listed below in the form of a working procedure:

• - Locking the construction board 4 at the Baubrettaufnahme 18 ;
• - Check the position of the building board 4 based on the position marker 20 on the construction board 4 by means of the cameras 46 and detecting an eventual offset 42 . 44 ;
• - Receiving a holding part and moving to a predetermined position, held by a robot arm 22 and attaching a fastener such as a fastener for fixation by the other robot arm 22 ;
• - Collaborative operation of the processing machine by coordinated control of all axes and joints for cooperation with workers;
• - Monitoring of the workspace by laser scanner 50 ;
• - teaching positions by non-ambiguous approach of a learning position and then guided by a worker to the final position;
• - Laying cables while monitoring the mechanical resistance.

Not all of the above steps must be performed in order to implement the inventive concept.

As robotic arms 22 For example, but not only, those of the manufacturer ABB can be used as a laser scanner, for example, but not only, those of the manufacturer Sick; Specifications for this are available from the manufacturer and are fully incorporated by reference into the disclosure of this application. ABB robotic arms control programs also have routines that allow for fully coordinated collaboration of up to four robots and / or external axes ("MultiMove"), a force-sensitive control ("ForceControl"), for "soft" approach of position ("SoftMove") and are prepared for monitoring motion paths ("SafeMove").

The features of the invention described with reference to the illustrated embodiment, such as the arrangement of the robotic arm above the building board, may also be present in other embodiments of the invention, such as the placement of the robotic arm on the side of the building board, unless otherwise stated banned by itself for technical reasons.

LIST OF REFERENCE NUMBERS

2

contraption

4

building board

6

incision

8th

person

10

frame

12

portal bow

14

pillar

16

traverse

18

Baubrettaufnahme

20

position marker

22

robot arm

24

xy linear unit

26

x-linear guide

28

x-carriage

30

y linear guide

32

y-carriage

34

Base

36

tool holder

38

magazine

40

machining Center

42

xy-offset

44

angular displacement

46

camera

48

line of sight

50

laser scanner

Claims (12)

Contraption ( 2 ) for the production of a wiring harness, with - a Baubrettaufnahme ( 18 ) for positioning a H or U-shaped building board ( 4 ) with at least one recess in its surface; and a processing machine ( 40 ) with at least one above the building board ( 4 ) hanging robotic arm ( 22 ), whereby the Baubrettaufnahme ( 18 ) on a frame having at least one portal arch ( 10 ) is present such that the construction board ( 4 ) in a defined position relative to the frame ( 10 ) is fixed or fixable, and wherein the processing machine ( 40 ) on the frame ( 10 ) is mounted or mountable, and the processing machine ( 40 ) and the Baubrettaufnahme ( 18 ) are positioned or positionable in a defined position relative to one another such that one end of the at least one robot arm ( 22 ) each or substantially every point in at least a portion on a surface of the building board ( 4 ) reached repeatable. Contraption ( 2 ) according to claim 1, wherein the processing machine ( 40 ) at least two robot arms ( 22 ) which are jointly or individually linearly movable in at least one direction. Contraption ( 2 ) according to one of the preceding claims, wherein the processing machine ( 40 ) for moving the at least one robot arm ( 22 ) an at least uniaxial traversing device ( 24 ) having. Contraption ( 2 ) according to one of the preceding claims, wherein the processing machine ( 40 ) the at least one robot arm ( 22 ) such that it is suitable for gripping and / or positioning parts on the construction board ( 4 ), wherein the at least one robot arm ( 22 ) a parts magazine ( 38 ) assigned. Contraption ( 2 ) according to one of the preceding claims, wherein the processing machine ( 40 ) the at least one robot arm ( 22 ) such that it is designed for handling at least one tool. Contraption ( 2 ) according to one of the preceding claims, further comprising a monitoring device ( 50 ) for monitoring a movement space of the at least one robot arm ( 22 ). Contraption ( 2 ) according to one of the preceding claims, further comprising a control device for controlling the at least one robot arm ( 22 ), wherein the control device for coordinatively moving the at least one robot arm ( 22 ) in several directions and for cooperation of the at least one robot arm ( 22 ) with each other and / or with at least one person ( 8th ) is trained. Contraption ( 2 ) according to claims 6 and 7, wherein the control device is designed to monitor the monitoring device ( 50 ) to receive and process the presence of persons ( 8th ) and / or objects within a movement space of the at least one robot arm ( 22 ) and movements of the at least one robot arm ( 22 ) on the basis of a recognized presence of persons ( 8th ) and / or objects and a collision with persons ( 8th ) and / or objects. Contraption ( 2 ) according to claim 7 or 8, wherein the control device is designed for learning processes. Contraption ( 2 ) according to one of claims 7 to 9, wherein the at least one robot arm ( 22 ) for grasping and positioning lines is formed, and wherein the control device is formed, movements of the at least one robot arm ( 22 ) when positioning the line. Contraption ( 2 ) according to one of claims 7 to 10, further comprising at least one camera ( 46 ) for scanning the building board ( 4 ), wherein the control device is formed, image signals from the at least one camera ( 46 ) to receive and process a position of markers ( 20 ) on the construction board ( 4 ), from the position of the markers ( 20 ) on the construction board ( 4 ) a location of the building board ( 4 ) in the device ( 2 ) as well as a deviation from a desired position and the deviation from the desired position in the control of the movements of the at least one robot arm ( 22 ) at least partially compensate. Contraption ( 2 ) according to claim 11, wherein the control device is designed to receive image signals from the camera ( 46 ) to receive and process on the basis of a Baumodells the wiring harness a predetermined assembled arrangement of parts on the construction board ( 4 ) and give an indication if a part is incorrectly mounted or missing or supernumerary.

Images