EP2263241A1

EP2263241A1 - Tool, system and method for the manufacture of a cable harness

Info

Publication number: EP2263241A1
Application number: EP09720821A
Authority: EP
Inventors: Yavuz Cankut; Thimo Holzhausen
Original assignee: EDAG GmbH and Co KGaA
Current assignee: FFT EDAG Produktionssysteme GmbH and Co KG
Priority date: 2008-03-11
Filing date: 2009-03-11
Publication date: 2010-12-22
Also published as: DE202009018761U1; DE102008013591A1; WO2009112520A1; DE102008013591B4

Abstract

The invention relates to a cable gripping tool for a spatially moving actuator of an automation machine, said cable gripping tool comprising: a) a carriage (20) which can be attached to the actuator (3), b) a first gripper (11) and a second gripper (12) for a cable (A₁), c) a third gripper (13) and a fourth gripper (14) for another cable (A₂), d) wherein the grippers (11, 12, 13, 14) are disposed at the carriage (20) moveably from a respective preliminary holding position (V) to a respective working position (W) in order to arrange the cables (A₁, A₂) in a placement device (4) according to a layout plan for the manufacture of a cable harness (D) by way of the respective gripper (11, 12, 13, 14) in respective working position (W) thereof.

Description

Lawyer's file: 56 851 XI EDAG GmbH & Co. KGaA.

Tool, plant and method for producing a wiring harness

The invention relates to the production of wire harnesses for preferably vehicles, in particular motor vehicles.

EP 0 855 768 B1 discloses a method for manufacturing a wire harness for motor vehicles, in which electric wires are pulled out of a cable bundle by a robot, arranged along a predetermined wiring track in a laying device and are press-joined to terminals of the wire harness to be manufactured in the laying device ,

WO 02/49046 A1 describes a method for the production of cable harnesses in which a robot equipped with a cable gripping tool individually picks up the cables from a magazine and places them in a laying device according to a predetermined laying plan and electrically connects them to terminals of the respective cable harness combines. The process is repeated for each cable of the wiring harness. The method uses the robot in an economical manner, since the cables in the magazine are already assembled and need only be picked up, routed and connected by the robot. For series production with short cycle times, however, a further increase in efficiency is desirable.

It is an object of the invention to further reduce the time required for the manufacture of harnesses per harness.

The invention relates to a cable gripping tool - in the following gripping tool - for a movable in space actuator of a machine that can be attached to the actuator

Carrier with grippers for holding a plurality of cables. For each of these cables at least two grippers are provided, a first and a second gripper for a first cable and a third and a fourth gripper for another, second cable. Preferably, only two grippers are provided for each cable. When the gripping tool is equipped with the cables, each of the at least two gripper pairs each holds a cable at its cable ends. The cables are preferably assembled so far that they no longer require processing for laying. In particular, the ends of the cables may already be formed as finished contacts, so that they can be easily connected to terminals of the harness to be produced, preferably by a linear movement of the actuator along only one axis, for example by plugging or plugging in or on a Counter contact of the respective connection. The cables can be guided between the held ends on the gripping tool. Preferably, they form cable loops between the grippers holding them. In particular, due to their weight, they can sag freely over at least part of their lengths in the form of a respective cable loop between the grippers holding them.

Since according to the invention, the attachable to the actuator gripper tool can be equipped with multiple cables, thus forming a limited cable magazine, the machine does not move when laying no longer for each cable between an external cable magazine and the laying device, accelerates and in Time-consuming approach maneuvers are delayed. Once the gripping tool has been fitted with the cables, the machine moves the actuator with the gripping tool to the laying device and moves the several cables there.

The grippers are movably arranged on the carrier, so that each of the grippers can be moved relative to the carrier from a Vorhalteposition to a working position, by means of the respectively located in its working position gripper held by this gripper cable in the laying device according to a laying plan for to arrange the harness to be produced. The site plan is given to a controller for the machine. The laying device may in particular be formed as a laying board, on which holding means for the cables of the cable harness are arranged in accordance with the laying plan. The holding means comprise at least terminals and preferably also guide means, for example deflecting means, for the cables. The cables and according to the connections may be in particular to electrical, in addition or instead but also to act, for example, optical fiber and optical connections.

The carrier comprises a connection structure for its attachment to the actuator. The automaton is preferably a robot, for example an industrial robot. The robot can be movable or, as is usual with industrial robots, can be arranged stationarily in a workstation. In such embodiments, the actuator is a robot arm, at the end of which the gripping tool can be attached by means of the connecting structure. The machine and the connection structure are advantageously set up so that the machine can dock the gripping tool automatically, ie the machine picks up the gripping tool by means of the actuator, automatically attaches it to the actuator and, if present, connects a media connection of the gripping tool to a media feed of the machine. The cable gripping tool can be supplied, for example, with electrical energy, control signals or a pressurized fluid via the media connection.

Preferably, the machine does not pick up the cables by means of the gripping tool, but the gripping tool already equipped with the cables. The gripping tool is equipped by means of a loading device with the cables, preferably automatically. The inclusion of the cables in a previous process stage relieves the machine, the proportion of time available for laying in the laying device can be increased again and the utilization of the machine can be increased. The gripping tool can basically only be set up to hold two cables simultaneously. However, it is more preferably configured for holding more than just two cables, that is, beyond the first, second, third and fourth grippers, it also has at least one fifth and sixth gripper, preferably of the same type, for holding at least one third cable. In preferred embodiments, the gripping tool comprises at least eight and more preferably at least ten pairs of grippers according to the grippers specified in the claims.

The working position may be the same for each of the grippers relative to the carrier or, instead, each individually different. The grippers can be arranged so movable on the support that optionally in any order, each of the gripper or the

Gripper in a given order one after the other in the single or in instead different, possibly for each of the gripper individual working position (s) are movable.

In a first embodiment, the grippers are divided into two, possibly also more groups, wherein the groups are preferably disjoint, the grippers of the respective groups can thus be moved only in the working position of the respective group. The grippers of one of the groups are each in a same for these grippers, first working position and the

Grippers of another of the groups are the same in one for these grippers, from the first

Working position spaced second working position movable, either randomly each of the grippers of the respective group or preferably within the groups in a predetermined

Sequence.

In a preferred second embodiment, the grippers are arranged successively, one after the other, in the same working position relative to the carrier. Preferably, each of the grippers is also moved over the same holding position, d. H. the hold position is the same for each of the grippers.

The cables are held in all embodiments by means of the gripper preferably only near their ends, but can be guided between their ends, advantageously only by means of a sliding guide and preferably only selectively. The sliding guide can surround them, they can rest against the sliding guide even loosely on one side. The sliding guide should cause as little sliding resistance as possible when laying the cables.

Advantageously, in all embodiments, an order is predetermined at least with respect to the held cables, so that first those grippers holding a cable together, or preferably sequentially in their working position and only then the grippers, the other or one of several other cables hold, also moved together or preferably one after the other in their working position to arrange the cables in succession in the laying device. If the cables are held at their ends, the ends are moved relative to the carrier in the respective working position and laid in this position, for example, contacted directly with a terminal or previously guided by one or more guide means, such as deflection, the laying device.

The grippers are arranged on the carrier by means of a mechanism which allows the movement of the gripper from each of the Vorhalteposition to the working position. The mechanism is designed according to the selected movement sequence, so it can, for example, store the grippers individually movable. More preferably, the mechanism comprises a common transport for a plurality of the grippers. In the aforementioned group formation in the first embodiment, a separate means of transport can be provided for each of the groups. More preferably, only one transport means is provided in common for the first, second, third and fourth grippers. In such embodiments, in particular the first embodiment, the at least two grippers per cable are arranged on the same means of transport. Preferably, the gripping tool comprises only a single, common means of transport for all grippers serving to hold cable ends. The grippers may be arranged one behind the other in relation to the direction of movement into the working position on the means of transport, in the order in which they are successively moved to the working position.

The transport means may in particular be circumferentially movable about one or more axes. It can be formed as a rotor, for example a turntable, from which the grippers or only the grippers of a group protrude. More preferably, the means of transport is a flexible traction means, such as a toothed belt or a chain or a comparable traction means, which ensures an exact positioning of the gripper in the working position and preferably also in the Vorhalteposition by positive, possibly even only frictional drive engagement.

In the first embodiment, a first mechanism may be arranged on the carrier for a first group of grippers, and a second mechanism may be arranged for a second group of grippers, such that the grippers associated with the first mechanism successively engage in the same working position for each gripper The gripper associated with the second mechanism can also be successively moved by means of the second mechanism into a working position which is predetermined by the second mechanism and which is the same for the respective gripper. It is advantageous if the first mechanism associated gripper in a sequence alternating with the gripper associated with the second mechanism in the respective working position, once in the by the first mechanism and the other time in the predetermined by the second mechanism working position are movable. Advantageously, the first mechanism has a first transport means common to the associated grippers and the second mechanism has a second transport means common to the gripper associated with this mechanism. The means of transport may in each case in particular be a means of transport of the aforementioned type.

The subdivision into groups is preferably chosen so that of the grippers, each holding one of the cables, at least two grippers belong to different groups. Are arranged for n cables on the carrier each m gripper, and the grippers in total divided into k groups, for example by a common group transport means is provided for the grippers of each group, a total of k transport means, where n, m and k are equal to or greater than 2 , then in preferred embodiments at least one of the k groups for each of the n cables contains at least one, preferably only one, of its grippers. More preferably, two of the k groups for each of the n cables have at least one, preferably only one, of their grippers, so that for each of the n cables one of its grippers is one of the k groups and another one of the grippers of the same cable is another one of the grippers k groups and these two groups contain at least one of its grippers for each of the n cables.

The transport means are arranged in the first embodiment on the carrier at a distance from each other preferably side by side. If the means of transport rotate or run around one or more axes, they are preferably arranged on the outside axis. Preferably, there are two juxtaposed externally to each other to each other traction means, on each of which a plurality of grippers are arranged. The arrangement of such traction means is preferably further such that the traction means a piece of road side by side driven in the same direction and thereby the grippers are moved sequentially to their working position. In the case of the external-axis arrangement of the traction means or other means of transport formed in the direction of the respective working position gripper of a transport means overlap in the direction of their Working position moved gripper of the other means of transport. The overlapping arrangement can in particular be such that in each case one gripper of the one transporting means projects in this movement between two grippers of the other transporting means next to one another in the advancing direction, so that the two groups of grippers move over a pathway in the direction of the respective working position in the manner of FIG of two gears or more preferably in the manner of racks, preferably without touching each other. A meshing, ie overlapping arrangement results in a compact, space-saving design and advantageously a short distance between the next successive grippers, which together hold the same cable, so that even short cables can be held by the grippers. A short distance of each moving in the direction of the working position gripper can be achieved without the feature of the overlap, but this increases the footprint on the carrier and thus its size, since the transport must be arranged from one another at a greater distance. To avoid too long cable loops, it may be advantageous if the grippers are arranged on mutually remote outer sides of the transport, while they are moved sequentially in the respective working position.

If the mechanism has a single or several circulating traction means with protruding grippers as transport means, the working position (s) is or are preferably located in a looping area of a deflecting means, in which the transport means runs around one of the deflecting axis (s) and is radially supported by the deflecting means , The grippers preferably protrude transversely to an axis of rotation of their means of transport, in the case of a traction means transverse to the said deflection axis and in the case of a rotor transversely to its axis of rotation, from the transport means, preferably radially, so that they protrude freely in their working position of their means of transport.

Although it is basically conceivable that the grippers are moved continuously in the laying position of the cable in its working position and after laying the respective cable from the respective working position, the movement of the gripper is preferably clocked so that the gripper their working position during each occupy a time interval corresponding to the clock, ie in each case remain in the working position over a certain period of time. The gripping tool may be arranged to move the grippers in a vertical direction to the advancing position and from there to the working position. If a plurality of the grippers or preferably all grippers are arranged on a transport means common to the respective gripper, as discussed above, these grippers can be arranged together in an at least substantially vertical plane movable on the carrier of the gripping tool. More preferably, however, the gripping tool is arranged so that the grippers are moved in a horizontal direction in the Vorhalteposition and from this to the working position. If a plurality of the grippers or preferably all grippers are arranged on a transport means common to the respective grippers, as discussed above, these grippers can be arranged together in an at least substantially horizontal plane movably on the carrier of the gripping tool. If the means of transport are a circulating traction means or a rotor, its deflection axes or axis of rotation would therefore preferably be oriented at least substantially horizontally. The specifications relate to the orientation of the gripper tool when laying the cables and preferably also when loading with the cables.

In further developments, the gripping tool comprises a separating device for the cables arranged on the carrier. In an advantageously simple gripping tool, the cables form loops between their ends held by the grippers, preferably hanging loops. Since a complete separation of the cable loops would be complicated, there is a risk of meshing loops. The separating means is arranged to prevent a currently laying cable looping around a loop of another cable from being pulled so far towards the loops of the looped cable as it is routed along the looped loop such that the looped loop The laying of the looping cable seriously impeded or even prevented.

In a variant, the separating device can be arranged separately from the gripping tool on the actuator.

In a first embodiment, the separating device comprises at least one separator for separating at least two loops. The separating device can do its job already meet with only a single separator. This single separator would be arranged in a fixed position in the region of the Vorhalteposition to separate the loop of each located in the working position cable, the end of which is held by the respectively located in the working position gripper, from the loop of a downstream in the advancing direction of the gripper cable. The separator is expediently arranged between a non-engagement position, in which it does not disturb the transport of the cables, and a separating position, in which it ensures the separation of the cables in the above-described sense, movable back and forth on the carrier or separately from the gripper on the actuator.

More preferably, the separating device comprises a plurality of separators movable in a coordinated manner with respect to the grippers. In particular, it can have at least one separator per cable, so that there is at least one separator for each receivable cable, which separates this cable from potentially disruptive cables following in the advancing direction.

Preferably, the single or protrudes the plurality of separators for the separation transversely to the advancing direction of the gripper between the loops. The separator (s) is or are each preferably a slender element extending transversely to the direction of advance without a disturbing contour at which the loops could catch. The separator (s) may or may simply be bolt-shaped, pin-shaped or rod-shaped.

If the separating device comprises a plurality of separators, these are, in preferred embodiments, adapted to be movable on the grippers and spaced from one another with respect to the direction of their mobility. Preferably, they are movable in the same direction as the grippers, preferably synchronized with them. The separators may in particular be movable at least substantially parallel to the grippers.

The separating device comprises in a preferred embodiment a separator transport means, to which the plurality of separators are connected and by means of which the separators can be tracked by the grippers. The separator transport means is preferably at least substantially parallel to the or one of optionally a plurality of gripper transport means) movable. These two means of transport can be so in particular be arranged so that the grippers and the separators are movable in mutually spaced, mutually parallel planes. The separators preferably protrude transversely to their direction of advance through the common separator transport means via the separator transport means, preferably from the separator transport means. The Separierer- transport is advantageously an endlessly spaced around deflecting means running, preferably positive fit and therefore slip-drivable traction means, preferably a chain or a toothed belt. The separating device comprises a drive for the separator transport means, which is preferably arranged on the carrier of the gripping tool, but alternatively also arranged elsewhere on the actuator and can be coupled to the separator transport means when picking up the gripping tool. A drive for the gripper can also form the drive of the separating device at the same time. However, more preferably, the separating means has its own drive in addition to a drive for moving the grippers.

In a second embodiment, the separating device on the carrier of the gripping tool comprises a first channel extending in the advancing direction of the gripper and a second channel extending next to the first channel. The channels extend below the grippers and are open towards the grippers so that one or more loop ends in the first channel and one or more other loop ends in the second channel are or are receivable. The separating means may already be formed by the passive, non-displaceable channels on the carrier, but more preferably has the channels in addition to the single or more active gripper (s) moving.

The invention has not only the gripping tool as such, but also the machine with the gripping tool, also a system including at least one workstation of the machine and also a method for producing a wire harness to the object.

The system comprises the machine, a gripping tool according to the invention and a holding means, namely at least terminals and preferably also at least one

Guide means equipped laying device. The machine is set up to be a group of cables, which are held by the gripping tool to arrange according to the laying plan of the wiring harness in the laying device.

In a further development, the system comprises a further gripping tool according to the invention and more preferably a plurality of further gripping tools according to the invention. The machine can each accommodate at least one of the gripping tools. The gripping tools are advantageously already equipped with a plurality of cables, so that the machine after undocking the cable held by one of the gripping tools undock this gripping tool and dock his actuator only to the next gripping tool and then can move the docked gripping tool directly to the laying device, there to lay the cable held by the gripping tool.

The system has in a development on a placement device by means of the gripping tools are automatically equipped with a set of cables. The cables can be the same or alternatively different within the cable sets, for example, have different lengths. The cables can also be different from set to set. The gripping tools may be the same or different, for example, a long and another for short cable or a gripping tool for n and another gripper for n + j cable, where n and j are natural numbers. The controller of the machine must of course know which of the different gripper tools is docked and how its cable must be laid.

The grippers are preferably clamping grippers and can in particular be gripper tongs, but in principle also have different gripping members that are movable relative to one another. The

Grippers can each be automatically movable in order to open and close each of the grippers without additional facilities. Compared with such active grippers, however, preference is given to simpler passive grippers. The grippers can each

Gripping members, preferably clamping members, have, for opening and closing, d. H. for holding and releasing a cable, are movable relative to each other. Passive grippers can by means of a spring either in the open or preferably in the closed

Condition are charged. The gripping members may be, for example, pliers arms. In such embodiments, at least one of the gripping members is pivotally mounted. The gripping members may also be relatively linearly movable relative to each other by at least one of at least two cooperating gripping members is mounted linearly movable. A preferred gripper embodiment comprises a first gripping member, which is mounted linearly movable, and a pivotally movable second gripping member cooperating therewith for gripping.

When the grippers are designed as passive grippers, an actuating device is arranged either on the actuator or on the carrier of the gripping tool, by means of which the gripper is automatically actuated in its working position, ie. H. be opened or closed to lay the cables and also to accommodate them. The word "or" is understood here as elsewhere in the meaning of the invention in its usual logical meaning as "inclusive or", so includes both the meaning of "either ... or" and the meaning of "and", as far as from the respective context can not exclusively give only something else. Accordingly, the actuator may be adapted to hold the grippers closed by engagement to the working position and to allow the opening by disengaging the gripper or by engagement in the closed state and also to open by engagement, a spring need the gripper then not, or as preferred to open the gripper by actuation only. In embodiments in which a plurality of different working positions are provided for the grippers on the carrier, a plurality of actuating devices are provided on the actuator or the carrier, namely in each case one actuating device per working position.

In order to mechanically connect the cables to a terminal of the laying device, at least one connector is provided, arranged either on the actuator or on the carrier of the gripping tool. The connector is advantageously assigned to the working position. If a plurality of different working positions are provided, for example in the case of said group formation of grippers one working position per gripping group, a separate connector is provided for each of these working positions and arranged close to the respective working position. The single or each of the plurality of connectors is preferably a connector gripper having the respective cable end of the in his Operating position gripper engages and connects to the port. The single or, in the case of a plurality of connectors, each of these connectors is preferably movable relative to the carrier and the respective gripper in its working position, more preferably linearly movable, in order to connect the cable end to the connector. The vote with the respective gripper is preferably such that the connector grips the cable end, the relevant gripper releases the cable end gripped by the connector and the connector then mechanically connects the cable end to the connector, whereby by this connection with the same movement an electrical or mechanical optical connection with the connector is made.

Optionally, a fixing device may be arranged on the carrier of the gripping tool or separately from the gripping tool on the actuator, by means of which the respective gripper located in the working position is fixed or stabilized. For this purpose, the fixing device comprises at least one fixing member, which is brought into positive engagement with the gripper located in the working position in order to fix and stabilize the respective gripper in the working position.

The cable gripping tool can be supplemented by one or more of the said functional components for laying the cables, ie the actuating device or the connector, a guide device for guiding the cable to be laid or a fixing device for fixing the respectively located in the working position gripper. In alternative embodiments, the functional components required for laying are provided on a separate from the cable gripping tool installation tool, that is arranged separately on the actuator. An advantage of such a task sharing is that the cost can be reduced, since the same laying tool can cooperate with a plurality of gripping tools of the same type which are received successively by the actuator for the manufacture of the wiring harness. The separate laying tool can in principle also cooperate with gripping tools of different types, for example, successively in the production of the same cable harness or the type of different harnesses. It is also conceivable, one or more functional component (s) for laying on a separate installation tool and one or more other functional component (s) for laying on the gripping tool provided. Although the arrangement of functional components required for the laying on the gripping tool increases its complexity and also its acquisition costs, since in general several gripper tools are used at the site of the system and therefore the functional components required for the laying would have to be provided multiple times. On the other hand, gripper tools, which are each equipped with all components required for laying, can be picked up and stored by the actor faster than gripping tools, in the recording and delivery of the already located on the actuator or remaining installation tool can be a hindrance or at least a higher effort for bring the vote of the gripping tool with the separate installation tool with it.

Advantageous features are also described in the subclaims and their combinations.

Hereinafter, embodiments of the invention will be explained with reference to figures. The features disclosed in the exemplary embodiments form each individually and in each combination of features the subject-matter of the claims and also the embodiments described above. Show it:

Figure 1 shows a system for the automatic production of a wiring harness;

Figure 2 shows a cable gripping tool with grippers for several cables in a first

Embodiment; Figure 3 shows one of the gripper and a connector of the first embodiment in a

Top view; Figure 4 shows the gripper and the connector of Figure 3 in a side view;

Figure 5 shows a system with a conveyor for laying equipment;

Figure 6 shows a cable gripping tool with grippers for several cables in a second

Embodiment;

Figure 7 shows a cable gripping tool with grippers for a plurality of cables in a third embodiment;

Figure 8 shows the cable gripping tool of the second embodiment with a

Separating device for cable loops; 9 separated by means of the separating device of Figure 8 cable loops before the

laying;

FIG. 10 shows the separated cable loops of FIG. 9 during laying; 11 shows a cable gripping tool according to one of the embodiments with the movable separating device of Figure 8 and a non-movable

Separating device for the cable loops; Figure 12 is a cable gripping tool in a perspective; FIG. 13 shows a laying tool and FIG. 14 shows a gripping and laying tool.

FIG. 1 shows a system for the automatic production of cable harnesses. The system comprises a machine 1 with a base 2 and a movable in space actuator 3. The actuator 3 is movable in all six degrees of freedom of movement in space. The machine 1 is a robot with a robot arm, whose end forms the actuator 3. The system comprises a laying device 4, in which by means of the machine 1, a plurality of cables A ₁ , A ₂ and generalizing A ₁ are assembled into a wiring harness D. The laying device 4 includes a laying board 5 and arranged on the laying board 5 holding means 6 and 7 for the cable A _first The holding means 6 are terminals of the wiring harness D, so are taken after laying the cable A ₁ together with these from the laying device 4. The holding means 7 are guide means for guiding the cables A ₁ between the terminals 6, by means of which in each case one or more of the cables A ₁ are deflected to one of the terminals 6. The machine 1 arranges the cables A ₁ in the laying device 6 according to a laying plan for the wiring harness D by mechanically and electrically connects the ends of the cable A ₁ with at least one of the terminals 6, for example by producing an electrically conductive connector. When laying the cable A ₁ connects the machine 1 per cable A ₁ one of its ends with the predetermined by the laying plan connection 6 and leads the unilaterally connected cable A ₁ on the one or more predetermined by the laying guide 7 to the respective Cable A ₁ predetermined other connection 6 and connects the previously held still other cable end with this connection 6. Optionally, one or more of the cable A ₁ or one of the cable ends may remain free, ie not connected to one of the terminals 6 , When each of the harnesses D forming cable A ₁ the Laying plan are arranged according to the laying device 4, they are bound by means of a cable tie, so that they can be handled uniformly as a harness D, in particular from the laying board 5 and this is available for the production of a next wiring harness D.

The machine 1 interacts with multi-cable gripping tools 10, which are hereinafter referred to simply as a gripping tool for the sake of simplicity. Each of the gripper tools 10 is equipped with a plurality of cables A ₁ and has grippers in a number sufficient to hold the respective plurality of cables A ₁ number. The gripping tools 10 are mobile and adapted to the actuator 3, so that the machine 1 with its actuator 3 each record one of the gripping tools 10 and move freely in space, especially for the laying of the respective gripping tool 10 held cable A ₁ relative to the laying device 4 position.

The gripping tools 10 are automatically equipped by means of a loading device 8 each with a set of cables A ₁ and spent by means of a conveyor 9 in the working area of the machine 1. The conveyor 9 is exemplified as a charging rail, on which the each equipped with a cable set gripping tools 10 are successively fed to the machine 1, so that the actuator 3 receive each subsidized in his receiving area gripping tool 10, move to the laying device 4 and there the cable A. _{1 of} the cable set by means of the recorded Greifzeugzeugs 10 can move. The gripping tools 10 are arranged so that the actuator 3 can dock them automatically, that is automatically a fixed mechanical connection and the required media connections, for example for electrical energy, control signals for the respective gripping tool 10 and optionally one or more pressurized fluid (s) such as Compressed air can produce. As soon as the cables A ₁ of the cable set of the picked-up gripping tool 10 have been moved, the machine 1 moves the respective gripping tool 10 to a shelf, the gripping tool 10 automatically docks, moves the actuator 3 into the receiving area and takes the next there with a set of cables A ₁ equipped gripping tool 10 to move the held by this cable A ₁ also. In principle, it is conceivable that a cable harness D consists only of the cables A _{1 of} a cable set of a single gripping tool 10, in most applications, for example in the vehicle sector, especially automotive sector, the wiring harnesses D are complex, so that for the production of such a wiring harness D several gripper tools 10 nacheinender used.

If the tray for the emptied of their cables A ₁ gripper tools 10 is connected to the loading device 8, as is preferred, the loading device 8, the conveyor 9 and the tray within the system form a closed circle in which the emptied gripper tools 10th automatically fed back from the filing device to the loading device 8, again equipped with a cable set of this and conveyed by the conveyor 9 back into the receiving area of the machine 1.

FIG. 2 shows one of the gripping tools 10 in a plan view. The illustrated gripping tool 10 is representative of the other gripper tools 10 of the system. The gripping tool 10 comprises a carrier 20 having at a free end a coupling 21 to which the actuator 3 can dock. The gripping tool 10 further comprises mutually identical grippers 11, 12, 13 and 14 and further such grippers, which are not further marked with reference numerals. All grippers, as well as the grippers 11, 12, 13 and 14, gripping tongs are each for gripping and clamping holding a cable end. Each of the cables A ₁ is held by two grippers at its cable ends and depends freely between its two grippers in the form of a cable loop. Depending on the length and number of cables A ₁ , it may be beneficial to lead the cable A ₁ or only one or more of these cables A ₁ between the held cable ends or hold again. A cable Ai to be laid first out of the cable set is held at one of its ends by the first gripper 11 and at the other end by the second gripper 12. The next, second cable A ₂ is also held by the third gripper 13 and the fourth gripper 14 at its ends. For the other cable A _{1 of} the cable set and their associated gripper pairs applies accordingly. As already mentioned, the grippers are the same among each other, so that the description of a gripper, for example of the gripper 11, also applies to the other grippers. The plan view of Figure 2 shows a conveying surface, for example a conveying plane in which the grippers 11 to 14 relative to the carrier 20 are each movable from a Vorhalteposition V in a working position W. In the working position W, the gripper engaging this position, in FIG. 2 the gripper 11, protrudes from the gripping tool 10. It is always held by the gripper held in the working position W, in the next step held by the gripper 11 cable A ₁ , laid in the laying device 4 by the held by the respective gripper cable end connected to one of the terminals 6 or optionally only moved over one or more of the guide means 7 and thereby inserted, so to speak threaded. Subsequently, this gripper, in FIG. 2 the gripper 11, is moved away from the working position W in a direction away from the advancing position V, and the next gripper, here the gripper 12, is moved into its working position W.

The gripper tool 10 has two different working positions W for each of the cables A ₁ , in the case of the cable Ai one for the first gripper 11 and the other for the second gripper 12. After the grippers 11 and 12 are successively the third gripper 13 and the fourth gripper 14 in each one of the working positions W movable. The gripper pairs 11, 12 and 13, 14 and the other gripper pairs are successively moved to this working position W and the cables A _{1 laid} accordingly one after the other. Of the gripper pairs, for example, 11 and 12, takes only one of the gripper its working position W, while the other is still in its Vorhalteposition V or has been moved after laying the cable end held by him already beyond the working position. When laying the cables, the grippers 11, 12, 13, 14, etc. are sequentially, one after the other, moved to its working position W.

On the support 20 fixed actuating means 22 for each located in the working position W grippers 11 to 14, etc. are arranged, each having an actuator 22 for each of the two working positions W. By means of the actuators 22, which are equal to each other, in the respective Working position W located gripper, in Figure 2, the gripper 11, opened when that of him held cable end is moved, so that this gripper is free again after dropping the respective cable end and can be moved from its working position W.

Component of the cable gripping tool 10 are also two mechanisms by which the grippers are divided with respect to their mobility relative to the carrier 20 in two groups. For each cable A ₁ , one of the grippers of the gripper pair belongs to one group and the other to the other group. One of the two mechanisms comprises a flexible transport means 15 a, for example a chain, and two spaced deflecting means 16 a, for example sprockets, one of which is rotationally driven about an axis of rotation R. The other of the two mechanisms is constructed in the same way with a flexible transport means 15b and two spaced deflecting means 16b. The transport means 15a and 15b run around the associated deflection means 16a and 16b each endlessly.

The deflection means 16a and 16b can be driven in rotation by a single, common or each of its own drive unit. The drive unit or the plurality of drive units can be arranged on the actuator 3, they are preferably arranged on the carrier 20 and are supplied via a media supply of the machine 1 and a media connection of the carrier 20 with drive energy, such as electrical energy or a pressurized fluid.

Instead of arranging the actuators 22 on the carrier 20, they could also be arranged on the actuator 3. Are they as preferred in terms of short cycle times and assumed for the embodiment on the carrier 20, they are for the operation of each located in its working position W gripper 11 or 12, etc. via the media supply of the machine 1 and the media connection of the carrier 20 with the supplied energy required for the operation, for example, electrical energy or pressurized fluid, and controlled with control signals.

The transport means 15a and 15b are arranged at a distance next to each other and each other on the outside axis. The axes of rotation R of the deflection means 16a and 16b are preferably parallel to each other as in the embodiment. The transport 15a and 15b run in a common orbital plane about the axes of rotation R of the respectively associated deflection means 16a and 16b. However, this is not necessary. For example, the circulating planes of the transporting means 15a and 15b could be inclined relative to each other, for example.

A first group of grippers comprising the grippers 11 and 13 projects outwardly from the transport means 15a. The other group of grippers, comprising the grippers 12 and 14, likewise projects outwardly from the other transport means 15b. The transport means 15a and 15b run on their two sides facing each other over a common path next to each other in a common propulsion direction x. In the interior region, the grippers of one group project from their transport means 15a or 15b in the direction of the transport means 15b or 15a of the other group. The transport means 15a and 15b are further so close to each other and the grippers on the respective transport 15a or 15b arranged in the driving direction x one behind the other with such an offset that in the inner region in the driving direction x results in an alternating sequence, in each case a gripper of the one Group, for example, the gripper 11, a gripper of the other group, here the gripper 12, follows. In the direction of advance x, in each case those grippers follow each other next to each other, which together hold one of the cables A ₁ .

The grippers 11 to 14 etc. are moved in the common propulsion direction x in each case up to its Vorhalteposition V, in which the transport means 15a or 15b in the looping with the associated deflection means 16a or 16b runs. The movement of the gripper from the Vorhalteposition V in the working position W is correspondingly a circulating movement about the respective axis of rotation R. During the circulating movement, the distance between those grippers, for example, between the gripper 11 and the gripper 12, which together one of the cable A ₁ hold. The increase in distance is advantageous for laying the cable A ₁ .

If in the working position W, the mechanical connection is made with the respective terminal 6 of the laying device 4, the gripper, the in this step, the

Working position W occupies, by the orbital movement of its transport means 15 a or

15b in the outer region of the transport means 15a or 15b further. At the same time the next gripper of the other group is moved to its working position W by the movement of its transport means 15b or 15a in order to mechanically connect the cable end held by it to another one of the connections 6 or else only via one of the guide means 7. This process is repeated for all cables A ₁ of the cable set received by the gripping tool 10. The individually held by the gripping tool 10 cables A ₁ are laid in this way one after another. During installation, the actuator 3 always remains in the immediate vicinity of the laying device 4. It is merely the gripping tool 10 between the predefined by the laying plan locations of the laying device 4 reciprocated and positioned for producing the mechanical connections relative to the terminals 6 respectively.

FIG. 3 shows the gripper 11 located in its working position W in a plan view together with a connector 23 assigned to the working position W. A similar connector 23 is arranged at the working position W of the gripper of the other group arranged on the transport means 15b. A total of two connectors 23 are provided, one for each of the two working positions W. The connectors 23 may be arranged on the actuator 3, more preferably they are arranged on the carrier 20 and are supplied via the media connection with power and control signals.

The gripper 11 comprises two relatively movable, in a common joint interconnected gripping members 17 and a spring 19, located on each of the gripping members

17 supports and holds the gripping members 17 with its spring tension in a closed state in which the gripping members 17 hold one end of the cable Ai. The gripper 11 is as well as the other gripper formed as gripping tongs, the gripping members 17 are accordingly

Tong arms. The connector 23 is also a gripper for gripping each one of the cables A ₁ . The connector 23 is preferably also formed as gripping tongs. The other grippers of the gripping tool 10 corresponding to the gripper 11, the two connectors 23 are also equal to each other.

FIG. 4 shows the gripper 11 located in its working position W and the connector 23 assigned to this working position W in a side view, in which FIG

Cooperation of the two components 11 and 23 can be seen. Shown is the from

Gripper 11 held end of the cable Ai. The cable Ai has a conductor, for example electrical or optical conductor which is provided close to its end with an outer insulation, and whose end is conductively connected to a contact C by means of a fastening B, for example a crimped connection. The gripper 11 holds the end of the cable Ai with its gripping members 17 at two spaced apart in the longitudinal direction of the cable Ai points. The gripping members 17 form a first nip in the region of the attachment B. Each of the gripping members 17 has a Greiforganausleger 18 to form the second nip in the region of the insulation of the cable Ai. By holding at two clamping points spaced apart in the longitudinal direction of the cable Ai, the cable Ai is held relative to the gripper 11 in a specific position, that is defined according to location and orientation.

In order to establish the mechanical and conductive connection with the respective terminal 6 of the laying device 4, the machine 1 is positioned by means of its actuator 3, the gripping tool 10 relative to this terminal 6 so that the clamped cable end in the longitudinal direction with its contact C to the terminal 6, so that the connection can be made by a linear movement of the cable Ai, preferably as a plug connection with detent. Once the gripping tool 10 is positioned with the gripper located in the working position W, here the gripper 11, in front of the terminal 6, the connector 23 engages the cable Ai in the immediate vicinity of the gripper 11, the gripper 11 is opened by means of the actuator 22 and the Connector 23 pushes the cable Ai released by the gripper 11 in the longitudinal direction towards the connection 6 or only deeper into the connection 6, so that the contact-connection is made mechanically strong and reliably conductive by this short-stroke connection movement. Subsequently, the connector 23 releases the cable Ai.

It is advantageous if it is checked immediately when the connection is made, whether the connection was actually made properly. At the actuator 3 or preferably on the carrier 20, a test device is provided for this purpose. The test can be carried out in particular by means of the connector 23 in that the connector 23 performs a short stroke in the opposite direction after execution of the directed in the direction of the connection connection 6 before releasing the cable end again, while a defined tensile force on the cable and the connection with the terminal 6 exercises. The connector 23 is in such embodiments part of the test device for checking the connection state of the cable A _first The test device advantageously comprises a sensor which measures the force exerted on the connector 23 during pulling movement and thus the cable end and, upon reaching a predetermined force setpoint, causes the connector 23 to open or open and release the cable Ai.

After the connection has been established or possibly also immediately after the gripper 11 has been opened, the next gripper, here the gripper 12, is moved into its working position W and the gripper 11 is moved out of its working position W. The machine 1 moves with the gripping tool 10 to the next position on the laying device 4, wherein the cable Ai guided over one or more guide means 7, optionally threaded, and positioned the now in the working position gripper 12 immediately before the other End of the cable Ai provided connection 6 to repeat there with this cable end the example of the gripper 11 described connection process. Thereafter, the third gripper 13 is moved to its working position and the process repeated with the cable A ₂ and then with each other cable A ₁ .

FIG. 5 shows the machine 1 with a gripping tool 10 received during the laying of the cable A ₁ held by this gripping tool 10. FIG. 5 shows an example of an automated provision of the laying device 4. The laying device 4 is arranged on a conveyor 24, for which, for example, a turntable with a vertical axis of rotation Z was selected. On an outer circumference of the conveyor 24 four laying boards 5 are distributed uniformly about the axis Z. The laying lifters 5 are moved in a rotational movement of the conveyor 24 in succession in four different rotational positions. In a first of these rotational positions, the respective laying board 5 is in a loading area L, in which it is equipped by means of a loader 25 with the terminals 6 and guide means 7 according to the laying plan of the wiring harness D. After loading, it is moved by rotation of the conveyor 24 in the working area of the machine 1. After the machine 1 has laid all cables A ₁ , for which he typically works in succession with several gripping tools 10, the laying device 4 is moved with the laid cables A ₁ by further rotation of the conveyor 24 in a post-processing area F. In the post-processing area F, the laid cables A ₁ according to the Legeplan bound by means of a cable tie 26 to cable bundles. The wiring harness D is now completed. The conveyor 24 is further rotated, so that the laying device 4 reaches the finished harness D in a discharge area U, in which the harness D is taken from a discharger 27 from the laying board 5 and stored for removal in a tray.

The machines 1, 25, 26 and 27 simultaneously work in line with a series production. During the laying of the cables A ₁ loaded the loader 25, the next Legebrett 5, the machine 1 laid the cable A ₁ in the laying area formed in the loading area 4, the cable tie 26 bundles the laid in the previous cycle cycle cable A ₁ and removes the unloader 27 the previously bundled wiring harness D.

Figure 6 shows a cable gripping tool 10 in a second embodiment in a plan view. The gripping tool 10 of the second embodiment, in contrast to the first embodiment, only a single mechanism by means of which the grippers 11 to 14, etc. are moved in the advancing direction x respectively in the Vorhalteposition V and from this to the working position W. The working position W is therefore the same for all grippers. The mechanism again comprises a flexible transport means 15, for example a chain or a toothed belt, which revolves around two spaced-apart deflection means 16, for example sprockets or pulleys, of which, as in the first embodiment, one is rotated about its axis of rotation R. In FIG. 6, the first gripper located in the working position W is again provided with the reference numeral 11 and the gripper with the reference numeral 12 located in the advancing position V. The grippers 11 and 12 each hold one end of the cable A ₁ . On the gripper pair 11, 12 follow as in the first embodiment of the third gripper 13 and the fourth gripper 14 and the other grippers, each holding one pair of cables A ₁ at its two ends, so that the cable A ₁ between the held ends in Sagging form of loops. The gripping tool 10 of the second embodiment hold the propulsion in the x direction on the same transport means 15 next to one another in each case gripping one of the cables ₁ A, for example, the grippers 11 and 12, the cable _A1. The recorded cable A ₁ can thus be moved sequentially in circulation of the transport means 15. Due to the omission of the second transport means a slim gripping tool 10 is obtained, whereby the laying is facilitated in confined spaces. Furthermore, the transport means 15 can be equipped with cables A ₁ over its entire length. In the first embodiment, only about half the length is used, since there cables A _{1 are held} only by the mutually facing grippers of the two transport means 15 a and 15 b. In principle, it would indeed be possible in the first embodiment to use all grippers, so also the two outer rows of grippers, but a special effort for the separation of the cable loops would be operated.

FIG. 6 shows a cover 38 which laterally surrounds the transport means 15 with the grippers and which is advantageously also present in the first exemplary embodiment. The cover 38 is connected to the carrier 20 and extends over both longitudinal sides of the gripping tool 10 and the rear side, on which the coupling 21 is arranged for docking on the actuator 3. The cover 38 leaves the area around the working position W free.

Figure 7 shows a cable gripping tool 10 of a third embodiment in a plan view. The gripping tool 10 includes, as in second embodiments, only a single mechanism by means of which all grippers 11 to 14, etc. are moved successively in the advancing direction x in the Vorhalteposition V and from this in the working position W. The mechanism comprises a common means of transport for all grippers

15 c, unlike the two other embodiments, not as a flexible, rotating traction means, but as a rotatably mounted about the axis of rotation R on the carrier 20

Rotor, for example, as a hub, is formed. The grippers 11 to 14, etc. are around the

Rotary axis R arranged evenly distributed and protrude transversely to the axis of rotation R of

Transport means 15c from, beyond the outer periphery before. In the example, they protrude as preferred radially to the axis of rotation R.

The design of the transport 15c as a rotor has the advantage that the unit of transport 15c and grippers 11 to 14, etc. one compared to the other two Embodiments has stiffer structure. On the other hand, if the gripping tool 10 is to be able to be equipped with as many cables A ₁ as possible, the circumference measured externally via the grippers rapidly reaches an unwieldy size. Connected with this, the radius of curvature of this circumference increases with the number of grippers, so that the two neighboring grippers can disturb the gripper which is currently in the working position when laying its cable A ₁ , if the structure which is advantageously rigid in the third embodiment and therefore simple in construction is to be retained ,

For the gripping tool of the third embodiment, with the exception of the above-described differences apply to the second embodiment. For the second embodiment, in turn, apart from the differences explained apply to the embodiments of the first embodiment, the gripper tools 10 of the second and third embodiments, therefore, in particular as described with the actuator 22 or the connector 23 cooperate and in a similar manner on the carrier 20 or separately from Carrier 20 may be arranged on the actuator 3 or docked by means of the respective coupling 21. Insofar as differences are not particularly pointed out or differences not mentioned are not an inevitable consequence of those mentioned, the statements on the first exemplary embodiment also apply to the second and third exemplary embodiments.

FIGS. 8 to 11 show a separating device 30 by way of example for the cable gripping tool 10 of the second exemplary embodiment. The separating device 30 prevents the falling into each other of cable loops can lead to serious disabilities when laying the cable A ₁ . The separating device 30 comprises a plurality of separators 31, which are arranged on a common separator transport means 32 and protrude therefrom between the loops. The separator transport means 32 is a flexible traction means and, in particular, like the gripper transport means 15, can be a traction-driven traction means, for example a chain or a toothed belt. Each of the separators 31 protrudes from the separator transport means 32 transversely to its advancing direction x and between adjacent loops. The separators 31 are formed as simple pins or bolts, at least in that portion which may contact one of the loops. The separators 31 advantageously have no Interference contours that could hinder sliding of the loops on the separators 31 during installation. The separators 31 protrude in the embodiment with respect to a rotational axis about which the separator transport 32 is deflected radially from this. The deflecting means of the separator transport means 32 are advantageously arranged rotatably on the carrier 20 about the axes of rotation R of the deflection means 16 or about axes of rotation spaced parallel thereto.

The separators 31 are moved in tune with the grippers 11 to 14 and so on. They run in synchronism with the grippers 11 to 14, etc. in the direction of advance x, are therefore at least substantially driven at the same speed when laying the cable A ₁ , which, as already mentioned, is not a continuous circulating movement, but a discontinuous is.

FIGS. 9 and 10 reveal the problem of the interlocking of cable loops and the functionality of the separating device 30 adapted thereto. Loops may, for example, fall into each other in the movements performed by the actuator 3, so that a loop wraps around one or more other loop (s). If the loops can hang completely freely in the gripping tool 10, disturbances during laying are rather not to be feared. However, since the gripping tool 10 should have as small a height as possible, measured along the or the axes of rotation R of the embodiments, hang

Cable loops in preferred embodiments not over their entire length freely through, at least not the long loops, but depend on the respective gripper pair, such as the Greiferni l and 12 and the grippers 13 and 14, only over a certain

Length portion down freely, while the end portions of the loops lie on a bottom of the respective gripper tool 10. This situation is in Figure 8 for the gripping tool

10 and in Figures 9 and 10 for a single pair of successive loops.

Figure 9 shows the situation immediately before laying the cable Ai ₁ whose gripper 11 just as shown in Figure 6, the working position W occupies. Shown is also the in

Propulsion direction x next cable A ₂ , wherein the gripper 11 to 14, etc. and the Separator 31 stand still, since the gripper 11 already occupies the working position W and the cable Ai is laid in the next step.

FIG. 10 shows the two cable loops during the laying of the cable A ₁ . The end of the cable Ai still held by the gripper 11 in FIG. 9 has already been connected to a connection 6 of the laying board 5 (FIG. 1). The actuator 3 leads the cable Ai along the guide board 5 in order to connect the other end of the cable held by the gripper 12 at a designated location with a terminal 6 of the guide board 5. In this operation, the cable Ai is pulled out as shown in FIG. The separator 31 prevents the cable Ai from being pulled too far towards the gripper 13 and 14 thereof during the extraction along the looped loop of the cable A ₂ , which could severely disturb the laying operation. Since the separator 31 protrudes between the two loops, the loop of the cable Ai can not be pulled beyond the height of the separator 31 on the looped cable A ₂ in the direction of its gripper. Rather, the loop of the looped cable A _{2 is directed} around the separator 31, so that the loop of the looping cable Ai is pulled off over the end of the looped loop of the cable A ₂ and can be laid free of this. As a result, the separator 31 ensures that the end region of the loop of the cable A ₁ to be laid, which faces away from the grippers, can not be pulled along a loop of a following cable so far in the direction of the grippers that it does not fall off the looped loop let more strip off.

The separating device 30 has been described with reference to the second embodiment. An equally effective separating device 30 with separators 31 and a common separator transport means comparable to the transport means 32 can cooperate with at most small modifications with the gripping tools 10 of the first and third embodiments. In the gripping tool 10 of the first embodiment would be even without modification. It can be the same separating device 30 as used in the second embodiment, wherein the separating means 30 in the first embodiment, one of the transport means 15a and 15b can be assigned in exactly the same manner as in the second embodiment, the transport means 15. In adaptation to the third embodiment, the Separator transport means 32 are replaced in particular by a rotor corresponding to the gripper transport 15c. Instead of a rigid rotor but could also be used in the third exemplary embodiment, a flexible traction means, which circulates about the axis of rotation R of the transport 15c.

In a modification, the separating device 30 can comprise only one single separator 31, comparable in each case to one of the several separators 31 of the exemplary embodiment. This single separator 31 would be arranged in a fixed assignment to the working position W. However, this solitary separator 31 would be mounted to move back and forth between a separating position and an inactive position and would be moved with respect to the advancing direction x behind the loop of the respective cable A ₁ in the working position W into the separating position, in which he between the The loop of this cable and a subsequent cable sticks out. Thus, in particular, the separator 31 shown in FIGS. 9 and 10 could form the sole separator of the modified separating device, in that it could be arranged inwards and downwards in relation to the advancing direction x slightly upwards from the advancing position V. In order to ensure that such a separator 31 is actually extended into the separating position directly behind the cable loop located in the working position W, ie that it does not accidentally protrude into the relevant loop or a subsequent loop in the separating position, it may be advantageous if the separator 31 is arranged in the modification in the inactive position close to the grippers in the area between the respective located in the working position W and the Vorhalteposition V grippers and initially extended for the separation of the loops at the given time and thereby between the loops and in the extended state of the Grippers away in the direction of the end portion of the loop of the located in the working position W cable is moved to the separating position.

FIG. 11 shows the separating device 30 in a further development. The further developed separating device 30 comprises, beyond the separators 31, a guide structure 34 which is arranged on the carrier 20 underneath the gripper projecting from the transport means and which forms a first channel 36 and a second channel 37 for the end regions of the cable loops. The channels 36 and 37 extend in the advancing direction x of the grippers 11 to 14, etc. side by side. The channels 36 and 37 are open towards the grippers 11 to 14, etc., so that the cable loops can hang in the channels 36 and 37. The assignment of the cable loops to either the channel 36 or the channel 37 may be fixed, for example, such that in an alternating sequence in each case a cable loop in the channel 36, the next following in the channel 37, the next-but-one again in the channel 36 and so on , The assignment can be suitably selected in adaptation to the lengths of the cable A ₁ in another way to prevent by means of the division of different, separate channels 36 and 37, the falling into each other of cable loops from the outset or at least the number of loops due to their overlap lengths can ever coincide, to reduce. If the space available on the carrier 20 allow it, more than two channels can be provided side by side. The guide structure 34 is trough-shaped and is divided by a separating structure 35, in the example a separating plate, into the channels 36 and 37.

The separating device 30 may in an alternative embodiment for the separation of the cable loops only guide channels corresponding to the channels 36 and 37 or only the separators 31, optionally also have only a single separator 31. Preferably, the separating device 30 comprises at least one separator 31, more preferably a plurality of separators 31, in combination with guide channels corresponding to the channels 36 and 37. To the separators 31 is added that their number preferably corresponds to the number of cables A ₁ , with which the gripping tool 10 maximum can be equipped. In the case of the preferably movable separators 31, these are preferably each associated with a gripper pair. In order to be able to make adjustments with regard to the cable lengths, it is advantageous if the position of the separators 31 with respect to the advancing direction x can be varied relative to the grippers 11 to 14, etc.

FIG. 12 shows a cable gripping tool 10 in a particularly preferred embodiment. The gripper tool 10 comprises arranged on a single gripper transport means 15 grippers, of which again only the grippers 11 to 14 are provided with reference numerals. The grippers are all the same with each other. The transport means 15 is a duplex chain with tabs, of which the grippers 11 to 14, etc. protrude to the outside. The grippers 11 to 14, etc. are modified from the grippers explained with reference to the first embodiment. With regard to the However, the comments on the first exemplary embodiment also apply to the principles of print performance. For the unit of grippers 11 to 14, etc. and transport means 15 and deflection 16 apply the remarks to the second embodiment. This gripper arrangement interacts with a separating device 30, as will be explained with reference to FIGS. 8 to 11.

The gripper assembly and the separating device 30 are arranged together on the carrier 20, the gripper assembly with respect to the axes of rotation R of the deflection 16 axially over the separating device 30, so that held by the grippers 11 to 14, etc. cable A ₁ initially free down hang in the direction of the separating device 30 and at least the longer of the cables A ₁ with Schlaufenendbereichen between the separators 31 and further into the below the separators 31 extending guide channels 36 and 37 protrude. Guide structures 28 also serve to guide the cables A ₁ in the area around the working position W.

The gripping tool 10 comprises a drive 29 for the gripper arrangement and a further drive 33 for the movable part of the separating device 30, namely the Separierer- transport means 32 with the separators 31. The drives 29 and 33 are designed separately, so that the gripper 11 to 14 etc. and the separators 31, although matched to each other, but in principle can also be driven circumferentially independently. The grippers 11 to 14, etc., on the one hand, and the separators 31, on the other hand, could in principle also be mechanically coupled to one another, for example by being driven around them by a common shaft. However, a mechanical decoupling of the two systems has the advantage that the position of the separators 31 relative to the grippers 11 to 14, etc. can be varied. A mechanical separation and only control technology, for example electrical coupling via the controls of the drives 29 and 33 provides in this regard the greatest possible freedom. The drives 29 and 33 are preferably each designed as an electric stepper motor.

The gripping tool 10 comprises two couplings arranged on the carrier 20, of which the coupling 21 can be seen. The other clutch is arranged on the hidden underside of the carrier 20. The gripping tool 10 is explained as in the first embodiment by means of the coupling 21, respectively connecting structure 21, dockable on the actuator 3. The further coupling is used for docking in the assembly device 8. The two couplings are each used for mechanical attachment and fulfill beyond the attachment function in each case a supply function. The supply function is that the control signals required for driving the gripper assembly and the moving part of the separating device 30 and the electrical energy are passed through the respective coupling. The formation of separate clutches has the advantage that the actuator 3 can dock on the coupling 21, while the gripping tool 10 is still docked with its further coupling in the region of the placement device 8. In the opposite case, the actuator 3 can define the still gripped by means of the coupling 21 gripping tool 10 defined by the gripping tool 10 is docked with the other coupling in the field of equipping and only then is undocked by the actuator 21 by the actuator 3.

FIG. 13 shows a laying tool 40 which is suitable for cooperation with the gripping tool 10 of the second exemplary embodiment, in particular the gripping tool 10 of FIG. 12. The laying tool 40 comprises the actuating device 22, the connector 23, a fixing device 43 and a cable guide 44 and a plurality of drives, the actuators for the laying of the cables A ₁ serving functional components 22, 23, 43 and 44 form. The laying tool 40 is docked on the actuator 3 and can remain in the docked state on the actuator 3, while for the completion of the wiring harness, the gripping tool 10 is changed. If the gripping tool 10 stores all the cables of the harness to be produced, which will not be possible in most applications due to the large number of cables in the complete harness, the actuator 3 exchanges the respective gripping tool 10 against a with the cables for each after making a complete harness the next wire harness equipped gripping tool 10 from. Even in such applications, the laying tool 40 can remain in the docked state on the actuator 3 and successively with the mutually exchanged gripping tools 10 cooperate.

The laying tool 40 comprises a base with a coupling for docking to the actuator 3 and the relatively movable to the base actuators 41, 42, 45, 46 and 47 for the Function components 22, 23, 43 and 44. The actuators are each formed as a linear drive. In particular, these may be pneumatic actuators. The actuator 22 and the fixing device 43 are reciprocable along the axis S by means of the actuator 41 back and forth. The axis S is parallel to an axis along which the end of the cable in the working position W is advanced by the connector 23 to connect the respective cable end with one of the terminals 6 of the laying board 5. The axis S is also parallel to the revolving axis R of the gripper. The fixing device 43 comprises a rigid fixing member, which is immovably connected to the longitudinal axis S movable part of the actuator 41. This fixing member is adjustable along the axis S between a rest position and an engaged position back and forth. In the engaged position, it is in a form-locking engagement with the respective gripper in the working position W in order to fix and stabilize the respective gripper in the working position W. For the engagement, the fixing member and each of the grippers form a guide cam and an engaging member. In the rest position, the fixing member of the fixing device 43 is moved a distance from the grippers, ie disengaged, so that each next gripper moves into the working position W and can be fixed by adjusting the fixing member in the engaged position.

The actuator 42 is arranged on the actuator 41 so that it participates in the movements along the axis S. The actuator 42 is adapted to move the actuator 22 relative to the base of the laying tool 40 and also relative to the fixing device 43 in a direction orthogonal to the axis S back and forth and thereby in each case in the

Working position W located gripper, for example, the gripper 11 to open, as has been exemplified for the first embodiment. This mobility is also indicated at 22 and 42.

The connector 23 comprises two pivoting jaws which, as indicated by the two directional arrows, are movable away from one another and toward one another again. This opening and closing movement of the jaws of the connector 23 are effected by means of the actuator 45. The actuator 45 and with this the connector 23 are arranged on the further actuator 46. The actuator 46 causes the advancing movement of the connector 23 along the axis S, by means of the cable end to the respective terminal 6 of the laying board fifth is moved. The operation of the connector 23 has been explained with reference to the first exemplary embodiment, so that reference is additionally made to the explanations there.

The cable guide 44, like the connector 23, has two jaws which are away from each other and movable toward each other again. The mobility of the two jaws of the cable guide 44 is also indicated by directional arrows. The actuator effecting these movements is designated by reference numeral 47. The jaws of the cable guide 44 form in the closed state with each other a passage through which the cable located in each case in the working position W extends during laying and is loosely guided.

During the movement of the respective gripper, for example the gripper 11, from the advancing position V to the working position W, the jaws of the connector 23 and the jaws of the cable guide 44 are opened. As soon as the gripper assumes the working position W, both pairs of jaws are closed, so that the cable, in the example case the cable A ₁ , loosely extends through the passage formed by the cable guide 44 and is clamped by the connector 23. From this state, the laying operation proceeds as explained with reference to the first exemplary embodiment.

FIG. 14 shows a gripping and laying tool which is formed from the gripping tool 10 of the second embodiment, more precisely from the gripping tool 10 of FIG. 12, and the laying tool 40 from FIG.

Reference numerals:

1 automaton, robot

2 base 3 actuator, robot arm

4 laying device

5 laying board 6 connection, holding means

7 guide means, holding means

8 equipping device

9 conveyor, charging rail

10 cable gripping tool

11 first gripper

12 second gripper

13 third gripper

14 fourth gripper

15 gripper transport

15a gripper transport

15b gripper transport

15c gripper transport

16 deflecting means

16a deflecting means

16b deflecting means

17 Greiforgan

18 Greiforganausleger

19 spring

20 carriers

21 connection structure, coupler

22 actuator

23 connectors

24 sponsors

25 loaders

26 cable ties

27 unloaders

28 lead structure

29 Gripper drive

30 S pearing device

31 Separator

32 s peater transport 33 S peater drive

34 Leitstruktur, tub

35 separation structure

36 channel

37 channel

38 side cover

39 -

40 installation tool

41 actuator

42 actuator

43 Fixing device

44 Cable management

45 actuator

46 actuator

47 actuator

A ₁ cable

B attachment

C contact

D wiring harness

F postprocessing area

L loading area

R rotation axis

S axis

U unloading area

V Hold position

W work position

X propulsion direction

Z axis of rotation

Claims

claims

1. cable gripping tool for a spatially movable actuator of a machine, the cable gripping tool comprising: a) an attachable to the actuator (3) carrier (20), b) a first gripper (11) and a second gripper (12) for a cable

c) a third gripper (13) and a fourth gripper (14) for a further cable (A ₂ ), d) wherein the grippers (11, 12, 13, 14) on the carrier (20) from each of a Vorhalteposition (V ) in each case a working position (W) are movably arranged to the cables (A ₁ , A ₂ ) for producing a wire harness (D) by means of each in its working position (W) located gripper (11, 12, 13, 14) according to to arrange a laying plan in a laying device (4).

2. Cable gripping tool according to the preceding claim, characterized in that the first and the second gripper (11, 12) successively and thereafter the third and the fourth gripper (13, 14) successively from the

Advance position (V) are arranged movable in their working position (W), wherein the working position for each of the grippers (11, 12, 13, 14) relative to the carrier (20) is preferably the same.

Cable gripping tool according to one of the preceding claims, comprising a mechanism (15, 16; 15a, 16a, 15b, 16b) arranged on the support (20), by means of which the grippers (11, 12, 13, 14) move out of their position Advance position (V) in its working position (W) are movable, preferably at least substantially horizontally, and vorzugseise a on the support (20) arranged drive for the mechanism (15, 16;

15a, 16a, 15b, 16b).

4. Cable gripping tool according to the preceding claim, characterized in that the grippers (11, 12, 13, 14) with respect to the leading to the working position movement on the mechanism (15, 16) are arranged one behind the other in the order, in they are successively moved to the working position.

Cable gripping tool according to one of the preceding claims, comprising a driven transport means (15; 15a; 15b) arranged on the support (20), on which the grippers (11, 12, 13, 14) or only one group of grippers (11, 13, 12, 14) together with the

Transport means (15a, 15b) are arranged movably, so that the grippers arranged on the transport means (15; 15a; 15b) are moved successively into their working position (W) by a movement of the transport means, and preferably one on the carrier (20). arranged drive for the transport means (15, 16, 15a, 16a, 15b, 16b).

6. Cable gripping tool according to the preceding claim, characterized in that on the transport means (15, 16, 15a, 16a, 15b, 16b) arranged gripper (11, 12, 13, 14) transversely to its predetermined by the transport driving direction (x) about the

Protrude before transport, preferably protrude from the transport.

7. Cable gripping tool according to one of the two preceding claims, characterized in that the transport means (15; 15a, 15b) an endlessly spaced around deflecting means (16; 16a, 16b) running, preferably positive and therefore slip-drivable traction means, preferably a Chain or a timing belt is.

8. Cable gripping tool according to one of the three preceding claims and at least one of the following features: (I) the grippers (11, 13, 12, 14) or the grippers (11, 12, 13, 14) of the group are arranged on the transport means (15, 15 a, 15 b) in the direction of the working position (W) one behind the other ;

(ii) on the support (20) are a first mechanism (15a, 16a), by means of which the first gripper (11) and the third gripper (13) from their

Advance position (V) in its working position (W) are movable, and another, second mechanism (15b, 16b) arranged by means of which the second gripper (12) and the fourth gripper (14) from its Vorhalteposition (V) in its working position (W) are movable; (iii) two transport means (15a, 15b) are arranged side by side on the carrier (20) and the grippers (11, 13; 12, 14) are arranged on the transport means (15a, 15b) so as to engage with the grippers of the respective ones overlap other means of transport and in the direction of the working position (W) on one of the grippers (11, 13) of the one (15a) of the transport means of one of the grippers (12, 14) of the other

(15b) the means of transport follows;

(iv) two transporting means (15a, 15b) are arranged around at least substantially parallel axes of rotation (R) in a direction transverse to the axes of rotation (R) spaced from one another and externally on the support (20).

9. Cable gripping tool according to one of the preceding claims, characterized in that the cables (A ₁ ) form loops between their ends held by the grippers (11, 12, 13, 14), preferably hanging loops, and on the carrier (20 ) a separating device (30) for the

Is provided to prevent one of the loops from looping around another and being pulled up to its gripper when laid on the looped loop, and that the separating device (30) preferably comprises a single or several separators (31) or which projects or projects between successive loops towards the working position (W) in order to separate the loops from each other.

10. Cable gripping tool according to one of the preceding claims, comprising a first coupling for automatic docking to the actuator (3) and preferably a further, second coupling for automatic docking to a device for automatically loading the cable gripping tool (10) a set of cables (A ₁ ).

11. A system for producing a wiring harness, comprising: a) an automatic machine (1) with a movable in space actuator (3), b) a cable gripping tool (10) according to one of the preceding

Claims for the actuator (3) c) and in a working area of the machine (1) arranged laying device (4), d) wherein the machine (1) is adapted to a set of cables (A ₁ ), of the cable Gripping tool (10) can be kept to arrange according to a laying plan for the wiring harness (D) in the laying device (4).

Plant according to the preceding claim, comprising at least one of the following means, preferably arranged in a fixed relationship to the working position (W): (i) one on the support (20) or separately from the support (20) on the other Actuator (3) arranged actuating means (22) for opening or closing a in the working position (W) located gripper (11, 12, 13, 14);

(ii) a test device arranged on the carrier (20) or separately from the carrier (20) on the actuator (3) for testing a state of the last cable (A ₁ ) respectively arranged in the laying device (4), in particular the connection state of the cable (A ₁ ) with a connection (6) of the wiring harness (D); (Ii) on the carrier (20) or separately from the carrier (20) on the actuator (3) arranged cable guide (44) for guiding the respective cable to be laid (A ₁ ));

(iv) a fixing device (43), which is arranged on the carrier (20) or separately from the carrier (20) on the actuator (3), for fixing in each case in the

Working position gripper (11, 12, 13, 14);

(v) a connector (23) which can be moved back and forth on the carrier (20) or separately from the carrier (20) on the actuator (3) for the purpose of producing a mechanical connection, preferably a plug connection, of the cable end (Ai) in the working position ( W) located

Gripper (11) with a in the laying device (4) arranged connection (6) of the wiring harness (D), wherein the connector (23) is preferably a connector gripper for gripping the respective cable (Ai).

13. Installation according to one of the two preceding claims, comprising a separate from the cable gripping tool (10) on the actuator (3) attached or attachable installation tool (40) on which at least one of the devices (22, 23, 43, 44) is, wherein the cable gripping tool (10) can be received separately from the laying tool from the actuator (3).

A plant according to any one of the preceding claims, comprising a further cable gripping tool (10) according to any preceding claim, wherein each of the cable gripping tools (10) is receivable by the actuator (3) instead of the other.

15. Installation according to one of the preceding claims, comprising a in the workspace of the machine (1) arranged loading device (8) for a placement of the cable gripping tool or tools

(10) each with a set of cables (A ₁ ).

16. Installation according to one of the preceding claims, comprising a conveyor (24) for holding and conveying at the same time a plurality of levers (5), a loader (25), by means of which the laying lifter (5) in each case in a loading area (L) of the conveyor ( 24) with retaining means (6, 7) for the

Cable (A ₁ ) can be fitted, and a discharger (27) for removing the cable harness (D) produced on one of the laying boards (5) by means of the machine (1) from the respective laying board (5), - the laying boards (5) by means of the conveyor (24) of the

Loading area (L) over the working area of the machine (1) in the unloading area (U) are movable.

17. Installation according to one of the preceding claims, comprising - a further machine (1) with a further actuator (3) and a further cable gripping tool (10) according to one of the preceding claims for the further actuator (3), wherein by means of the other Automata (1) one of the other cable gripping tool (10) held further set of cables (A ₁ ) according to the laying plan in the laying device (4) can be arranged.

18. A method for the production of a wire harness (D), wherein a) an automaton (1) with a movable in space actuator (3) to which a cable gripping tool (10) according to one of the preceding

Claims, the cable gripping tool (10) moves to a laying device (4) equipped with a first connection (6) and a second connection (6) for the cable harness (D), b) wherein the first and the second gripper ( 11, 12) hold a first cable (Ai) and the third and fourth grippers (13, 14) hold a second cable (A ₂ ), c) the automaton (1) positions the first gripper (11), which assumes its working position (W) on the support (20), in front of the first connection (6) and d) an end of the gripper (11) held by the first gripper (11) first cable (Ai) is mechanically connected to the first connection (6), e) the first gripper (11) moves from its working position (W) and the second gripper (12) moves from its advancing position (V) to its working position (W) f) the machine (1) moves the cable gripping tool (10) so that the second gripper (12) in its working position (W) before the second

Terminal (6) is positioned and g) the other end of the first cable (Ai) is mechanically connected to the second terminal (6), h) the second gripper (12) from its working position (W) and the third gripper (12) from his reserve position (V) to his working position

(W) are moved, i) the machine (1) moves the cable gripping tool (10) so that the third gripper (12) is positioned in its working position (W) in front of the first or the second terminal (6) and j ) an end of the second cable held by the third gripper (13)

(A ₂ ) is mechanically connected to the first or the second terminal (6), k) the third gripper (13) from its working position (W) and the fourth gripper (14) from its holding position (V) in its working position (W ) are moved,

1) the machine (1) moves the cable gripping tool (10) so that the fourth gripper (14) is positioned in its working position (W) in front of the second or the first connection (6) or a third connection (6) and m) the other end of the second cable (A ₂ ) mechanically with this

Connection (6) is connected.

9. The method according to the preceding claim, wherein the machine (1) after laying the set of cables (A ₁ ) the cable gripping tool (10) against a already equipped with another set of cables (A ₁ ) other cable Replacing gripping tool (10) and repeats the method according to the preceding claim with the other cable gripping tool (10) for producing the same or a next wiring harness (D).