EP3707731B1 - Twisting appliance and twisting head device and method for twisting or stranding cables - Google Patents

Description

The invention relates to a twisting device for twisting or stranding electrical and/or optical cables, a method for stranding or twisting electrical and/or optical cables with the twisting device and a computer-implemented method for automatically determining and generating data sets and/or movement commands for a twisting device according to the preambles of the independent claims.

When manufacturing cable bundles, a distinction must be made between two manufacturing processes: twisting or stranding. However, the two terms are often mixed up in the literature. In this case, a twisting process is understood to mean the mutual twisting of two or more cables, resulting in a twisting pitch that indicates the length of a single 360° turn or wrap. In order to achieve a certain twist, the cable bundle must, in the simplest case, be over-twisted during this production so that it finds the desired final twist after a relaxation process. This process is very suitable for the majority of applications. Typically, the twisting of insulated copper conductors is used to produce twisted cable bundles in automotive engineering.

In comparison, only a small proportion of cable bundles are produced using the stranding process principle. In this case, a stranding process is understood to mean the mutual wrapping of two or more cables. The lay length, i.e. the distance from one turn to the next, is specified by a stranding ship, which is moved from one end of the cable to the other end along the cables to be stranded while the cables to be stranded are wrapped around each other. The stranding process places significantly less stress on the cables to be stranded because the torsion of the individual cables is absorbed or compensated for in the stranding process. This method is suitable when very sensitive, e.g. very thin cables, are to be twisted into a cable bundle. Stranded cable bundles are typically used in sheathed cables.

Twisted or stranded cables are often used where two or more cables are installed simultaneously in a cable bundle or special technical requirements are placed on the cable bundles. Twisted cables are typically used in the automotive sector or in equipment construction. Twisted or stranded cables (e.g. so-called twisted pairs, when two cables are twisted to form a cable bundle) are used where the cables must be insensitive to electromagnetic interference in their environment (electromagnetic compatibility (EMC)).

During production, the cables to be twisted or stranded together are clamped into rotating stranding or twisting heads. The clamped cables are then twisted or turned around each other so that the end product is a bundle of cables (so-called twisted pair).

DE 196 31 770 A1 shows a method and a device for twisting at least two individual cables. The cable ends of the individual cables are clamped on the one hand in a rotatable untwisting clamping fixture of a first twisting head and on the other hand in a twisting clamping fixture of a second twisting head that can be rotated together about a twisting axis. During the twisting process, a twisting ship, which is located between the two individual cables, is moved from the twisting clamping fixture to the untwisting clamping fixture along the individual cables. The travel speed of the twisting ship is set using a control system.

The disadvantage of the solution mentioned above is that the drill frame can only be moved from the twisting holder towards the untwisting clamping holder during the twisting process. Therefore, the drill frame must be moved back from the untwisting clamping holder to the twisting holder before each new twisting process. This leads to increased time expenditure in production.

The US 2009/0 2413 14 A1 shows a device for stranding cables with a first twisting head device and a second twisting head device. The two twisting head devices each have a rotatable twisting rotor. Furthermore, a stranding ship is present, which is moved along a direction between the twisting head devices. During the stranding process, the stranding ship is moved at different speeds from the first Twisting head device can be moved to the second twisting head device for adjusting the lay length. A similar device is also available in the JP 2010 027478 A disclosed.

The disadvantage of these known solutions is that with the previously mentioned devices only one stranding of cables is possible, whereby the stranding ship can only be moved between the two twisting head devices.

DE 20 2016 103 444 U1 shows a device for creating a bundle of cables which are clamped between two clamping devices. One of the clamping devices has a rotatably mounted carrier and a housing, whereby the rotatably mounted carrier has a rotatably mounted clamping receptacle for each of the cables to be twisted. The carrier and the clamping receptacles are rotated by a drive during the twisting process. The Clamping fixtures are operatively connected to the housing via a gear arrangement so that the clamping devices rotate in a certain gear ratio against the direction of rotation of the carrier.

The disadvantage of the aforementioned solution is that when twisting, there is always a fixed transmission ratio and a predetermined direction of rotation between the rotating clamp holders and the rotating supports, so that only a limited selection of cable types can be twisted with this device.

It is the object of the present invention to remedy one or more disadvantages of the prior art. In particular, a universally usable twisting head device and/or a method for stranding or twisting optical and/or electrical lines is to be created. Furthermore, in particular, a universally usable twisting device for stranding or twisting and/or a method for stranding or twisting optical and/or electrical lines is to be created, and a computer-implemented method for a twisting device for twisting or stranding optical and/or electrical lines is to be provided, which remedy one or more disadvantages of the prior art.

This object is achieved by the devices, devices and methods defined in the independent claims. Advantageous further developments are set out in the figures, the description and in particular in the dependent patent claims.

A twisting head device for twisting or stranding electrical or optical cables comprises a twisting rotor, a twisting rotor drive device for driving the twisting rotor, a first gripper device which is rotatably arranged on the twisting rotor and at least one further gripper device which is rotatably arranged on the twisting rotor. The twisting rotor is rotatably arranged on the twisting head device and has an axis of rotation. At least the first gripper device can be driven by means of a gripper drive device and a drive shaft. The drive shaft extends at least partially through the twisting rotor.

With such a twisting head device, at least the first gripper device can be driven independently of the twisting rotor. This enables For example, the twisting rotor and the first and second gripper devices can each be driven independently, in particular at different speeds or directions of rotation. The twisting rotor drive device is mechanically separated from the gripper drive device. This means that a wide variety of highly sensitive electrical and/or optical cables can be stranded or twisted in a reproducible manner.

The at least partial extension of the drive shaft in the twisting rotor allows a compact design of the twisting head device, while at the same time increasing the possibilities and flexibility in the drive variants of the twisting rotor drive device and the gripper drive device.

Advantageously, the drive shaft is arranged coaxially to the rotation axis of the twisting rotor. This means that the drive shaft and the twisting rotor are arranged around the same rotation axis, which enables a compact design of the twisting head device.

Preferably, at least the first gripper device is arranged on a first gripper shaft and has a first gripper rotation axis. The arrangement on a first gripper shaft enables the first gripper device to rotate. This ensures a simple and stable construction of the first gripper device on the twisting head device, so that only low centrifugal forces act on the gripper device.

Advantageously, the first gripper shaft extends at least partially into the twisting rotor. This improves the stable structure of the twisting head device. At the same time, this allows an overall compact structure of the twisting head device.

It is also advantageous if the first gripper rotation axis is spaced apart from the rotation axis of the twisting rotor. The spacing of the rotation axis of the twisting rotor from the first gripper rotation axis of the first gripper device creates a defined geometric structure in the twisting head device.

Advantageously, the first gripper rotation axis is radially spaced from the rotation axis of the twisting rotor. This allows the first gripper shaft to move on a circular path around the twisting rotor, which enables the cables to be twisted or stranded easily.

Preferably, the twisting rotor has a hollow rotor shaft, wherein the drive shaft is arranged at least partially within the hollow rotor shaft. The arrangement of the drive shaft within the hollow rotor shaft enables a compact construction of the twisting head device, wherein the overall system has a lower inertia and therefore increased running stability during operation.

The drive shaft advantageously extends through the twisting rotor, with at least one drive bearing device being arranged at least partially within the twisting rotor, which rotatably supports the drive shaft. The drive shaft is thus at least partially supported in the twisting rotor. This leads to improved bearing stability of the drive shaft in the twisting head device. The positioning of the drive bearing device of the drive shaft within the twisting rotor also enables an improvement in the vibration suppression of the drive shaft. This makes it possible to increase the quality in the manufacturing process of the cables to be twisted or stranded.

Advantageously, the drive shaft is arranged to be rotatable relative to the rotatable twisting rotor, whereby different directions of rotation and/or rotational speeds of the drive shaft and the twisting rotor can be realized.

Preferably, at least the further gripper device can be driven by means of the gripper drive device and the drive shaft. This also allows the further gripper device to be driven independently of the twisting rotor, which further improves the quality in the production of the cables to be stranded or twisted.

The additional gripper device is advantageously arranged on an additional gripper shaft. The arrangement on an additional gripper shaft enables the additional gripper device to be rotated relative to the twisting rotor.

Further advantageously, the further gripper shaft extends at least partially in the twisting rotor and has a further gripper rotation axis, whereby the compact design of the twisting head device can also be realized with several gripper devices.

Another advantage is that the additional gripper rotation axis is spaced from the rotation axis of the twisting rotor, which enables a defined geometric structure of the twisting head device.

Preferably, at least one gripper bearing device is arranged within the twisting rotor, which rotatably supports at least the first gripper device. This enables simple mounting of the first gripper device in the twisting head device and a compact construction of the twisting head device.

Advantageously, an additional gripper bearing device also supports the additional gripper device in a rotatable manner within the twisting rotor, whereby the inherently complex, rotating system can be easily supported within the twisting rotor.

The twisting rotor preferably has a connecting shaft which creates an operative connection between the drive shaft and at least the first gripper shaft. The operative connection can be created using at least one first gear device. The first gear device is arranged between the drive shaft and the connecting shaft. The connecting shaft is thus spatially decoupled from the drive shaft in the twisting rotor and can still be driven by means of this gripper drive device.

The operative connection can advantageously be established using a further gear device which is arranged between the connecting shaft and at least the first gripper shaft. This means that the first gripper shaft can be easily driven by the gripper drive device.

It is also advantageous for the operative connection to be established using the additional gear device, which is arranged between the connecting shaft and at least the first gripper shaft and between the connecting shaft and the additional gripper shaft. This means that in addition to the first gripper shaft, the additional gripper shaft can also be easily driven with just one gripper drive device.

Preferably, a connecting bearing device is arranged within the twisting rotor, which rotatably supports the connecting shaft. This leads to increased bearing stability and thus to increased running stability of the connecting shaft within the twisting rotor.

Preferably, the gripper drive device and the twisting rotor drive device are arranged at least partially on a common fastening device. The individual drives can be mounted independently of one another on a common fastening device. Advantageously, the gripper drive device and the twisting rotor drive device are connected to a control device. Thus, the gripper drive device and the twisting rotor drive device are each connected to the control device independently of one another and can each receive control commands or movement commands independently.

It is also advantageous for the gripper drive device and the twisting rotor drive device to be arranged at least partially on a common fastening device. This arrangement allows the gripper drive device and the twisting rotor drive device to be attached to the twisting head device in a simple and space-saving manner. In addition, the gripper drive device and the twisting rotor drive device are connected to the control device. Control commands or movement commands can thus be sent independently, but simultaneously, from the control device to the gripper drive device and the twisting rotor drive device. Preferably, at least the first gripper device has at least one gripper for gripping one end of the line, whereby the end of the line can be easily clamped.

Advantageously, the at least one gripper has an axially guided closing sleeve for at least partially enclosing the at least one gripper. The closing sleeve surrounds the at least one gripper. This enables the end of the line to be held easily and securely.

Advantageously, the further gripper device has at least one further gripper for gripping a line end of a further line, whereby the line end of the further line can be easily clamped.

Advantageously, the at least one further gripper has an axially guided closing sleeve for at least partially enclosing the at least one further gripper. This enables the end of the line to be held easily and securely.

• Einspannen von einem ersten Leitungsende einer ersten Leitung in eine erste Greifereinrichtung;
• Einspannen zumindest von einem ersten Leitungsende einer weiteren Leitung in eine weitere Greifereinrichtung;
• Antreiben eines Verdrillrotors mit einer ersten Anzahl von Umdrehungen um eine Rotationsachse des Verdrillrotors mithilfe einer Verdrillrotorantriebseinrichtung;
• Antreiben von zumindest der ersten Greifereinrichtung um eine erste Greiferdrehachse mit einer weiteren Anzahl von Umdrehungen mithilfe einer Greiferantriebseinrichtung;
• Antreiben von zumindest der weiteren Greifereinrichtung um eine weitere Greiferdrehachse mit der weiteren Anzahl von Umdrehungen mithilfe der Greiferantriebseinrichtung, wobei die erste Anzahl von Umdrehungen und die weitere Anzahl von Umdrehungen von einer Steuereinrichtung vorgegeben werden.

A further aspect relates to a method for twisting or stranding electrical and/or optical cables and comprises at least the following steps:

• clamping a first line end of a first line in a first gripping device;
• clamping at least a first line end of a further line into a further gripping device;
• Driving a twisting rotor with a first number of revolutions about a rotation axis of the twisting rotor by means of a twisting rotor drive device;
• Driving at least the first gripper device about a first gripper rotation axis with a further number of revolutions by means of a gripper drive device;
• Driving at least the further gripper device about a further gripper rotation axis with the further number of revolutions by means of the gripper drive device, wherein the first number of revolutions and the further number of revolutions are predetermined by a control device.

This makes it possible to twist the cables to be stranded or twisted around their respective longitudinal axes and also to twist each other around the rotation axis of the twisting rotor, so that the clamped cables can be twisted or stranded. Optical and/or electrical cables, which are sensitive to the number of revolutions and the subsequent mechanical stress in the stranding or twisting process, can be stranded or twisted reproducibly with little waste during production.

The method is advantageously carried out with the twisting head device described above, whereby cable bundles of particularly high quality are produced.

Preferably, the additional number of turns is 50% to 98% of the first number of turns. The different numbers of turns allow, for example, simultaneous back-twisting of the individual cables during the twisting process.

The additional number of revolutions is advantageously 60% to 70% of the first number of revolutions, which enables improved back twisting in the twisting process. The twisting rotor thus rotates with a higher number of revolutions around the rotation axis than the first gripper device or the additional gripper device. around their gripper rotation axes. This results in time savings in the stranding or twisting process.

Preferably, the twisting rotor and at least the first gripper device are driven in the same direction of rotation or the twisting rotor and at least the first gripper device are driven in the opposite direction of rotation, whereby an integrated back-twisting in the twisting process is enabled and/or certain properties in the cable bundle can be set.

The inventive aspect relates to a twisting device for twisting or stranding electrical or optical cables according to claim 1.

Detecting the position of the stranding ship makes it possible to transmit this position to an operator. This allows an operator of the twisting device, who is stationed in a control room far away from the twisting device, for example, to determine the position of the stranding ship. Based on this position, the operator can decide whether a twisting process or a stranding process can be started on the twisting device. This means that the cable bundle can be produced using either a stranding process or a twisting process.

Since the position of the stranding ship is detected, both manufacturing processes can be carried out on the same device without the operator of the twisting device having to be stationed directly at the machine, e.g. to check the position of the stranding ship.

Typically, the stranding vessel is designed as a bolt, which makes the stranding vessel easy to manufacture.

The first sensor device is advantageously connected to the control device of the twisting device for exchanging sensor data. The sensor data, for example sensor data on the position of the stranding ship, can thus be transmitted to the control device and can be collected in the control device and, if necessary, further processed there. This sensor data includes, but is not limited to, data sets on position information, location information or status information relating to the stranding ship.

The twisting device advantageously has at least one twisting head device as described here as the first twisting head device. The twisting head device has a twisting rotor drive device and a gripper drive device. These can be controlled independently of one another by the control device of the twisting device. This allows either a twisting process or a stranding process to be carried out on the twisting device. The first twisting head device has a particularly compact design. This in turn promotes the compact design of the twisting device. The manufacturer of cable bundles made of a wide variety of electrical and/or optical cables therefore only needs one device for stranding or twisting cables, which enormously reduces production costs in a production hall.

The twisting device preferably has a first positioning device on which the stranding ship is arranged. The stranding ship can be brought into a stranding position using this first positioning device. The twisting device thus allows a stranding process to be carried out when the stranding ship is in a stranding position.

Alternatively or additionally, the stranding ship can be brought into a rest position using this positioning device. The twisting device thus allows a twisting process to be carried out when the stranding ship is in a rest position. Furthermore, the stranding ship can easily be brought from the stranding position to the rest position and vice versa from the rest position to the stranding position, which allows a stranding process or a twisting process to be carried out on the twisting device.

The stranding position is any position in which the stranding ship is located between the cables to be stranded. The rest position of the stranding ship is any position in which the stranding ship makes no contribution to the stranding process.

Advantageously, the stranding ship can be introduced linearly into the stranding position or into the rest position, which enables the stranding ship to be moved in an easily controlled manner. The stranding ship is then typically introduced from one side of the twisting device between the cables to be stranded.

The positioning device is advantageously designed in such a way that the stranding ship can be introduced linearly between the cables to be stranded, starting from a position above the twisting head device in the direction of the cables to be stranded. This makes it easier for the operator to access the twisting device, for example during maintenance work. Furthermore, the stranded cable bundle will not be able to collide with the stranding ship after the stranding process has ended if it falls into a collecting container of the twisting device after it has been released.

Alternatively or additionally, a support device is arranged on the first positioning device, wherein the support device can be brought into a support position and/or into a rest position. The support device supports the cables during the stranding or twisting process, whereby the cables to be stranded or twisted sag less and are therefore subjected to less mechanical stress. This also improves the quality of the cable bundles.

The support position is any position in which the support device rests on the cables to be twisted or stranded. For example, the cables to be twisted or stranded rest on the support device when clamped in the twisting device. The rest position of the support device is any position in which the support device makes no contribution to the production process.

Advantageously, the support device can be pivoted into a support position and a rest position. This makes it particularly easy to move the support device and position it precisely on the first positioning device of the twisting device.

Preferably, the twisting device has a further support device for supporting at least one line, wherein the further support device is movable. This allows the line to be supported at a further position.

Advantageously, the additional support device is arranged on a further positioning device and can be brought into a support position and a rest position. the additional support device with the additional positioning device can be moved independently of the stranding vessel.

The additional support device is advantageously pivotable. This makes it particularly easy to move the additional support device and position it precisely on the additional positioning device of the twisting device.

Preferably, the twisting device has a stranding ship drive for positioning the stranding ship from a stranding position to a rest position, whereby the stranding ship can be easily brought out of the stranding position.

Advantageously, the stranding ship drive is designed to position the stranding ship from a rest position to a stranding position, thus enabling automatic positioning of the stranding ship.

Alternatively or additionally, the twisting device has a support device drive for positioning the support device from a support position to a rest position, whereby the support device can be easily brought out of the support position.

Advantageously, the support device drive is designed to position the support device from a rest position into a support position, whereby the support device can be brought precisely and reproducibly to the cables to be stranded or twisted.

Advantageously, the support device drive is designed to pivot the support device from a rest position into a support position, whereby the support device can be brought particularly easily and reproducibly to the cables to be stranded or twisted.

Advantageously, at least one of the two drives is connected to the control device. This allows the exchange of control data between the control device and the cable-laying ship drive and/or the support device drive, with which they can reproducibly move the cable-laying ship and/or the support device and/or the further support device between or to the lines.

Advantageously, the twisting device has a further support device drive for positioning the further support device, which is connected to the Control device is connected. This allows the cables to be supported at at least one other position in the twisting device.

Advantageously, the further support device drive is designed to pivot the further support device from a rest position into a support position, whereby the further support device can be brought particularly easily and reproducibly to the cables to be stranded or twisted.

Preferably, the twisting device has at least one second sensor device which is designed to detect the position of the support device, whereby the support position on the cables to be twisted or stranded can be detected and the rest position of the support device can be detected. This enables reproducible positioning of the support device.

The second sensor device is advantageously connected to the control device for exchanging sensor data. This sensor data also includes, but is not limited to, data sets on position information, location information or status information relating to the support device. The sensor data can be processed in the control device and then taken into account for further control of the support device. This allows precise support of the cables to be stranded or twisted, which prevents the cables from sagging in the twisting device, particularly in the case of very long cables, and thus reduces the mechanical load on the cables during the stranding or twisting process.

Advantageously, the twisting device has at least one third sensor device which is designed to detect the position of the further support device, whereby the support position on the cables to be twisted or stranded can be detected and the rest position of the further support device can be detected.

The third sensor device is advantageously connected to the control device for the exchange of sensor data. This sensor data also includes, but is not limited to, data sets on position information, location information or status information relating to the additional support device. The sensor data can be processed in the control device and then taken into account for the further control of the additional support device. This allows the cables to be stranded or twisted to be supported precisely on a further position, which prevents the cables from sagging in the twisting device, especially in the case of very long cables.

Preferably, the first positioning device of the stranding ship is movably arranged on a first guide device, wherein the stranding ship is movable along a direction between the clamping device and the first twisting head device. The stranding ship can thus be moved from the clamping device in the direction of the first twisting head device and from the first twisting head device in the direction of the clamping device.

Advantageously, the first positioning device has a drive device for moving the first positioning device on the first guide device, whereby the stranding ship can be moved automatically between the first twisting head device and the clamping device.

The stranding ship is advantageously arranged on the support device. This allows a simplified structure of the stranding ship and the support device on the first positioning device. For example, the support device and the stranding ship are designed as one piece, whereby the cables are stranded and supported at the same time.

The stranding ship is advantageous as it allows the cables to be stranded particularly precisely.

Alternatively or additionally, the support device is T-shaped, which allows the cables to be stranded to be held or stranded and held particularly precisely.

Alternatively or additionally, the positioning device of the support device is movably arranged on the first guide device, wherein the support device is movable along a direction between the clamping device and the first twisting head device.

Advantageously, the positioning device has a drive device for moving the positioning device on the first guide device, whereby the support device can be moved automatically between the first twisting head device and the clamping device.

Advantageously, the further positioning device of the further support device is movably arranged on the first guide device, wherein the further support device is movable along a direction between the clamping device and the first twisting head device.

Advantageously, the further positioning device has a drive device for moving the further positioning device on the first guide device, whereby the further support device can be moved automatically between the first twisting head device and the clamping device.

Preferably, the clamping device is designed as a further twisting head device and is connected to the control device for controlling at least the further twisting head device. This increases the flexibility of the twisting device.

Advantageously, the clamping device is designed as an additional twisting head device, which enables a compact construction of the twisting device.

The twisting device preferably has a computing device and a storage device which are connected to the control device. This allows, on the one hand, new data sets or movement commands to be calculated in the computing unit and, on the other hand, data sets or movement commands stored in the storage unit to be transmitted to the control device.

Advantageously, at least sensor data from the first sensor device of the cable ship can be processed using the computing device. This allows, for example, the sensor data from at least the first sensor device to be processed into control commands or movement commands for controlling the position of the cable ship.

Alternatively or additionally, at least sensor data from the second sensor device of the support device can be processed using the computing device. This allows, for example, the sensor data from at least the second sensor device to be processed into data sets or movement commands for controlling the location or position of the support device.

Advantageously, the sensor data of the first sensor device can be stored in the storage device, whereby the stored sensor data can be accessed as needed.

Alternatively or additionally, the sensor data of the second sensor device can be stored in the storage device, whereby the stored sensor data can be accessed as required.

Advantageously, at least sensor data from the third sensor device of the cable carrier can be processed using the computing device. This allows, for example, the sensor data from at least the third sensor device to be processed into control commands or movement commands for controlling the position of the additional support device.

Advantageously, the sensor data of the third sensor device can be stored in the storage device, whereby the stored sensor data can be accessed as needed.

Preferably, the twisting device has a further guide device for linearly moving at least the clamping device along a direction between the first twisting head device and the clamping device. This enables positioning of at least the clamping device in order to keep the line tension constant during the stranding process or the twisting process.

Alternatively, the twisting device has a further guide device for linearly moving at least the first twisting head device along a direction between the first twisting head device and the clamping device. This enables positioning of at least the first twisting head device in order to keep the line tension constant during the stranding process or the twisting process.

Advantageously, the first twisting head device and the clamping device are arranged on the further guide device so as to be linearly movable along a direction between the first twisting head device and the clamping device. This allows simultaneous movement or symmetrical movement of the first twisting head device and the clamping device during the twisting or stranding process.

Advantageously, the twisting device has at least one further sensor device which detects a position of the first twisting head device on the further guide device and transmits sensor data to the control device. This allows the sensor data to be subsequently processed in the computing device. and save them in the storage device. This increases the quality of the cable bundles produced.

Alternatively or additionally, the twisting device has at least one further sensor device, which detects a position of the clamping device on the further guide device and transmits sensor data to the control device. This allows the sensor data to be subsequently processed in the computing device and stored in the storage device. This allows a completely reproducible movement of the first twisting head device and the clamping device, whereby the stranded or twisted cable bundles can be produced in a reproducible manner.

The further aspect of the invention relates to a method for stranding or twisting at least two electrical and/or optical lines with a twisting device according to claim 10.

Detecting the position of the stranding ship makes it possible to transmit this position to an operator of the twisting device. This allows an operator who is stationed in a control room far away from the twisting device, for example, to determine the position of the stranding ship. Based on this position, the operator can decide whether either a twisting process or a stranding process can be started on the twisting device.

Advantageously, the twisting device is a twisting device as described herein and has a first Twisting head device with a twisting rotor, with which the stranding or twisting process can be carried out fully automatically.

Advantageously, the two cables are clamped parallel to each other in the twisting device, which makes it easy to produce the cables to be stranded or twisted.

Preferably, before carrying out the stranding process, at least the stranding ship is moved into a stranding position or the stranding ship is moved into a rest position before carrying out the twisting process. This enables the process for producing the cable bundle, which has been previously determined by the operator of the twisting device, to be carried out automatically.

Preferably, a position of a support device is detected with a second sensor device. This makes it easy to decide whether the support device should be used in the stranding process or the twisting process.

Advantageously, the support device is moved from a rest position to a support position, whereby the support device then rests on the cables to be stranded or twisted and can support them.

Advantageously, the support device is pivoted from a rest position into a support position, whereby a simple movement is carried out.

Advantageously, the support device is moved from a first support position to a further support position during the stranding or twisting process, so that the cables to be stranded or twisted always rest against the support device and thus the quality of the stranded or twisted cable bundles produced is improved.

Preferably, during the stranding process, the stranding vessel is moved along a direction away from the clamping device in the direction of the first twisting head device, whereby the lay length in the cable bundle to be stranded can be adjusted.

Advantageously, at least one position of the stranding vessel along this direction is determined by at least one further sensor device and the sensor data is transmitted to the control device and further processed by the control device. This allows a precise setting or calculation of the lay length in the stranded cable bundle, which improves the quality of the stranded cable bundle. For example, the shortening of the cable pair during stranding or twisting and thus the length compensation by moving the clamping device in the direction of the first twisting head device are included in the calculation.

Preferably, the support device is moved away from the clamping device to the first twisting head device during the stranding process or during the twisting process. This allows constant support of the cables to be stranded or twisted, in particular in the area of the stranding head.

Advantageously, at least one position of the support device along this direction is determined by at least one further sensor device and the sensor data is transmitted to the control device and further processed by the control device. Using the determined or further processed sensor data, the support device can be precisely controlled, which enables stable support of the cables to be stranded or twisted and thus improves the quality of the cable bundles produced.

Preferably, the stranding ship is moved to a rest position after the stranding process, whereby the stranded cable bundle can be easily dispensed from the twisting device.

Alternatively or additionally, the support device is moved to a rest position after the stranding or twisting process, whereby the stranded cable bundle can be easily removed from the twisting device.

Advantageously, the movement into the rest position is triggered by the completion of the stranding or twisting process, thus accelerating the stranding or twisting manufacturing process.

Preferably, the twisting device has a second twisting head device with a second twisting rotor, which has at least a first gripper device and a further gripper device. During the twisting process, the twisting rotor of the first twisting head device is set in rotation and the first gripper device and the further gripper device of the second twisting head device are set in rotation. The twisting vessel is moved along a direction between the first twisting head device and the second twisting head device. This allows a precise stranding process to be carried out in a first direction between the first twisting head device and the second twisting head device.

The first twisting head device preferably has a first gripper device and a further gripper device. After the twisting process, two further cables are clamped into the twisting device and then the first gripper device and the further gripper device of the first twisting head device are set in rotation. The twisting rotor of the second twisting head device is set in rotation, whereby the twisting ship is moved along a direction between the first twisting head device and the second twisting head device. This allows a twisting process to be carried out in a direction which runs opposite to the previously mentioned direction. This allows twisting processes to be carried out in both directions between the first twisting head device and the second twisting head device.

The further aspect of the invention relates to a computer-implemented method for automatically determining and generating data sets and/or movement commands according to claim 18.

Alternatively or additionally, the at least one generated and stored data set and/or movement command specifies the movement of the stranding ship from a rest position to a stranding position. The at least one generated and stored data set and/or movement command enables the stranding ship to be moved reproducibly to the stranding position.

Advantageously, the at least one generated and stored data set and/or movement command indicates the movement of the stranding ship from a stranding position to a rest position. Using the at least one generated and stored Data set and/or movement command enables a reproducible movement of the stranding ship into the rest position.

Advantageously, a position of a support device is detected with a second sensor device and at least one data set and/or movement command is generated and stored which indicates the position of the support device. This allows the position of the support device to be determined fully automatically and the position of the cable carrier and the support device to be monitored and further processed.

Alternatively or additionally, the at least one generated and stored data set and/or movement command specifies the movement of the support device from a rest position to a support position. This allows the support device to be moved precisely to the lines.

Advantageously, the at least one generated and stored data set and/or movement command indicates the movement of the support device from a support position to a rest position, whereby the support device can be removed from the lines in a controlled manner.

Advantageously, a position of a further support device is detected with a third sensor device and at least one data set and/or movement command is generated and stored which indicates the position of the further support device. This allows the position of the further support device to be determined fully automatically and the position of the cable carrier, the support device and the further support device to be monitored and further processed.

Alternatively or additionally, the at least one generated and stored data set and/or movement command specifies the movement of the additional support device from a rest position to a support position. This allows the additional support device to be brought precisely close to the lines.

Advantageously, the at least one generated and stored data set and/or movement command indicates the movement of the further support device from a support position to a rest position, whereby the further support device can be removed from the lines in a controlled manner

Advantageously, several data sets and/or movement commands are generated and stored for each movement of the stranding ship and/or the support device and/or further support device.

This allows programs or sequences of data sets and/or movement commands to be generated so that the twisting process can be carried out fully automatically. Furthermore, data sets and/or movement commands can be defined and saved for a variety of possible combinations of different optical and/or electrical cables so that the operator of the twisting device can start a fully automatic and predefined twisting or stranding process depending on the type and choice of cables or the cable bundle to be created.

The twisting device is advantageously a twisting device as described here with a twisting head device as described here, which carries out the twisting or stranding methods described here. This allows fully automatic twisting or stranding of optical and/or electrical cables to be carried out with a compact twisting device.

Preferably, at least one stored data set and/or at least one stored movement command is transmitted to the control device, whereby this can forward control commands to the respective drives.

Further advantages, features and details of the invention emerge from the following description, in which embodiments of the invention are described with reference to the figures. Lists such as first, second, third or further serve only to identify the components.

The list of reference symbols, as well as the technical content of the patent claims and figures, is part of the disclosure. The figures are described in a coherent and comprehensive manner. The same reference symbols mean the same components; reference symbols with different indices indicate components with the same or similar functions.

Fig. 1

eine erste Ausführungsform einer erfindungsgemässen Verdrillvorrichtung in einer Seitendarstellung,

Fig. 2

die Verdrillvorrichtung gemäss Fig. 1 in einer Aufsichtsdarstellung,

Fig. 3

die Verdrillvorrichtung gemäss Fig. 2 mit teilweise ausgeblendeten Elemente,

Fig. 4

eine Schnittansicht entlang der Linie A-A aus Fig. 1,

Fig. 5

eine Detailansicht aus Fig. 4,

Fig. 6

eine weitere Ansicht gemäss Fig. 4,

Fig. 7

eine Detailansicht des Verdrillrotors aus Fig. 6,

Fig. 8

die Verdrillkopfeinrichtung in der Schnittansicht C-C aus Fig. 2,

Fig. 9

die Schnittansicht B-B aus Fig. 8, und

Fig. 10

alternative Ausführungsform der Verdrillvorrichtung gemäss Fig. 1.

They show:

Fig.1

a first embodiment of a twisting device according to the invention in a side view,

Fig.2

the twisting device according to Fig.1 in a supervisory view,

Fig.3

the twisting device according to Fig.2 with partially hidden elements,

Fig.4

a sectional view along the line AA Fig.1 ,

Fig.5

a detailed view Fig.4 ,

Fig.6

another view according to Fig.4 ,

Fig.7

a detailed view of the twisting rotor Fig.6 ,

Fig.8

the twisting head device in the sectional view CC Fig.2 ,

Fig.9

the section view BB from Fig.8 , and

Fig.10

alternative embodiment of the twisting device according to Fig.1 .

Figures 1 to 3 show a twisting device 15 for twisting or stranding electrical or optical cables 16. The twisting device 15 comprises a base 17 on which a first twisting head device 20 with a twisting rotor 22 and a clamping device 28 are arranged. The twisting rotor 22 has a twisting rotor drive device 21 and is arranged on the first twisting head device 20 so as to be rotatable about a rotation axis 23. The first twisting head device 20 is spaced apart from the clamping device 28.

The twisting device 15 has a first guide device 18, on which a positioning device 70 is arranged. The guide device 18 has a guide rail 19, on which the positioning device 70 is arranged to be movable along a direction between the clamping device 28 and the first twisting head device 20. The guide rail 19 extends from the first twisting head device 20 to the clamping device 28 and further beyond the clamping device 28, whereby the positioning device 70 can be positioned past the clamping device 28 into a position outside the area between the twisting head device 20 and the clamping device 28. The positioning device 70 has a drive device 75 for moving the positioning device 70 along the guide rail 19, wherein the drive device has a servo motor 76.

Servo motors are usually equipped with resolvers whose very high resolution determines the exact number of revolutions and angular position on the motor shaft starting from a starting position and make it available to the control device 60. If each servo motor is equipped with a position detection device, even complex automation systems with many servo motors can be controlled very precisely and precisely. Brushless resolvers are advantageously used, which are ideal rotor position sensors for position feedback from brushless motors (servo motors), robots or direct drives.

As an alternative to a resolver, a rotary encoder, an angle encoder or an encoder can also be used.

A stranding ship 65 and a support device 85 are arranged on the positioning device 70 and can be moved from a first position to a further position along a direction between the first twisting head device 20 and the clamping device 28. The movement of the stranding ship 65 and the support device 85 along this direction is determined by a further sensor device 68 and the sensor data is transmitted to the control device 60 and further processed by the control device 60. The stranding ship 65 and the support device 85 can also be moved in the area between the twisting head device 20 and the clamping device 28 along the guide rail 19. In an alternative embodiment, only the support device 85 is located on the positioning device 70.

The twisting device 15 has a first feed device 29 and a second feed device 34, which, in use according to the invention, are arranged above the lines 16 and above the rotation axis 23, respectively. The feed devices 29, 34 guide the lines 16 from the line intake area, which in use according to the invention is arranged in the rear area of the twisting device 15, to the two gripper devices 30, 45 and to the clamping device 28 (not shown). The feed device 34 is fixedly arranged on the twisting device 15 with respect to the first twisting head device 20. The feed device 29 is fixedly arranged above the clamping device 28 and can be moved and adjusted together with the clamping device 28 in the longitudinal direction of the twisting device 15 by means of a servo motor to the line length to be processed.

The cables 16 are clamped between the first twisting head device 20 and the clamping device 28 and are described below twisted or stranded. This leads to a shortening of the distance between the first twisting head device 20 and the clamping device 28.

The twisting device 15 has a further guide device 100 with a further guide rail 101 and with a drive 102, whereby the distance between the first twisting head device 20 and the clamping device 28 can be compensated during the stranding or twisting process using the guide device 100. The clamping device 28 is arranged to be movable on the further guide rail 101. The clamping device 28 can thus be moved along the guide rail 101 in a direction between the clamping device 28 and the first twisting head device 20 using the drive 102, whereby length compensation can be carried out when cables 16 are twisted or stranded.

The twisting device 15 has a control device 60, a computing device 61 and a storage device 62. The control device 60 of the twisting device 15 is electrically connected to the drive devices or drives described below. The control device 60 receives sensor data from sensor devices of the drive devices or drives and processes these in the computing device 61 to form data sets or movement commands or control commands, which are then sent to the drive devices or drives.

The twisting device 15 has a sensor device 110, which detects a position of the clamping device 28 on the further guide device 100 and transmits sensor data to the control device 60. The further sensor device 110 is arranged on the drive 102, which is designed as a servo motor 111 with a resolver 115.

The clamping device 28 has a first clamping gripper and a second clamping gripper for clamping the lines 16, which are each rotatably mounted and driven by means of a clamping drive device (not shown). The clamping grippers have a common axis of rotation and are arranged to rotate together about this. The clamping device 28 has a clamping rotor that can be set in rotation by means of the clamping drive device. The clamping drive device has a servo motor with a resolver. The number of revolutions and the angular position on the servo motor shaft can be detected starting from a starting position using the resolver. and the resolver data can be transmitted as sensor data to the control device 60 of the twisting device 15.

The ones here in the Figures 1 to 3 The components shown with the reference numerals 26, 40, 41, 56, 80, 10, 95 - 97 are described below with reference to the Figure 8 described.

The Figures 4 to 7 show the positioning device 70 and the twisting head device 20 of the twisting device 15 in a sectional view along the line AA from the Figure 1 .

The positioning device 70 has a stranding ship drive 72 for positioning the stranding ship 65 from a stranding position to a rest position. The stranding ship 65 is either in a stranding position (see Figures 4 and 5 - also called extended working position) or in a rest position (see Figures 6 and 7 - also referred to as the retracted starting position). The stranding ship drive 72 has a linear guide device, which is designed here as a lifting cylinder 73. The stranding ship 65 is arranged at one of the two ends of the lifting cylinder 73. The stranding ship 65 can thus be moved by means of a linear movement from the stranding position between the lines 16 to the rest position outside the lines 16 and by means of a linear movement from the rest position outside the lines 16 to the stranding position between the lines 16. In the embodiment shown, the stranding ship 65 is bolt-shaped. Alternatively, the stranding ship 65 can also be T-shaped, which means that the stranding ship 65 can also be used as a support device (not shown). Lifting cylinders are usually equipped with end position sensors, which are also connected to the control device 60 (see Figure 1 This makes it possible to determine exactly whether a piston stroke was carried out as programmed and whether all end positions are present or have been dampened (approached) as programmed.

The positioning device 70 further comprises a support device drive 87 for positioning the support device 85 from a support position to a rest position. The support device drive 87 comprises a rod arrangement 89 on which the support device 85 is arranged. The support device 85 is movably connected to the rod arrangement 89 by means of the joints 90, wherein a servo motor 91 is provided for moving the rod arrangement 89. The support device 85 is movably connected to the rod arrangement 89 by means of a pivoting movement. Rest position can be moved into the support position (see Figures 4 and 5 ), or by means of the pivoting movement from the support position to the rest position (see Figures 6 and 7 ). The support device 85 is designed as a bolt which rests on one side of the lines 16 and supports the lines 16 from this side.

The cable hull drive 72 and the support device drive 87 are driven by means of the servo motor 91. Alternatively, electric, pneumatic or hydraulic drives can also be used. In addition, the cable hull drive 72 and the support device drive 87 can each be driven by their own servo motor (not shown).

The twisting device 15 has a first sensor device 66 for detecting the position of the stranding device 65 and a second sensor device 82 for detecting the position of the support device 85. The first and second sensor devices 66 and 82 are connected to the control device 60 of the twisting device 15 for exchanging sensor data (see Figure 1 ).

The first sensor device 66 is arranged on the stranding drive 72. The stranding drive 72 is equipped with a lifting cylinder 73 with end position sensors. The end position sensors are used to determine the respective end position of the cylinder. Depending on the end position, the lifting cylinder 73 is in the stranding position or in the rest position. The position, i.e. the respective sensor data, can be transmitted to the control device 60 of the twisting device 15 (see Figure 1 ).

The second sensor device 82 is arranged on the support device drive 87. The support device drive 87 is equipped with the servo motor 91, which has a resolver 92. With the help of the resolver 92, the number of revolutions and the angular position on the servo motor shaft can be recorded starting from a starting position. The data of the resolver 92 can be transmitted to the control device 60 of the twisting device 15. The sensor data can also contain position data or location data of the support device 85 and/or the stranding ship 65. For example, coordination data of the support device 85 and/or the stranding ship 65 are recorded in a coordinate system of the twisting device 15 by the sensor devices 66 or 82 or 110 and transmitted to the control device 60 of the twisting device 15 (see Figure 1 ).

Alternatively, light barriers, distance sensors or lifting cylinders with end position sensors can be used as sensor devices 66 or 82 or 110. which are also connected to the control device 60 for exchanging sensor data.

The Figure 8 shows the twisting head device 20 of the twisting device 15 in the sectional view CC of Figure 2 , but in rear view. In the following description of Figure 8 is also, in particular with reference to the components with the reference numerals 26, 40, 41, 56, 80, 10, 95 - 97, to the Figures 1 to 3 reference is made.

The twisting head device 20 comprises a twisting rotor 22 and a twisting rotor drive device 21. The twisting rotor drive device 21 drives the twisting rotor 22. The twisting head device 20 has a first gripper device 30 and a second gripper device 45. The gripper devices 30 and 45 are each rotatably arranged on the twisting rotor 22 and are driven by a gripper drive device 55. The first gripper device 30 has a first gripper shaft 31 and the second gripper device 45 has a second gripper shaft 46.

The gripper drive device 55 and the twisting rotor drive device 21 are arranged on a common fastening device 54 and the gripper drive device 55 and the twisting rotor drive device 21 are electrically connected to a control device 60 of the twisting device 15 (not shown).

The twisting rotor 22 is arranged on the twisting head device 20 so as to be rotatable about a rotation axis 23. To drive the twisting rotor 22, the twisting rotor drive device 21 has a servo motor 26 and a belt drive, which is designed as a toothed belt drive 27.

The gripper drive device 55 has its own servo motor 56 and its own belt drive for driving the two gripper shafts 31, 46. The belt drive is designed as a toothed belt drive 57. In addition, other positive traction drives, such as chain drives or a gear transmission, can be used.

The servo motors 26, 56 each comprise a resolver 40 or 41, which determines the respective number of revolutions and the respective angular position of the twisting rotor 22 or the first gripper device 30 and the further gripper device 45. The resolver data regarding the number of Revolutions and the angular positions of the twisting rotor 22 or the first gripper device 30 and the further gripper device 45 are transmitted as sensor data to the control device 60.

The twisting rotor 22 has a hollow rotor shaft 35. The twisting rotor 22 and the hollow rotor shaft 35 are formed as one piece. The twisting rotor 22 is rotated about the rotation axis 23 via a toothed belt of a toothed belt drive 27. The toothed belt drive 27 transmits the rotary motion from the servo motor 26 to the rotatably mounted hollow rotor shaft 35. A drive shaft 24 for driving the two gripper devices 30 and 45 is arranged within the hollow rotor shaft 35. The drive shaft 24 is arranged coaxially to the hollow rotor shaft 35. Two bearings 25a and 25b, for example ball bearings, are arranged in the hollow rotor shaft 35 as the drive bearing device 25. The drive shaft 24 is thus rotatably mounted with the bearings 25a and 25b relative to the hollow rotor shaft 35.

A connecting shaft 36 is arranged within the twisting rotor 22, which creates an operative connection between the drive shaft 24 and the gripper shaft 31 as well as the drive shaft 24 and the gripper shaft 46. The connecting shaft 36 is arranged and mounted rotatably within the twisting rotor 22 with the aid of a connecting bearing device 37. The connecting bearing device 37 comprises a first bearing and a further bearing (not shown).

The aforementioned operative connection is established by means of a first gear device 48 and a second gear device 49. The first gear device 48 is arranged between the drive shaft 24 and the connecting shaft 36. The second gear device 49 is arranged between the connecting shaft 36 and the first gripper shaft 31 and the second gripper shaft 46.

The two transmission devices 48 and 49 are each designed as toothed belt drives 42 and 38, respectively, whereby other alternative non-positive traction drives or positive traction drives as well as gear drives can also be used.

The two gripper shafts 31 and 46 are each arranged rotatably on the twisting rotor 22 and each extend into the twisting rotor 22. The two gripper shafts 31 and 46 have a first gripper rotation axis 32 and a second gripper rotation axis 47, which are each radially spaced from the rotation axis 23 of the twisting rotor 22. The two gripper shafts 31 and 46 are in the twisting rotor 22 are arranged on a pitch circle. The lines 16 clamped in the grippers 33 and 43 of the two gripper shafts 31, 46 then rotate not only about their own gripper rotation axes 32 and 47, but also about the rotation axis 23 of the twisting rotor 22 on a circular path. The first gripper shaft 31 and the further gripper shaft 46 are rotatably mounted or arranged within the twisting rotor 22 by means of a gripper bearing device 50. The gripper bearing device 50 has at least a first and a second bearing for the first gripper shaft 31 and a first and a second bearing for the further gripper shaft 46 (not shown).

The first gripper device 30 has a gripper 33 for gripping a line end of the line 16, wherein the gripper 33 has an axially guided closing sleeve 44 for at least partially enclosing the gripper 33.

The further gripper device 45 has a gripper 43 for gripping a line end of the line 16, wherein the gripper 43 has a further axially guided closing sleeve 44 for at least partially enclosing the gripper 43.

The Figure 9 shows a sectional view BB from the Figure 8 .

The twisting rotor 22 is connected to the twisting rotor drive device 21 by means of the toothed belt drive 27 and is driven thereby. The connecting shaft 36 is connected to the drive shaft 24 by means of the toothed belt drive 42, which in turn is connected to the toothed belt drive 57 of the gripper drive device 55 (see Figure 8 ). The connecting shaft 36 is driven by the gripper drive device 55 and its servo motor 56 as well as its toothed belt drive 57. The first gripper shaft 31 and the further gripper shaft 46 are connected to the connecting shaft 36 by means of a further gear device 49, which is designed as a toothed belt drive 38, whereby they can be driven by the gripper drive device 55.

A typical twisting process is described below.

To twist electrical or optical cables, a first cable end of a first cable 16 is clamped into the gripper 33 of the first gripper device 30. The second cable end of the first cable 16 is clamped into a clamping gripper of the clamping device 28 (see Figures 1 to 9 ).

Subsequently, at least a first line end of a further line 16 is clamped into the gripper 43 of the further gripper device 45 and a second line end of the further line 16 is clamped into a clamping gripper of the clamping device 28.

The twisting rotor 22 is then driven with a first number of revolutions about the rotation axis 23 of the twisting rotor 22. The twisting rotor 22 is driven by means of the servo motor 26 of the twisting rotor drive device 21.

At the same time, the first gripper device 30 and the second gripper device 45 are driven about their respective gripper rotation axes 32 and 47 with a second number of revolutions, this being done with the help of the servo motor 56 of the gripper drive device 55. The first number of revolutions and the second number of revolutions are specified by the control device 60 of the twisting device 15, with the second number of revolutions being, for example, 60% to 70% of the first number of revolutions. The twisting rotor 22 and the two gripper devices 30 and 45 are driven in the same direction of rotation. During the twisting process, the clamping device 28 is moved along the guide rail 101 of the guide device 100 to compensate for the length of the lines 16 which shorten during the twisting process. This movement is specified by the control device 60. After twisting has been completed, the grippers 33 and 43 of the two gripper devices 30 and 45 and the two clamping grippers are released so that the twisted cables 16 can be removed from the twisting head device 20 and the clamping device 28 or fall under their own weight into a collecting trough arranged below the twisting head device 20 or below the clamping device 28.

To strand or twist at least two electrical and/or optical cables 16, the cables 16 are first picked up in pairs by the two feed devices 29 and 34 and guided between the first twisting head device 20 and the clamping device 28. Both cables 16 are then clamped in the twisting device 15, with a first cable end of the first cable 16 being clamped in the gripper 33 of the first gripper device 30, and a first cable end of the further cable 16 being clamped in the gripper 43 of the gripper device 45. The second cable ends of the two Cables 16 are clamped into the clamping device 28. The cables 16 are clamped parallel to one another in the twisting device 15.

Subsequently, a position is detected and a stranding position or a rest position of the stranding ship 65 is determined using the first sensor device 66.

A stranding process or a twisting process is then carried out on the at least two lines 16, wherein a stranding process is carried out when the stranding ship 65 is in the stranding position and a twisting process is carried out when the stranding ship 65 is in the rest position.

First, the stranding ship 65 is in a rest position, whereby the stranding ship 65 is located outside the two cables 16 and thus remains unused in the subsequent twisting process. For example, the stranding ship 65 is in a rest position. In the rest position, the stranding ship 65 is arranged on an outermost position of the guide rail 19.

During the twisting process, the two gripper shafts 31 and 46 as well as the lines 16 clamped in the grippers 33 and 43 are each set in rotation by the servo motor 56 of the gripper drive device 55.

At the same time, the twisting rotor 22 is set in rotation about the rotation axis 23 by the servo motor 26 of the twisting rotor drive device 21 by means of the hollow rotor shaft 35.

The gripper shafts 31 and 46 are arranged on a pitch circle in the twisting rotor 22. The cables 16 clamped in the grippers 33 and 43 of the two gripper shafts 31 and 46 then rotate not only about their own gripper rotation axes 32, 47, but also about the rotation axis 23 of the twisting rotor 22 and thus on its circular path. The cables 16 are wound around each other and additionally set in rotation about their own gripper rotation axes 32 and 47. (For example, the clamped ends of the cables 16 can retain their angular position on the pitch circle of the twisting rotor 22 and thus also to each other, comparable to the clamped cable ends in the clamping device 28).

During the twisting process, the support device 85 can be used to support the cables 16 to be twisted. Before the twisting process is carried out, the position of the support device 85 is detected by a second sensor device 82 and the support device 85 is moved from a rest position pivoted into a support position. The support device 85 then rests on one side of the cables 16 to be twisted and supports them so that the cables 16 cannot sag or are relieved. If necessary, during the twisting process the support device 85 is moved or positioned with the help of the positioning device 70 along the guide rail 19 or the cables 16 to be twisted from the first support position to a further support position. The support positions are predetermined by the control device 60 of the twisting device 15. The support device 85 is moved along the guide device 18 from the clamping device 28 to the first twisting head device 20. Furthermore, the positions of the support device 85 along the guide device 18 are determined by at least the sensor device 82 and the sensor data is transmitted to the control device 60. In the control device 60, the sensor data are further processed into data sets or movement commands and stored in the storage device 61.

After the twisting process, the support device 85 is pivoted into a rest position using the support device drive 87, which is triggered by the termination of the twisting process. The twisted cables 16 are then released from the twisting device 15 and fall into a collecting tray (not shown).

A typical stranding process is described below.

In the structure of the twisting device 15 described here, the stranding process is systematically started on the side of the clamping device 28.

When stranding from the side of the clamping device 28 (side I) towards the first stranding head device 20 (side II), the first stranding head device 20 is operated in stranding mode. The servo motor 56 of the gripper drive device 55 sets the first gripper shaft 31 and the further gripper shaft 46 in rotation about their own gripper rotation axis 32 or 47 via the drive shaft 24 and the connecting shaft 36 with the toothed belt drives 38 or 42 or 57. The servo motor 26 of the twisting rotor drive device 21 is connected to the rotor hollow shaft 35 via the toothed belt drive 27.

The cables 16 to be stranded are clamped in the clamping device 28 in the clamping gripper. The opposite ends of the cables 16 are clamped in the grippers 33 and 43 of the twisting rotor 22 of the twisting head device 20. The cables 16 to be twisted are subjected to a suitable tensile force axially. This tensile force is the result of positioning the movable clamping device 28 at the distance stored by the control device 60 from the twisting head device 20.

The stranding ship 65, which can be moved in the longitudinal direction on the positioning device 70, is lowered from above by means of a linear movement between the clamped cables 16 in front of the clamping device 28 and the support device 85 is pneumatically pivoted under the cables 16 to support the cables 16.

During the stranding process (also referred to as stranding function mode), the clamping rotor of the clamping device 28 rotates with the cable ends clamped in the clamping grippers.

The two gripper shafts 31 and 46 are rotated by the servo motor 56 so that the clamped cable ends rotate parallel about their gripper rotation axes 32 and 47. The rotation speed of the two gripper shafts 31 and 46 is program-controlled depending on the rotation of the clamping rotor of the clamping device. This function means that the cables to be twisted are immediately, completely or to a certain extent relaxed in terms of rotational tensions during the process because the rotation of the grippers 31 and 46 can compensate for the inherent twisting of the individual cables 16. The hollow rotor shaft 35 of the first twisting head device 20 is not rotated by the servo motor 26 in the function described here.

The stranding process begins in front of the clamping device 28, whereby the positioning device 70 with the stranding pin 65 and the support device 85 moves in the direction of the twisting head device 20, whereby the positioning device 70 with the stranding pin 65 and the support device 85 is moved away from the clamping rotor by a distance in the order of magnitude of the programmed stranding lay length with each rotation of the clamping rotor. The movable stranding ship 65 specifies the lay length to be generated. This process is repeated with all subsequent stranding rotations. By varying the stranding ship travel distance per rotation of the clamping rotor or by varying the distance of the first position of the stranding ship 65 to another position of the stranding ship, the generated lay length can be varied and over the length of the Cable bundles can be produced according to the program or changed over the length of the cable bundle.

Due to the twisting process, the total length of the initially parallel arranged cables 16 decreases with each twisting turn until the fully twisted cable bundle (so-called twisted pair) is formed. The tensile force acting axially on the cables 16 during twisting is controlled, with the servo motor 111 moving the clamping device 28 in a controlled manner according to the program and thus carrying out the length compensation. The twisting process is finished when the cables have been twisted or looped around each other with the programmed rotations and twist lengths. The movable positioning device 70 with the stranding ship 65 and the support device 85 is then located on the side of the twisting head device 20 of the twisting device 15 and then moves back to the starting position in front of the clamping device 28. The grippers 33 and 43 on the gripper shafts 31 and 46 and the clamping grippers of the clamping device 28 are opened and the stranded cable bundle falls from the grippers into a collecting trough or collecting trough.

During the twisting process (also referred to as the "twisting function" mode), the gripper shafts 31 and 46 with the cables 16 clamped therein are each set in rotation separately by the servo motor 56. In addition, the hollow rotor shaft 35 of the first twisting head device and the clamping rotor of the clamping device 28 rotate. The gripper shafts 31 and 46 are arranged on the twisting rotor 22 on a pitch circle. The cables 16 clamped in the grippers 33 and 43 of the gripper shafts 31 and 46 then rotate not only about their own axis, but also about the rotation axis 23 of the twisting rotor 22 on their circular path, whereby they usually retain their angular position on the circular path and thus relative to one another. The twisting rotor 22 and the clamping rotor of the clamping device 28 rotate in opposite directions for twisting. The cables 16 are looped or twisted around each other.

During twisting, the stranding ship 65, which can be moved in the longitudinal direction, is not brought into engagement between the cables 16 to be twisted in order to realize the stranding lay length.

During the twisting process, the cables 16 to be twisted are clamped next to each other at both ends in the grippers 33 and 43 with locking sleeves 44 and then twisted around each other according to the program, e.g. in a helix shape. the cables 16 to be twisted are also rotated around their own axis due to the system, so that the cables 16 build up internal tension, then first have to be over-twisted and then, by means of determined back-twist, the cable bundles have to be brought to an externally tension-free state with the required lay length. For example, a back-twist of approx. 30% to 40% of the previous twisting turns is required to achieve the desired lay length. In addition to the process time for over-twisting, the back-twisting time is therefore also added. The fully twisted cable bundle falls into a collecting tray or catchment tray after all grippers have been opened.

In addition, the twisting device 15 present here has a further support device 95 for supporting at least one line 16. The further support device 95 is movably arranged on a further positioning device 80 and can be pivoted into a support position on the lines 16 and into a rest position away from the lines 16. The further positioning device 80 is movably arranged on the guide device 18 of the twisting device 15. The further positioning device 80 and the further support device 95 arranged thereon can be moved along a direction between the clamping device 28 and the first twisting head device 20.

The further positioning device 80 has a drive device, for example a servo motor 81, for moving the further positioning device 80 on the first guide device 18 and is connected to the control device 60 of the twisting device 15. The further support device 95 can thus be moved automatically between the first twisting head device 20 and the clamping device 28. The further positioning device 80 has a separate support device drive 97, for example a servo motor with a resolver or a lifting cylinder, with which the further support device 95 can be pivoted into a support position on the lines 16 and into a rest position away from the lines 16. The support device drive 97 is connected to the control device 60 of the twisting device 15.

The twisting device 15 has a third sensor device 96, which is designed to detect the position of the further support device 95. The third sensor device 96 is connected to the control device 60 for the exchange of sensor data. This sensor data further includes non-exhaustive list of data records on position information, location information or status information relating to the further support device 96.

If a stranding process is to be carried out, then before carrying out the stranding process, the stranding ship 65 is moved into a stranding position between the two clamped cables 16. For this purpose, the lifting cylinder 73 of the stranding ship drive 72 is activated by the control device 60 and the stranding ship 65, which is designed as a bolt, is moved between the two cables 16 to be stranded.

Subsequently, the position of the support device 85 is detected with a second sensor device 82 and the support device 85 is pivoted from a rest position into a support position.

The stranding ship 65 and the support device 85 are positioned in front of the clamping device 28 by means of the positioning device 70.

Subsequently, both clamping grippers of the clamping device 28 are set in rotation by means of the clamping drive device or its servo motor.

At the same time, the twisting rotor 22 of the twisting head device 20 is set in rotation.

During the stranding process, the stranding ship 65 and the support device 85 are moved away from the clamping device 28 to the first twisting head device 20 using the positioning device 70. In the process, a position of the stranding ship 65 is determined by the sensor device 66 and the sensor data is transmitted to the control device 60 of the twisting device 15. The sensor data is then further processed by the control device 60 and stored in the storage device 62. The movement of the stranding ship 65 from a first position to a further position thus specifies the lay length or the lay number for the cables 16 to be stranded.

The stranding ship 65 and the support device 85 are moved to the first twisting head device 20 and, after the stranding process, are moved to a rest position, which is triggered by the termination of the stranding process.

As in Figure 10 As shown, an alternative embodiment of the twisting device 215 comprises, in addition to a first twisting head device 220, also a second twisting head device 240, which are arranged on the base 217. The second twisting head device 240 thus replaces the clamping device 28 of the twisting device 15 (see Figure 1 ). The two twisting head devices 220 and 240 are identical in construction and designed as described here (see e.g. Figure 8 ). The first twisting head device 220 has a twisting rotor drive device 222 for driving the hollow rotor shaft 235, as well as a gripper drive device 255 for driving the first gripper shaft 231 and the second gripper shaft 246. The second twisting head device 240 has a twisting rotor drive device 241 for driving the hollow rotor shaft 269, as well as a gripper drive device 273 for driving the first gripper shaft 263 and the second gripper shaft 264. In this embodiment, the stranding of cables 216 described above (or described here) is thus possible, in which the stranding ship 265 and the support device 285 are moved or displaced from the first twisting head device 220 to the second twisting head device 240. In this embodiment, stranding of cables 216 is also possible, in which the stranding ship 265 and the support device 285 are moved from the second twisting head device 240 to the first twisting head device 220. The first twisting head device 220 is operated in twisting mode and the second twisting head device 240 is operated in stranding mode to relax the cables 216 to be stranded during the stranding process. The positioning device 270 is movably arranged on the guide device 218. The stranding ship 265 traveling on the positioning device 270 specifies the lay length.

The cables 216 to be twisted are clamped in the second twisting head device 240 in the grippers of the gripper shafts 263 and 264, respectively, wherein the grippers are first opened and then closed in the axial direction, for example by means of compression spring-actuated closing sleeves.

The servo motors 226, 256 of the first twisting head device 220, the servo motors 274, 275 of the second twisting head device 240, the drives of the stranding ship 265 and the drives of the support device 285 as well as the drives of the positioning device 270 are connected to the control device 260 of the twisting device 215 for the exchange of control commands. The drives - as described here - have sensor devices which transmit the sensor data to the control device 260, which are processed in the computing device 261 and the storage device 262.

The ends of the lines 216 are clamped on both sides in the grippers of the first and second twisting head devices 240. The gripper shafts 231 and 246 of the first twisting head device 220 are driven by the servo motor 256. They are mounted on a pitch circle in the hollow rotor shaft 235. The hollow rotor shaft 235 rotates, driven by the servo motor 226. The servo motor 256 of the gripper shafts 231 and 246 in conjunction with the servo motor 226 of the hollow rotor shaft 235 is controlled such that the angular position of the gripper shafts 231 and 246 in the pitch circle of the hollow rotor shaft 235 is maintained during its entire rotation in relation to the hollow rotor shaft 235.

On the side of the second twisting head device 240, the gripper shafts 263 and 264 are also rotated by the servo motor 274, so that the clamped cable ends 216 on the side of the second twisting head device 240 rotate about their own axis, although on this side the hollow rotor shaft 269 is not rotated by the servo motor, unlike the hollow rotor shaft 235 of the first twisting head device 220. The direction of rotation of all rotations, i.e. of the gripper shafts 231 and 246 and the gripper shafts 263 and 264 and the hollow rotor shaft 235 of the first twisting head device 220, is the same, so that in a first case, for example, all of the rotations mentioned are carried out clockwise when looking from the side of the first twisting head device 220 along the cables 216 to be twisted.

The cables 216 to be stranded are subjected to an appropriate tensile force axially, which results as a result of the program-based positioning of the movable twisting head device 240 according to the length of the cables 216 to be stranded.

The second twisting head device 240 is operated in stranding mode. The drive shaft 224 or central shaft is driven by the servo motor via a toothed belt drive. It is also coupled to the connecting shaft via a toothed belt drive. The connecting shaft is in turn connected to the two gripper shafts 263 and 264 via a toothed belt drive. In this way, the two gripper shafts 263 and 264 are driven or set in rotation separately by the servo motor 274. The servo motor 275 of the twisting rotor drive device 241 of the second twisting head device 240 is connected via the toothed belt drive to the hollow rotor shaft of the second twisting head device 240, which is not set in rotation in the function described here.

The stranding should be carried out in a defined lay length. The stranding begins in the stranding direction described here immediately in front of the first twisting head device 220. The two cables 216 to be stranded are arranged parallel to one another. In front of the first twisting head device 220, between the cables 216, there is a stranding ship 265 that can be moved in the longitudinal direction on a positioning device 270, which is moved according to the program with each rotation of the hollow rotor shaft 235 of the first twisting head device 220 by a distance in the order of magnitude of the desired stranding lay length away from the hollow rotor shaft 235 of the first twisting head device 220 in the direction of the second twisting head device 240. The movable stranding ship 265 is located between the two cables 216 to be stranded and therefore specifies the generated lay length. This process is repeated with all subsequent stranding rotations. By varying the stranding ship travel distance, the generated lay length can also be varied and produced according to the program over the length of the cables 216 to be stranded. The pivotable support device 285, which supports the cables 216 from below during the process, is also arranged on the positioning device 270.

Due to the twisting process, the total length of the initially parallel arranged cables 216 is reduced with each twisting twist until the twisted cable bundle is formed. The tensile force acting axially on the cables 216 during twisting is regulated, with the drive 222 moving the second twisting head device 240 according to the program and thus carrying out a length compensation. The twisting process is finished when the cables 216 have been laid around one another with the programmed rotations and twist lengths. The movable twisting ship 265 is then located on the side of the second twisting head device 240 of the twisting device 215. The support device 285 and the twisting ship 265 are retracted to their rest position. The grippers on the gripper shafts 231, 246 and 263, 264 are opened and the twisted cable bundle falls from the grippers into a collecting trough or catchment trough.

Afterwards, all elements can be returned to their original position and the twisting process can be started again. However, it is also possible that the twisting process described above is subsequently carried out in the opposite direction, with the second twisting head device 240 being operated in twisting mode and the first twisting head device 220 being operated in twisting mode. In this case, before carrying out the twisting process two further cables 216 are clamped into the twisting device 215. The positioning device 270 is arranged in front of the second twisting head device 240 and is moved along the guide device 218 towards the first twisting head device 220 during the twisting process. The twisting ship 265 travelling on the positioning device 270 in turn specifies the lay length and the support device 285 is placed on the cables 216 and is moved with the positioning device 270.

When twisting or stranding with the twisting device 15 or 215 described here, the control device 60 or 260 of the twisting device 15 or 215 determines and generates data sets and/or movement commands for controlling the twisting head devices 20 or 220 and 240, which carry out a method for twisting or stranding at least two lines 16 or 216. A position of the stranding ship 65 or 265 is detected with a first sensor device 66 and a position of a support device 85 or 285 is detected with a second sensor device 82 and in each case at least one data set and/or at least one movement command is generated and stored. The respective at least one data set and/or at least one movement command indicates at least the position of the stranding ship 65 or 265 and/or the movement of the stranding ship 65 or 265 from a rest position to a stranding position and/or the position of the support device 85 or 285 and/or the movement of the support device 85 or 285 from a rest position to a support position. As previously explained, the servo motors or lifting cylinders of the stranding ship drive 65 or 265, the support device 85 or 285 and optionally the further support device 95 are connected to the control device 60 or 260. Furthermore, the servo motors of the gripper drive device 55 or 255 and the twisting rotor drive device 21 or 221 of the first twisting head device 20 or 220 as well as the servo motors of the gripper drive device 273 and the twisting rotor drive device 241 of the second twisting head device 240 or the clamping device 28 are connected to the control device 60 or 260. Thus, all sensor data from the sensor devices and from the servo motors or their resolvers are transmitted to the control device 60 or 260 and corresponding data sets and/or movement commands are generated. The data sets and/or movement commands are stored in the storage device 62 or 262 and can be transmitted to the control device 60 or 260. The data sets and/or movement commands are converted into control commands in the control device 60 or 260 and then stored in the storage device 62 or 262 and/or forwarded to the present drives of the twisting device 15 or 215 for controlling these drives.

Thus, with the present twisting device 15 or 215, a method for twisting or stranding is realized which is carried out with a program (typically with automation software) that is executed in the computing device 61 or 261 and controls the twisting device 15 or 215 fully automatically.

It is also advantageous to integrate the control device 60 or 260 into a network so that the status of the twisting device 15 or 215 can also be recognized in this network.

List of reference symbols

15

Twisting device or machine

16

Lines or pairs of lines

17

Base of 15

18

Guide device or linear axis

19

Guide rail of 18

20

Twisting head device or switchable stranding/twisting rotor

21

Twisting rotor drive device

22

Twisting rotor

23

Rotation axis

24

Drive shaft or central shaft

25

Drive bearing device

25a

camp

25b

camp

26

Servo motor of 21 or drive motor stranding/twisting rotor

27

Timing belt drive of 21

28

Clamping device

29

1. Feeding device

30

1. Gripper device

31

1. Gripper shaft

32

1. Gripper rotation axis

33

Gripper

34

additional feeding device

35

Rotor hollow shaft

36

Connecting shaft

37

Connecting storage facility

38

Timing belt drive of 49

40

Resolvers of 26

41

Resolvers of 56

42

Timing belt drive of 48

43

Gripper

44

Locking sleeve

45

additional gripper device

46

additional gripper shaft

47

Gripper rotation axis

48

1. Gearbox

49

additional transmission equipment

50

Gripper storage device

54

Fastening device

55

Gripper drive device

56

Servo motor of 55

57

Timing belt drive

60

Control device

61

Computing device

62

Storage facility

65

Stranding ship or bolt or stranding pin

66

1. Sensor setup

68

additional sensor device

70

Positioning device or linear guide

72

Cable ship drive

73

Lifting cylinder

75

Drive system of 70

76

Servo motor of 75

80

Additional positioning device

81

Servo motor of 80

82

second sensor device

85

Support device or support pin

87

Support device drive

89

Rod arrangement

90

Joints

91

Servo motor

92

Resolvers of 91

95

additional support device or support pin

96

3. Sensor device

97

Support device drive

100

Guide device or linear slide or carriage

101

Guide rail

102

Drive or length compensation drive

110

Sensor device

111

Servo motor

115

Resolvers of 111

215

Twisting device or machine

216

cables

218

Guide device or linear axis

220

1. Twisting head device or switchable stranding/twisting rotor

221

Twisting rotor drive device of 220

222

Drive or length compensation drive

224

Drive shaft or central shaft of 220

226

Servo motor from 221

231

1. Gripper shaft of 220

235

Hollow rotor shaft of 220

240

2. Twisting head device or switchable stranding/twisting rotor

241

Twisting rotor drive device of 240

246

2. Gripper shaft of 220

255

Gripper drive device of 220

256

Servo motor of 255

260

Control device

261

Computing device

262

Storage facility

263

1. Gripper shaft of 240

264

2. Gripper shaft of 240

265

Stranding ship or bolt or stranding pin

269

Hollow rotor shaft of 240

270

Positioning device or linear guide

273

Gripper drive device of 240

274

Servo motor of 273

275

Servo motor of 241

285

Support device

Claims (19)

1. A twisting device (15; 215) for twisting or stranding electrical or optical cables (16; 216), comprising

   - a first twisting head device with a first twisting rotor (22), wherein the first twisting rotor (22) is arranged rotatably on the first twisting head device (20, 220, 240),

   - a clamping device (28), wherein the first twisting head device (20; 220, 240) and the clamping device (28) are spaced apart from one another,

   - a stranding shuttle (65, 265), which can be moved at least from a first position into a further position along a direction between the first twisting head device (20, 220, 240) and the clamping device (28),

   - a control device (60; 260) for controlling at least the first twisting head device (20; 220, 240),

   characterised in that
   the twisting device (15; 215) comprises at least a first sensor device (66) for detecting the position of the stranding shuttle (65; 265) and for determining a stranding position, wherein the stranding shuttle is positioned between the cables to be stranded, or an idle position, wherein the stranding shuttle is not positioned between the cables to be stranded, of the stranding shuttle (65; 265), wherein the first sensor device (66) is connected in particular to the control device (60; 260) for the exchange of sensor data.
2. The twisting device (15; 215) according to claim 1, characterised in that the twisting device (15; 215) comprises a first positioning device (70; 270), on which the stranding shuttle (65; 265) and/or a support device (85; 285) are arranged and with which the stranding shuttle (65; 265) can be brought, in particular be brought linearly, into a stranding position and/or into an idle position, and in particular the support device (85; 285) can be brought and in particular swivelled into a support position and/or into an idle position.
3. The twisting device (15; 215) according to claim 1 or 2, characterised in that the twisting device (15; 215) comprises a further support device (95) for the support of at least one cable (16; 216), wherein the further support device (95) is movable and is preferably arranged on a further positioning device (80) and can be brought and in particular swivelled into a support position and into an idle position.
4. The twisting device (15; 215) according to any one of claims 1 to 3, characterised in that the twisting device (15; 215) comprises a stranding shuttle drive (72) for positioning the stranding shuttle (65; 265) from a stranding position into an idle position and/or the twisting device (15; 215) comprises a support device drive (87) for positioning, in particular for swivelling, the support device (85; 285) from a support position into an idle position, wherein in particular at least one of the two drives (72, 87) is connected to the control device (60, 260), and in particular comprises a further support device drive (97) for positioning, in particular swivelling, the further support device (95), which is connected to the control device (60; 260).
5. The twisting device (15; 215) according to any one of claims 1 to 4, characterised in that the twisting device (15; 215) comprises at least a second sensor device (82), which is designed for the detection of the support device (85; 285), wherein the second sensor device (82) is connected in particular to the control device (60; 260) for the exchange of sensor data and in particular comprises at least a third sensor device (96), which is designed for the detection of the position of the further support device (95), wherein the third sensor device (96) is connected in particular to the control device (60; 260) for the exchange of sensor data.
6. The twisting device (15; 215) according to any one of claims 1 to 5, characterised in that the positioning device (70; 270) of the stranding shuttle (65, 265) and/or the positioning device (70; 270) of the support device (85; 285) are arranged movably on a first guide device (18), wherein the stranding shuttle (65; 265) and/or the support device (85; 285) are movable along a direction between the clamping device (28) and the first twisting head device (20; 220, 240) and the stranding shuttle (65; 265) is preferably arranged on the support device (85; 285), and in particular the further positioning device (80) of the further support device (95) is arranged movably on the first guide device (18), wherein the further support device (95) is movable along a direction between the clamping device (28) and the first twisting head device (20; 220, 240).
7. The twisting device (15; 215) according to any one of claims 1 to 6, characterised in that the clamping device (28) is constituted as a further twisting head device, and is connected to the control device (60; 260) for controlling at least the further twisting head device.
8. The twisting device (15; 215) according to any one of claims 1 to 7, characterised in that the twisting device (15; 215) comprises a computing device (61; 261) and a memory device (62; 262), which are connected to the control device (60; 260), wherein with the aid of the computing device (61; 261) in particular at least sensor data of the first sensor device (66) of the stranding shuttle (65; 265) can be processed and/or at least sensor data of the second sensor device (82) of the support device (85; 285) can be processed and can preferably be stored in the memory device (62; 262), and in particular at least sensor data of the third sensor device (96) of the further support device (95) can be processed and can preferably be stored in the memory device (62; 262).
9. The twisting device (15; 215) according to any one of claims 1 to 8, characterised in that the twisting device (15; 215) comprises a further guide device (100) for the linear movement of the clamping device (28) or for the linear movement of at least the first twisting head device (20; 220, 240) along a direction between the first twisting head device (20; 220, 240) and the clamping device (28), wherein in particular the first twisting head device (20; 220, 240) and the clamping device (28) are arranged linearly movable in this direction on the further guide device (100), and the twisting device (15; 215) preferably comprises at least one further sensor device (110), which detects a position of the first twisting head device (20; 220, 240) and/or of the clamping device (28) on the further guide device (100) and transmits sensor data to the control device (60; 260).
10. A method for stranding or twisting at least two electrical and/or optical cables (16; 216) with a twisting device, in particular with a twisting device (20; 220, 240) according to any one of claims 1 to 9, which comprises at least a first twisting head device (20; 220, 240) with a twisting rotor (22), wherein the method comprises the following steps:

    - clamping of a first cable (16; 216) in the twisting device (15; 215);

    - clamping of at least a further cable (16; 216) in the twisting device (15; 215), wherein the two cables (16; 216) are clamped in particular parallel to one another;

    - detection of at least one position and determination of a stranding position, wherein the stranding shuttle (65, 265) is positioned between the cables to be stranded, or an idle position, wherein the stranding shuttle is not positioned between the cables to be twisted, of a stranding shuttle (65; 265) with a first sensor device (66);

    - performance of a stranding process or a twisting process on the at least two cables, wherein a stranding process is performed when the stranding shuttle (65; 265) is in the stranding position and a twisting process is performed when the stranding shuttle (65; 265) is in the idle position.
11. The method according to claim 10, characterised in that at least the stranding shuttle (65; 265) is moved into a stranding position before the stranding process is performed or the stranding shuttle (65; 265) is moved into an idle position before the twisting process is performed.
12. The method according to claim 10 or 11, characterised in that a position of the support device (85; 285) is detected with a second sensor device (82) and in particular the support device (85; 285) is moved, in particular swivelled, from an idle position into a support position, or is moved preferably during the stranding process or the twisting process from a first support position into a further support position.
13. The method according to any one claims 10 to 12, characterised in that the stranding shuttle (65; 265) is moved away during the stranding process along a direction from the clamping device (28) in the direction of the first twisting head device (20; 220) and at least one position of the stranding shuttle (65; 265) is determined along this direction by at least one further sensor device (68) and the sensor data are transmitted to the control device (60; 260) and are further processed by the control device (60; 260).
14. The method according to any one claims 12 or 13, characterised in that the support device (85; 285) is moved away during the stranding process or during the twisting process along a direction from the clamping device (28) to the first twisting head device (20; 220) and at least one position of the support device (85; 285) is determined along this direction by at least one further sensor device (68) and the sensor data are transmitted to the control device (60; 260) and are further processed by the control device (60; 260).
15. The method according to any one claims 10 to 14, characterised in that the stranding shuttle (65; 265) is moved after the stranding process into an idle position and/or the support device (85; 285) is moved after the stranding process or the twisting process into an idle position, wherein this is preferably triggered by the termination of the stranding process or the twisting process.
16. The method according to any one claims 10 to 15, wherein the twisting device (15; 215) comprises a second twisting head device, in particular a second twisting head device (240) according to any one of claims 1 to 9, which comprises a second twisting rotor, which comprises at least a first gripper device and a further gripper device, characterised in that during the stranding process the twisting rotor (22) of the first twisting head device (20; 220) is caused to rotate and the first gripper device and the further gripper device of the second twisting head device (240) are caused to rotate, wherein the stranding shuttle (65; 265) is moved along a direction between the first twisting head device (20; 220) and the second twisting head device (240).
17. The method according to claim 16, wherein the first twisting head device (20, 220) comprises a first gripper device (30) and a further gripper device (45), characterised in that after the stranding process two further cables (16; 216) are clamped in the twisting device (15; 215) and then the first gripper device (30) and the further gripper device (45) of the first twisting head device (20; 220) are caused to rotate and the twisting rotor of the second twisting head device (240) is caused to rotate, wherein the stranding shuttle (65; 265) is moved along a direction between the first twisting head device (20; 220) and the second twisting head device.
18. A computer-implemented method for the automatic determination and generation of datasets and/or movement commands for controlling at least one twisting device (15; 215), in particular according to any one of claims 1 to 9, which performs a method for twisting or stranding at least two cables (16; 216), in particular the method for twisting or stranding according to any one of claims 10 to 17, wherein the position of the stranding shuttle (65; 265) is detected with a first sensor device (66), preferably a position of a support device (85; 285) is detected with a second sensor device (82), and at least one dataset and/or one movement command is generated and stored, in particular a plurality of datasets and/or movement commands are generated and stored, which indicates at least the position of the stranding shuttle (65; 265) in an idle position, wherein the stranding shuttle is not positioned between the cables to be stranded, or in a stranding position, wherein the stranding shuttle is positioned between the cables to be stranded, and/or the movement of the stranding shuttle (65; 265) from the idle position into the stranding position of the stranding shuttle (65; 265), and preferably indicates the position of the support device (85; 285) and/or the movement from an idle position into a support position.
19. The computer implemented method according to claim 18, characterised in that at least one stored dataset and/or at least one stored movement command is transmitted to the control device (60; 260).

Images