WO2021191671A1

WO2021191671A1 - Cable manipulation head and system for automatically routing cables along a preset path

Info

Publication number: WO2021191671A1
Application number: PCT/IB2020/058125
Authority: WO
Inventors: Danilo DAPRÀ; Enrico PINI
Original assignee: System Robot Automazione S.R.L.
Priority date: 2020-03-24
Filing date: 2020-09-01
Publication date: 2021-09-30

Abstract

A manipulation head (1) for a cable (2) comprises a cable feeding assembly (16), a cable-guiding arm, a cable guiding and holding assembly (28) positioned beyond the cable feeding assembly, and comprising a pair of pincers (28') which are movable between an inactive open position and a closed position for guiding or holding the cable, a cable guiding and locking assembly (30) positioned beyond the cable feeding assembly, upstream or downstream of the cable guiding and holding assembly (28), and comprising a pair of jaws (32) which are movable between an inactive open position and a closed jaw position.

Description

DESCRIPTION

"CABLE MANIPULATION HEAD AND SYSTEM FOR AUTOMATICALLY ROUTING CABLES ALONG A PRESET PATH"

[0001]The present invention relates to a cable manipulation head and to a system for automatically routing cables along a preset path on a panel equipped with components for holding a bundle of cables (in technical jargon also known as "harness").

[0002]The bundles of cables thus formed are then usually installed on means of transport, such as airplanes, trains, motor vehicles.

[0003]Anthropomorphic robots are already known, to the wrist of which a head for manipulating a cable to be laid on an equipped panel is fixed. The robot moves the manipulation head so as to pass one cable at a time about components in the form of pins or inside cable locking components .

[0004]It is the object of the present invention to suggest a cable manipulation head and an automatic cable routing system capable of making the cable laying operation faster, more reliable, and more precise than the known systems.

[0005]It is a particular object of the invention to avoid having to retool manually the manipulation head as the shape or diameter of the cable to be laid varies. [0006]It is still another object of the invention to allow the optimization of the path of the robot head so as to reduce cable consumption.

[0007]Such objects are achieved by a manipulation head in accordance with claim 1, and by a system for automatically routing a cable according to claim 10. The dependent claims describe preferred or advantageous embodiments of the invention.

[0008]The features and advantages of the manipulation head and of the system for automatically routing a cable according to the invention will in any case be apparent from the following description of preferred embodiments thereof, given by way of non-limiting example, with reference to the accompanying drawings, in which: - Figure 1 is an exploded perspective view of the manipulation head according to the invention;

- Figure 2 is a perspective bottom view of the assembled head;

- Figure 3 is an elevation view of the manipulation head; - Figure 4 is another elevation view of the manipulation head;

- Figure 5 is a partial section elevation view of the manipulation head, from the opposite side with respect to the view of the previous figure;

Figure 6 shows an axial section view of cable feeding assembly, cable-guiding assembly, and pincers of the cable guiding and holding assembly;

- Figure 6a is a prospective view from below of the cable feeding assembly according to another embodiment; - Figures 7, 7a and 7b show the lower part of the manipulation head when approaching a cable locking component of an equipped panel, and when starting the insertion of the cable into the component, in a front view and a side view, respectively; - Figures 8, 8a and 8b show a front view of the lower part of the manipulation head when wiring the cable, when vertically inserting the cable into a cable locking component, and when cutting the excess wire, respectively; - Figures 9, 9a and 9b are views similar to the previous ones, but with the pincers of the cable guiding and holding assembly in a different embodiment;

- Figures 10, 10a and 10b are views similar to the previous ones, but with the jaws of the cable guiding and locking assembly in a different embodiment;

- Figure 11 is an elevation view of a six-axis anthropomorphic robot to which a manipulation head according to the invention is connected;

- Figure 11a is an enlarged view of the detail A circled in Figure 11; - Figure 12 is a perspective view of an example of an equipped panel before routing a bundle of cables;

- Figure 13 is an algorithm for controlling the roll- holder assembly; - Figure 14 is an algorithm for controlling the cable guiding and holding assembly;

- Figure 15 is an algorithm for controlling the cable delivery and of the reading of the cable length actually delivered; - Figure 16 is an algorithm for controlling the cable guiding and locking assembly; and

- Figure 17 is an algorithm for controlling the cutting unit.

[0009]In said drawings, 1 indicates as a whole a manipulation head for a cable 2 according to the invention.

[0010]The manipulation head 1 comprises a main support frame 10 provided with a flange 12 for the connection to a wrist 14 of an anthropomorphic robot 100 (shown in Figure 11).

[0011]The manipulation head 1 is provided with a cable feeding assembly 16, a cable-guiding assembly 26, a cable guiding and holding assembly 28, and a cable guiding and locking assembly 30, all supported by the main support frame 10. [0012]The cable feeding assembly 16 comprises a motor feeding apparatus 18 and two parallel wheels 20, 22 adapted to engage a cable 2 inserted therebetween along a cable feeding direction X. [0013]According to one embodiment shown in Figure 6a, instead of the two parallel wheels 20, 22, two parallel pulling belts 20a, 22a can be used. For example, each belt 20a, 22a is returned by three tensioning wheels.

[0014]A first wheel or belt 20, 20a of the two parallel wheels or belts 20, 22; 20a, 22a is a driving wheel or belt operatively connected to the motor feeding apparatus 18 to be rotated about a wheel rotation axis Y perpendicular to the cable feeding direction X. In the case of pulling belts 20a, 22a, one of the tensioning wheels of the driving belt 20a is operatively connected to the motor feeding apparatus 18.

[0015]A second wheel or belt 22; 22a of the two parallel wheels or belts 20, 22; 20a, 22a is a driven wheel or belt. [0016]Moreover, one of the two wheels or belts 20, 22;

20a, 22a, for example the driven wheel or belt 22; 22a, is operatively connected to a sensor 24 for measuring the rotation of the respective wheel or belt, for example an encoder. [0017]In one embodiment, head 1 is provided with means 162 for adjusting the mutual distance of the two parallel wheels or belts 20, 22; 20a, 22a.

[0018]For example, at least one of the two parallel wheels or belts 20, 22; 20a, 22a is mounted to a wheel arm 164 slidably supported by an electrically operated wheel distance adjusting slide 166, so as to be translatable along a distance adjusting direction perpendicular to the cable feeding direction X.

[0019]The cable-guiding assembly 26 has a distal arm end 26' which ends in front of the two parallel wheels or belts 20, 22; 20a, 22a and is shaped so as to guide the incoming cable between the two parallel wheels or belt in the cable feeding direction X. In other words, regardless of the direction of origin of the cable, the cable- guiding assembly causes the cable to enter between the two parallel wheels or belts being already oriented in the cable feeding direction X, that is orthogonally to the plane where the rotation axes Y of the wheels or belts 20, 22; 20a, 22a lie. [0020]The cable guiding and holding assembly 28 is positioned beyond the two parallel wheels or belts 20, 22; 20a, 22a in the cable feeding direction X. This assembly comprises a pair of pincers 28' which are movable between an inactive open position and a closed position for guiding or holding the cable leaving the two parallel wheels or belts 20, 22; 20a, 22a.

[0021]The distal ends of the two pincers 28', when approached together, thus form a cable seat 29 in which the cable dragged by the cable feeding assembly 16 is inserted. As will be described below in more detail, depending on the greater or less closing of the pincers 28', the latter can serve either a cable guiding function, i.e. they allow the cable to slide into the cable seat 29, or a cable holding function, in which they lock the cable in cooperation with the cable guiding and locking assembly 30 when the cable needs to be inserted vertically into a cable locking component of the equipped panel.

[0022]Therefore, in one embodiment, the cable manipulation head 1 comprises means 282 for adjusting the mutual distance of the two pincers 28'.

[0023]For example, at least one of the two pincers 28' is mounted to a pincer arm 284 slidably supported by an electrically operated pincer distance adjusting slide 286, so as to be translatable along a distance adjusting direction Z perpendicular to the cable feeding direction X.

[0024]The cable guiding and locking assembly 30 is positioned beyond the two parallel wheels or belts 20 22; 20a, 22a in the cable feeding direction X, upstream or downstream of the cable guiding and holding assembly 28. In the embodiment shown in the drawings, the cable guiding and locking assembly 30 is positioned downstream of the cable guiding and holding assembly 28 in the cable feeding direction X.

[0025]The cable guiding and locking assembly 30 comprises a pair of jaws 32 which are movable between an inactive open position and a closed jaw position in which the wire can be locked or slidably guided by such a pair of jaws 32 as a function of the type of shape of the pair of jaws

32.

[0026]In one embodiment, since the cable guiding and locking assembly 30 serves only one function of locking or slidingly guiding the cable for inserting the cable itself into the cable locking devices 6, which does not require a fine control of the mutual distance of the two jaws 32, the latter being capable of being operated by a pneumatic actuator 34.

[0027]In one embodiment, the manipulation head 1 further comprises a cable cutting unit 50 supported by the main support frame 10 in a position downstream of the cable guiding and holding assembly 28 and of the cable guiding and locking assembly 30 with respect to the cable feeding direction X. [0028]The cable cutting unit 50 comprises scissors 52 which can be operated to cut the excess cable at the end of the routing of the cable on the equipped panel.

[0029]The scissors 52 are slidably supported by a scissors moving slide 54 so as to be translatable between an inactive raised position and a lowered operating position.

[0030]In one embodiment, the two blades of scissors 52 are operated by a pneumatic actuator 56 slidably supported by the scissors moving slide 54. [0031]In one embodiment, the scissors moving slide 54 is also pneumatically operated.

[0032]In one embodiment, the manipulation head 1 further comprises a roll-holder assembly 70 supported by the main support frame 10, adapted to rotatably couple a roll 5 of a cable 2 to be laid.

[0033]In one embodiment, the roll-holder assembly 70 comprises a centering gripper 72 adapted to engage the central opening of the roll, and an electric actuator 74 adapted to cause the centering gripper 72 to rotate in order to unwind/wind up cable 2 in a controlled manner.

[0034]In one embodiment, the roll-holder assembly 70 is positioned upstream of the cable feeding assembly 16 and of the cable-guiding assembly 26 with respect to the cable feeding direction X. Moreover, in order not to interfere with the panel components, the roll-holder assembly 70 is in a raised position with respect to the cable feeding assembly 16, and the gripper 72 is oriented so as to be coupled to the roll 5 in an inclined position with respect to the cable feeding direction X. [0035]In one embodiment, the gripper 72 is supported by a rotary actuator 76, for example pneumatically operated, which can be operated to cause the gripper 72 to rotate between a vertical position for picking/depositing the roll 5 from/in a roll storage, and an inclined operating position, depicted in the drawings. Moreover, in one embodiment, the rotary actuator 76 is mounted in turn to an actuator moving slide 78, for example pneumatically operated, which is controllable for translating the rotary actuator 76 between a lowered position for picking/depositing the roll 5 and a raised operating position, depicted in the drawings.

[0036]In one embodiment, the manipulation head 1 further comprises, a vision system 80 and/or a probe for recognizing the components of the equipped panel, supported by the main support frame 10. In particular, such devices allow to check the correct positioning of the components of the equipped panel in order to prevent machine stops and possible collisions with the manipulation head during the automatic work cycle. [0037]In an embodiment shown in Figures 9-9b, the pincers 28' have wedge-shaped end portions preferably extending in the cable feeding direction X, to spread apart resilient arms 6' of cable-locking devices 6 (depicted in Figures 7-7b) of the equipped panel. [0038]In an embodiment shown in Figures 10-10b, the jaws

32 have wedge-shaped end portions preferably extending in the cable feeding direction X, to spread apart the resilient arms 6' of cable locking devices 6. In this embodiment, the jaws 32 can thus serve only the function of slidingly guiding the cable for inserting the cable itself into the cable locking devices 6.

[0039]Figure 6 shows a section view of the pair of wheels 20, 22 of the cable feeding assembly 16, before approaching each other, the cable-guiding assembly 26, and the two pincers 28' in the closed position about the cable 2. Arrow F indicates the rotation direction of the driving wheel 20 to feed cable 2 in the feeding direction X.

[0040]Moreover, the present invention also relates to a system for automatically routing cables along a preset path on an equipped panel 3 for holding a bundle of cables.

[0041]The system comprises an anthropomorphic robot 100, a manipulation head 1 as described above, connected to a wrist 14 of the anthropomorphic robot 100, and an electronic control unit for the electrical devices of the anthropomorphic robot 100 and of the manipulation head 1. [0042]For example, the anthropomorphic robot 100 is a six- axis robot. [0043]The electronic control unit is programmed to move the robot wrist 14 in accordance with a preset operating program and to control the cable feeding assembly 16 to feed or retract the cable in accordance with the movement of the robot wrist. [0044]Moreover, in a preferred embodiment, the electronic control unit is programmed to control the wheel distance adjusting means 162 and the pincer distance adjusting means 282, so as to adjust the tightening torque exerted on cable 2 by the wheels 20, 22 and by the pincers 28' as a function of the diameter and/or structure of cable 2. [0045]As will be described below in more detail, in fact, an operating program is loaded in a storage area of the control unit, which comprises a file with the list of all cables to be laid and the respective features thereof. [0046]In one embodiment, the electronic control unit is programmed to detect the actual length of the laid cable by means of the sensor (such as the encoder) for measuring the rotation of the second non-motor-driven wheel or belt, in real time and at all the programmed points reached, to compare such an actual length with the theoretical length provided by the operating program all the way to the current position, and if not enough cable is delivered, for example due to a sliding effect thereof in the cable feeding assembly 16, to correct the amounts of cable in the subsequent placements in real time in order to compensate for this shift and thus have an actual length of the cable along the entire laying path which complies with the theoretical length provided by the operating program as much as possible. [0047]In one embodiment, the electronic control unit is programmed to detect the actual length of the laid cable 2 at the end of the operating program by means of the sensor 24 for measuring the rotation of a wheel of the cable feeding assembly 16, to compare such an actual length with the theoretical length provided by the operating program, and, if an excessive amount of cable is delivered, to control the cutting unit 50 to cut the excess cable portion.

[0048]In one embodiment, when the operating program includes passing the cable inside a cable locking device 6 of the equipped panel 3, the electronic control unit is programmed to:

- stop the delivery of the cable,

- control the cable guiding and holding assembly 16 to tighten the pincers 28' so as to lock cable 2, - control the cable guiding and locking assembly 30 to close the jaws 32 so as to lock the cable,

- control the robot wrist 14 to vertically translate until the taut cable portion between the pincers and the jaws is inserted into the cable locking device 6.

[0049]In the embodiment in Figures 10-10b, as mentioned above, the cable is locked only by the jaws 32, which are inserted, by spreading them, between the two resilient arms 6' of the cable locking device 6. [0050]Figure 7 shows the lower part of the manipulation head 1 while performing a step of wiring a cable 2, arranging the cable to be inserted into a cable locking component 6. In Figures 7a and 7b, the jaws 32, still in the inactive position in figure 7, close to tighten the cable 2 and the pincers 28' are also completely closed on cable 2. The manipulation head 1 is arranged so as to hold the cable 2 in horizontal position for the next vertical movement of the head which brings the cable portion taut between pincers and jaws to be inserted into the cable locking component 6.

[0051]Figures 8, 9 and 10 depict the lower part of the manipulation head 1 when guiding a cable 2. In this step, the jaws 32 are open, in an inactive position, and cable

2 is guided by the pincers 28' of the guiding and holding assembly 16. [0052]Figures 8a, 9a and 10a show the same members as Figures 8, 9 and 10, in a step of locking cable 2 and at the beginning of the downward translation of the manipulation head 1 for the insertion of the cable into a cable locking component 6. In this step, the jaws 32 were brought to the closed tightening configuration of cable 2.

[0053]Figures 8b, 9b and 10b show the manipulation head 1 when cutting the excess cable 2. In this step, the cutting unit 50 has lowered and the scissors 52 are ready to be operated for cutting cable 2.

[0054]The main algorithms for controlling the devices of the robot and manipulation head by the electronic control unit for performing some steps of the operating program will now be described.

[0055]Figure 13 depicts a possible algorithm 700 for controlling the roll-holder assembly 70.

[0056]In a first step 702, the roll-holder assembly 70 is set in the roll picking configuration, with the centering gripper 72 closed, oriented vertically, and with the slide 76 in the lowered position.

[0057]In a second step 704, the centering pincer 72 is inserted into the central opening of the roll 5 to be picked, and an initial portion of cable 2 is held between the wheels or belts 20, 22; 20a, 22a of the cable feeding assembly 16 and between the pincers 28 of the cable guiding and holding assembly 28.

[0058]In a third step 706, the claws of the centering gripper 72 are opened so as to lock the roll 5. [0059]In a fourth step 708, the timing of the end portion of the wire is checked.

[0060]If required, a rotation of the roll is controlled up to the complete timing of the position of the end portion of the wire (step 710). [0061]The cable guiding and holding assembly 28 is then controlled so as to lock the cable between the pincers 28' (step 712).

[0062]Finally, the roll-holder assembly 70 is brought to the operating position, with the centering gripper 72 open and oriented in an inclined position, and with the slide 76 in the raised position (step 714).

[0063]Figure 14 depicts a possible algorithm 800 for controlling the cable guiding and holding assembly 28. [0064]In a first step 802, the assembly is set in an initial position, in which the pincers 28' are in open position.

[0065]If the position is reached correctly, the pincers 28' are controlled so that cable 2 is in the cable seat

29 formed by the two pincers 28' approaching each other (step 804). [0066]At this point, the pincer moving slide 286 is controlled so that the pincers 28' close on cable 2 until a preset cable tightening torque is achieved (step 806). [0067]Upon achieving the preset torque, the electronic control unit checks whether the operating program provides for the cable guiding and holding assembly 28 to serve the function of guiding cable 2, i.e. the cable can slide in the cable seat 29 (step 808).

[0068]If not, thus if the cable guiding and holding assembly 28 must lock the cable, the cycle ends correctly (step 810).

[0069]If yes, the slide 286 is controlled to open the pincers 28' by a preset offset, adapted to allow the cable to slide (step 812). [0070]Upon achieving this offset, the cycle ends correctly

(step 814).

[0071]Figure 15 depicts a possible algorithm 900 for controlling the cable delivery and the reading of the cable length actually delivered. [0072]In a first step 902, the slide 166 for adjusting the distance of the wheels or belts 20, 22; 20a, 22a is set in an initial position with the wheels or belts 20, 22; 20a, 22a fully open and the length of the delivered cable is set to zero. [0073]When such an initial position has been reached, the cable feeding assembly 16 is positioned so that cable 2 is located between the two wheels or belts 20, 22; 20a,

22a (step 904).

[0074]At this point, the slide 166 is controlled so that the wheels or belts 20, 22; 20a, 22a approach each other until a preset torque is achieved, which is sufficient to cause the cable to be dragged (step 906).

[0075]Upon achieving such a preset torque, the feeding of the cable is controlled by setting a height for the axis of the motor apparatus 18 (step 908).

[0076]The driving wheel 20 is kept under rotation until the axis of the electric motor 18 reaches the set height. [0077]Upon achieving the set height, the length of the cable actually delivered is read by means of sensor 24, and such a reading is transferred to the software for controlling the length of the cable delivered (step 910), for the possible operation to correct the length of the delivered cable in the subsequent placements or for the possible cutting of the excess cable (step 912). [0078]Figure 16 depicts a possible algorithm 300 for controlling the cable guiding and locking assembly 30. [0079]In a first step 302, the assembly is set with the jaws 32 in inactive open position.

[0080]The assembly 30 is then brought to a position such that cable 2 is located between the jaws 32 (step 304). [0081]At this point, the pneumatic actuator 34 is operated so as to cause the jaws 32 to close (step 306).

[0082]The electronic control unit then checks whether the cable positioning cycle within a cable locking component 6 has ended (step 308).

[0083]If not, the jaws 32 are kept closed.

[0084]If yes, the actuator 34 is pneumatically controlled to open the jaws (step 310) and, with the opening being occurred, the cycle is considered to have ended correctly (step 312).

[0085]Figure 17 depicts a possible algorithm 500 for controlling the cutting unit 50.

[0086]In an initial step 502, the cutting unit 50 is set in an initial configuration with the scissors moving slide 54 in raised position and the cutting blades of the scissors 52 open.

[0087]The cutting unit 50 is then brought to an operating position which is suitable for cutting the cable (step 504). [0088]Upon reaching this operating position, the slide 54 is actuated so as to bring the scissors 52 to the cutting position (step 506).

[0089]Upon reaching this position, a timed cutting cycle is started by operating the pneumatic actuator 56 so that it closes and re-opens the blades of the scissors 52 (step 508).

[0090]If the cutting cycle has ended correctly, the slide 54 is controlled so as to return the scissors 52 to the raised inactive position (step 510). [0091]As mentioned above, the electronic control unit manages the anthropomorphic robot 100 and the manipulation head 1 in accordance with a preset operating program.

[0092]In accordance with another aspect of the invention, the preset operating program is generated by an off-line programming software (hereinafter referred to as OLP). In other words, the control program of the robot and manipulation head allows to arrange a cable bundle automatically in an off-line manner. [0093]The main functions of the OLP software are: loading files related to the cables to be laid and to the components of the equipped panel, loading a library of the components of the equipped panel, automatically generating the operating program, collision checking, estimating the execution time.

[0094]The files related to cables and panel components comprise:

- the wiring layout, for example in DXF format. The layout consists of one or more layers, each of which is associated with the layout of a single cable. - the list of cables. The data format is for example the CSV format. This file includes cable information.

- the list of the panel component position, for example in CSV format. The data provided in the list includes the type, position, and orientation of each component. The coordinates and angular direction are given, for example, in relation to the origin of the equipment which contains the supports.

[0095]The library of components which can be used for forming and holding cables contains, for each component, a 3D CAD file with its own reference origin. The data format is VRML, for example.

[0096]The library can be implemented or modified by adding or deleting 3D files. [0097]Based on the files described above, the OLP software can generate the operating program automatically and in off-line mode.

[0098]The order of routing wires is automatically generated following the sequence defined in the imported cable list file. Such a sequence can also be modified by the operator.

[0099]With regard to the collision checking function, the OLP software can check for possible collisions of the manipulation head, the trajectory of which is specified in the operating program of the robot with the components of the equipped panel.

[00100] In case of collision, the OLP software can report the collision point on the video and the operator can manually correct the position of the robot and/or component.

[00101] If the manual correction consists in moving the position of the component, the software can apply the same correction to all paths in that position.

[00102] With regard to the execution time estimation function, the OLP software can estimate the routing time of each cable and the total cycle time for each bundle of cables.

[00103] In one embodiment, the program automatically generates the complete 3D drawing of the project and the list of all cables to be routed by importing the required information directly from the CSV format files selected for the project and from the 3D drawing libraries of the individual components in STL format.

[00104] The program automatically generates the robot positioning points by following the lines of the path of each wire which are imported directly from the 2D drawing in DXF format selected for the project. The distance of each position on the line depends on the maximum distance between points and chordal error parameters defined for the project. [00105] The program, through a specific algorithm, automatically moves the positions which are too close to the components, referred to as "nails", so as to avoid collision therewith. [00106] The program, for each cycle of the single cable to be routed, identifies all components involved and which influence the routing thereof.

[00107] The program automatically creates virtual components, referred to as "Gates", thus "connecting" together two components referred to as "nails" which are within a minimum preset distance.

[00108] The program automatically replaces all the positioning points of the robot previously generated and which are located within the area of a component, and replaces them with the points belonging to the library of customized programs linked to that single component (Macro), including the virtual "Gate" components.

[00109] The program then automatically and virtually simulates the whole operating program of all cables of the project, and with a specific algorithm, tries to automatically move the positions in which a collision with any of the components occurs, in order to attempt to avoid the collision, but also trying to move as little as possible from the trajectory defined at the previous points. [00110] If the required movement exceeds preset thresholds in the various directions, the algorithm does not proceed with the automatic modification of the position, but this collision will be reported to the operator for a possible manual correction, if required. [00111] The program then calculates, with a specific algorithm, the length of the cable for each individual position of the program, taking into account the distance traveled but also the type of components which are then crossed.

[00112] At the end of the complete virtual simulation of all work cycles, any collisions which could not be solved automatically, any problems with the operating area of the robot, the required cable length, and the estimated cycle time are reported.

[00113] The operator can simulate a specific cycle and manually correct the individual positions with special tools for off-line programming.

[00114] When the project is completely correct, the off-line programming software can directly generate the operating program in the language of the robot for the automatic execution thereof.

[00115] It is apparent that the manipulation head and the automatic cable routing system allow to achieve the intended purposes. [00116] The manipulation head allows the automatic management of cables with diameters which are even considerably different from one another, for example from a minimum diameter of 0.25 mm to a maximum diameter of 5.3 mm, without any manual adjustment.

[00117] In addition, cables of different types can be laid: rigid or flexible single wire or round cord conductor; shape of the cable with joined cores for round or visible-helix cable; insulating material made of PVC or other compounds; metal coatings for shielding and/or reinforcement; outer sheath which can be of different material (PVC, thermoplastics, other compounds).

[00118] In all these cases, the cable gripping and manipulating members of the manipulation head are automatically adjusted based on the information of the type of cable to be manipulated.

[00119] Due to the cable feeding assembly and to the real-time measurement system of the delivered cable, the manipulation head allows the optimization of the cable routing paths in the appropriate cable locking components. This is achieved automatically due to the specific operating program generation software, which will be managed and executed according to the production program launched. This type of management ensures path optimization and cable consumption saving. [00120] The head is provided with compatible cable- guiding pincers for the cable to pass and be inserted in cable locking components of different sizes, without the need for manual retooling. [00121] The pincers are interchangeable since they are made in the suitable shape and size for the type of cable locking components and for the layout of the cable bundle.

[00122] The manipulation head can pick the cable to be manipulated from an external feeding system which arranges the end of the cable in picking position, or from a roll which is coupled by a roll-holder assembly and thus kept on board the head itself.

[00123] The head and the routing system described are capable of routing a cable at an average speed of at least 150 mm/sec.

[00124] The head is equipped with an automatic cable cutting unit if the cable routed by the robot, measured in real time, is larger than that expected by the operating program launched by the production program.

This allows the optimization of the circuit and a consequent saving of materials (cables).

[00125] A vision system can be integrated on the head in order to check the correct positioning of the components of the equipped panel in order to prevent machine stops and possible collisions with the manipulation head in an automatic cycle.

[00126] In order to meet contingent needs, those skilled in the art can make modifications and adaptations to the embodiments of the manipulation head and of the cable routing system according to the invention, and can replace elements with others which are functionally equivalent, without departing from the scope of the following claims. Each of the features described as belonging to a possible embodiment can be obtained irrespective of the other embodiments described.

Claims

1. A manipulation head (1) for a cable (2) for automatically routing cables along a preset path on an equipped panel (3) for holding a bundle of cables, comprising a main support frame (10) provided with a flange (12) for connection to a wrist (14) of an anthropomorphic robot (4), and, supported by said main support frame (10):

- a cable feeding assembly (16), comprising a motor feeding apparatus (18) and two parallel wheels or pulling belts (20, 22; 20a, 22a) adapted to engage a cable (2) inserted therebetween along a cable feeding direction (X), a first wheel or belt (20; 20a) of said two parallel wheels or belts (20, 22; 20a, 22a) being a driving wheel or belt which is operatively connected to the motor feeding apparatus (18) in order to be rotated about a wheel rotation axis (Y) perpendicular to the cable feeding direction (X), a second wheel or belt (22; 22a) of said two parallel wheels or belts (20, 22; 20a, 22a) being a driven wheel or belt operatively connected to a sensor (24) for measuring the rotation of said second wheel or belt (22; 22a);

- a cable-guiding arm (26), comprising a distal arm end

(26') which ends in front of the two parallel wheels or belts (20, 22; 20a, 22a) and is shaped so as to guide the incoming cable between said parallel wheels or belts in the cable feeding direction (X);

- a cable guiding and holding assembly (28) positioned beyond the two parallel wheels or belts (20, 22; 20a, 22a) in the cable feeding direction (X) and comprising a pair of pincers (28') which are movable between an inactive open position and a closed position for guiding or holding the cable leaving the two parallel wheels;

- a cable guiding and locking assembly (30) positioned beyond the two parallel wheels or belts (20, 22; 20a,

22a) in the cable feeding direction (X), upstream or downstream of the cable guiding and holding assembly (28), and comprising a pair of jaws (32) which are movable between an inactive open position and a closed jaw position.

2. The head according to claim 1, comprising means (162) for adjusting the mutual distance of the two parallel wheels or belts (20, 22; 20a, 22a).

3. The head according to claim 2, wherein at least one of the two parallel wheels or belts (20, 22; 20a, 22a) is mounted to a wheel arm (164) slidingly supported in an electrically operated wheel distance adjusting slide (166) so as to be translatable along a distance adjusting direction (Z) perpendicular to the cable feeding direction (X).

4. The head according to any one of the preceding claims, comprising means (282) for adjusting the mutual distance of the two pincers (28').

5. The head according to claim 4, wherein at least one of the two pincers (28') is mounted to a pincer arm (284) slidingly supported in an electrically operated pincer distance adjusting slide (286) so as to be translatable along a distance adjusting direction (Z) perpendicular to the cable feeding direction (X).

6. The head according to any one of the preceding claims, comprising a cable cutting unit (50) supported by the main support frame (10) in a position downstream of the cable guiding and holding assembly (28) and of the cable guiding and locking assembly (30) with respect to the cable feeding direction (X), and comprising scissors (52) which can be actuated to cut the excess cable at the end of the cable routing on the equipped panel, the scissors (52) being slidingly supported by a scissor moving slide (54) so as to be translatable between a raised inactive position and a lowered operating position.

7. The head according to any one of the preceding claims, further comprising a roll-holding assembly (70) supported by the main support frame (10) and adapted to rotatably couple a roll of cable to be routed, the roll- holding assembly (70) comprising a centering gripper (72) adapted to engage the central opening of the roll, and an electric actuator (74) adapted to cause the centering gripper (72) to rotate in order to unwind/wind up the cable in a controlled manner.

8. The head according to any one of the preceding claims, wherein the pincers (28') and/or the jaws (32) have wedge-shaped end portions for spreading apart resilient arms (6') of cable locking devices (6) of the equipped panel.

9. The head according to any one of the preceding claims, comprising a vision system (80) and/or a probe for recognizing the components of the equipped panel, supported by the main support frame (10).

10. A system for automatically routing cables along a preset path on an equipped panel (3) for holding a bundle of cables, comprising:

- an anthropomorphic robot (100);

- a manipulation head (1) according to any one of the preceding claims, which is connected to a wrist of the anthropomorphic robot (100); and

- an electronic control unit for the electrical devices of the anthropomorphic robot and of the manipulation head

(1).

11. The system according to the preceding claim, wherein the electronic control unit is programmed to control the wheel or belt distance adjusting means and the pincer distance adjusting means so as to adjust the tightening torque exerted on the cable by the wheels or belts and by the pincers as a function of the diameter and/or structure of the cable.

12. The system according to either claim 10 or 11, wherein the electronic control unit is programmed to move the wrist of the robot in accordance with a preset operating program and to control the cable feeding assembly to supply or withdraw the cable in accordance with the movement of the wrist of the robot.

13. The system according to any one of claims 10-12, wherein the electronic control unit is programmed to detect the actual length of the laid cable by means of the sensor measuring the rotation of the second non- motor-driven wheel or belt, in real time and at all the programmed points reached, to compare such an actual length with the theoretical length provided by the operating program all the way to the current position, and, if not enough cable is delivered, to correct the amounts of cable in the subsequent placements in real time so as to compensate for said shift in order to have an actual length of the cable along the entire laying path which complies with the theoretical length provided by the operating program as much as possible.

14. The system according to any one of claims 10-13, wherein the electronic control unit is programmed to detect the actual length of the laid cable at the end of the operating program by means of the sensor for measuring the rotation of the second wheel, to compare such an actual length with the theoretical length provided by the operating program, and, if an excessive amount of cable is delivered, to control the cutting unit to cut the excess cable portion.

15. The system according to any one of claims 10-14, wherein, when the operating program includes passing the cable inside a cable locking device of the equipped panel, the electronic control unit is programmed to: - stop the delivery of the cable,

- control the cable guiding and holding assembly to tighten the pincers so as to lock the cable,

- control the cable locking assembly to close the jaws so as to lock the cable, and - control the wrist of the robot to vertically translate until the taut cable portion between the pincers and the jaws is inserted into the cable locking device.