EP4402704B1 - Tête d'assemblage et procédé d'emballage d'un faisceau de câbles de manière automatisée - Google Patents

Tête d'assemblage et procédé d'emballage d'un faisceau de câbles de manière automatisée

Info

Publication number
EP4402704B1
EP4402704B1 EP23776342.0A EP23776342A EP4402704B1 EP 4402704 B1 EP4402704 B1 EP 4402704B1 EP 23776342 A EP23776342 A EP 23776342A EP 4402704 B1 EP4402704 B1 EP 4402704B1
Authority
EP
European Patent Office
Prior art keywords
tape
cable strand
unit
bundling
head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP23776342.0A
Other languages
German (de)
English (en)
Other versions
EP4402704A1 (fr
EP4402704C0 (fr
Inventor
Luis De Almeida
Daniel Jacobus JANSE VAN RENSBURG
Stuart FLEMING
Quinton Mark UREN
Ping Xu
Paulo MARTINS
Onur Tavsel
Christian Guni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leoni Bordnetz Systeme GmbH
Original Assignee
Leoni Bordnetz Systeme GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leoni Bordnetz Systeme GmbH filed Critical Leoni Bordnetz Systeme GmbH
Priority to EP25221396.2A priority Critical patent/EP4682913A3/fr
Priority to MA68837A priority patent/MA68837B1/fr
Publication of EP4402704A1 publication Critical patent/EP4402704A1/fr
Application granted granted Critical
Publication of EP4402704C0 publication Critical patent/EP4402704C0/fr
Publication of EP4402704B1 publication Critical patent/EP4402704B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/06—Insulating conductors or cables
    • H01B13/08—Insulating conductors or cables by winding
    • H01B13/0816—Apparatus having a coaxial rotation of the supply reels about the conductor or cable
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses
    • H01B13/01263—Tying, wrapping, binding, lacing, strapping or sheathing harnesses
    • H01B13/01281—Harness wrapping apparatus

Definitions

  • the invention relates to an assembly head and a method for the automated, in particular fully automated, banding of a cable harness.
  • a conductor bundle is generally understood to be a strand-shaped, preferably flexible structure, in particular a preferably electrical conductor bundle, which is composed of one or more (electrical) (conductor) elements (individual conductors).
  • electrical conductor
  • the individual elements are frequently bundled together by means of taping.
  • a tape for example adhesive tape and/or a textile tape, is wrapped around the conductor bundle.
  • a mounting head for the automated wrapping of a cable bundle is to be removed, in which the cable bundle can be inserted laterally into a winding head, with pressure elements with rollers provided.
  • a swiveling cutting unit for cutting the tape is attached to a frame next to the winding head.
  • a winding device can be removed in which a belt roll can be moved along a C-shaped support area by means of a rotary component.
  • WO 2015/055753 A1 This describes an assembly station for the automated attachment of clips to a cable bundle.
  • a positioning unit first positions the clips on the cable bundle before they are then secured by wrapping them with tape.
  • US 4 707 214 A describes another winding device for wrapping a conductor with a rectangular cross-section using insulating tape, whereby the dimensions of the conductor are calibrated by pressure rollers after wrapping.
  • a winding device is removed, in which a gripping unit grasps the cable to be wound and inserts it into a winding head before the winding process begins. After the winding process, the gripping unit pulls the cable out of the winding head so that the tape is cut by a cutting element.
  • the invention aims to enable automated banding.
  • the problem is solved according to the invention by a mounting head according to claim 1 and by a method using such a mounting head according to claim 14.
  • the assembly head is generally used for the automated, and in particular fully automated, banding of a transversely extending cable strand with a tape.
  • the assembly head itself extends not only transversely but also longitudinally and vertically. It has a winding module with a winding head that extends around a transversely extending The axis of rotation is rotatable.
  • the winding module preferably has a drive by which the winding head can be set into a rotational movement.
  • the winding head itself preferably comprises a ring segment with a central winding chamber.
  • the ring segment has a lateral insertion opening for the lateral (transverse to the transverse direction) insertion of the conductor string into the winding chamber.
  • the drive for the winding head is preferably designed as a belt drive, wherein a drive belt engages, in particular, with external teeth on the winding head and thereby sets it in rotation.
  • the assembly head also features a taping unit for supplying and guiding the tape.
  • the cable harness and the assembly head are moved relative to each other in or against the longitudinal direction, so that the cable harness is inserted laterally into the winding head.
  • the tape is then applied to the cable harness and subsequently wound around it.
  • the tape is cut and separated. Preferably, this is followed by a movement to ensure the tape end adheres securely to the cable harness.
  • a suitably designed control unit is generally arranged to control the movement sequence of the assembly head, with the help of which the individual steps and movements during banding, as explained in detail below, are initiated.
  • the cable bundle typically consists of several individual conductors. These are preferably single-core or multi-core sheathed electrical cables. Alternatively, the conductor elements can also be busbars wrapped with tape. In principle, other types of individual conductors or even different types of individual conductors can be combined in the cable bundle. In one design variant... At least some of the individual lines are designed as fluid lines, such as hoses. Preferably, the wiring harness is a purely electrical wiring harness.
  • a key aspect lies in the design and control of a cutting element, particularly in combination with a (further) pressing element.
  • This design enables fully automatic stripping of the tape at the end of the taping process and, preferably, further pressing of the tape end against the cable bundle.
  • the cutting element is attached to the banding unit and is therefore part of the banding unit.
  • the cutting element is designed in the manner of a blade, which is oriented particularly in the transverse direction.
  • the taping unit is attached to the winding head.
  • the winding head rotates around its axis of rotation, and therefore the taping unit attached to the winding head also rotates. Since the cutting element is attached to the taping unit and is thus part of it, the cutting element also rotates during the taping process.
  • the taping unit is controlled such that, at the end of the taping process, it is moved into a cutting position, specifically against the longitudinal direction. This movement brings the cutting element into a defined cutting position. Moving the taping unit back away from the cable bundle also tensions the tape, making it easier to cut. Therefore, the taping unit is generally movable and adjustable, particularly on or with the winding head. It is thus an adjusting mechanism with a An actuator is designed, via which the desired positioning movement of the banding unit can be executed.
  • the banding unit has a tape dispenser to which the tape, specifically a tape roll, is attached.
  • the tape supply is generally sized to be sufficient for several banding operations. Once the tape supply on the tape roll is exhausted, a new tape roll is attached to the tape dispenser. Alternatively, the tape is wound directly onto the tape dispenser.
  • the cutting element for cutting the tape is movable in the direction of the tape.
  • the cutting element is, for example, movably arranged on the taping unit.
  • the cutting element is moved by a movement of the taping unit, and in particular also of the winding head to which the taping unit is attached, especially without relative movement to the taping unit.
  • the cutting element is moved towards the tape by a pivoting motion.
  • This is achieved, in particular, by a pivoting and thus rotary motion of the tapering unit and, consequently, also of the winding head.
  • the particular advantage here is that a rotary drive for the rotary motion of the winding head is simultaneously used for cutting the tape with the cutting element.
  • a tape end is formed on the severed section, which is wound around the cable bundle.
  • a pressing element is provided which can be moved towards the cable bundle such that, during the taping process, the tape end is pressed against the cable bundle.
  • This pressing element is hereinafter also referred to as a further or second pressing element.
  • This additional pressure element is preferably also attached to the banding unit.
  • the further pressure element is applied by a rotary movement.
  • this is in turn achieved by the rotary movement of the taping unit and, in particular, the winding head.
  • the taping unit is equipped with both the cutting element and the additional pressure element. Since this pressure element is rotationally fixed to the rotating winding head/taping unit, the tape is cut and the tape end is pressed against the conductor at the end of the taping process by at least one suitable pivoting movement of the winding head. Preferably, a single pivoting movement is sufficient for both cutting the tape and pressing the tape end against the conductor, so that first the cutting element cuts the tape and subsequently the additional pressure element presses the tape end against the conductor.
  • the cutting element and the other pressure elements are therefore arranged one behind the other, opposite to a pivoting direction. They are thus arranged with a rotational offset from each other.
  • the additional pressing element is preferably designed as a flexible tab or a brush.
  • the other, second end of the strip which remains on the strip supply provided by the tape dispenser and thus represents a strip beginning for the next taping process, also forms a strip end.
  • a holding element for the second strip end is arranged, which acts in particular as a support and/or fixing element for the strip end.
  • the holding element is located adjacent to, and preferably directly adjacent to, the cutting element.
  • the holding element secures the second strip end in a
  • the tape is held in a defined position, for example, supported and/or fixed, so that it can be brought back to the cable bundle in a controlled manner and attached there during a subsequent taping process.
  • the problem when cutting the tape is that the second end of the tape protrudes into an undefined position, from which a reliable attachment for the subsequent taping process cannot be guaranteed.
  • the retaining element is preferably formed by several individual pins, in particular needle-shaped pins, which preferably extend upwards from a base towards a central winding chamber and thus towards the belt.
  • these pins pierce the belt, so that the belt is essentially perforated by the pins, and the belt is fixed in the desired position at the points where the pins penetrate the belt.
  • the taping unit preferably includes a tape dispenser on which the tape is stored.
  • the taping unit, together with the tape dispenser is attached to the winding head and therefore rotates with it during the taping process.
  • a balancing mass is attached to the winding head and, in particular, to the taping unit.
  • This is an additional mass element that otherwise has no additional function.
  • the mass element is formed, in particular, by a solid body, for example, cylindrical or cuboid, made of solid material.
  • the additional balancing mass ensures a suitable mass distribution such that imbalance is avoided during rotation of the winding head.
  • the mounting head generally has a support frame to which the individual elements of the mounting head are attached.
  • the winding module together with the banding unit, can be moved longitudinally relative to the support frame.
  • Suitable drive and drive components are particularly required for this purpose.
  • Adjustment elements are provided, for example a suitable linear guide with drive.
  • the winding head and the taping unit are moved longitudinally relative to the support frame, thus advancing towards the conductor tape and then moving back again. This allows for an efficient taping process, as the entire assembly head does not need to be moved. It also prevents collisions with other components used to hold the conductor bundle.
  • the cable bundle is generally routed onto a holding device, for example a so-called cable board, i.e., laid and held according to a predetermined routing geometry, for example with suitable support elements.
  • the banding is then carried out on this holding device using the mounting head.
  • the taping unit enables fully automatic initial fixation of the tape end to the cable bundle. Therefore, manual securing of the tape end is unnecessary.
  • the subsequent taping process is also fully automatic. This fully automatic fixation is achieved, in particular, by moving the taping unit close to the cable bundle. For this purpose, the previously described relative movement of the winding module relative to the support frame is specifically provided.
  • the taping unit has a (first) pressure element that is movable towards the cable bundle.
  • the pressure element is, for example, movably mounted on the taping unit and specifically pivotally movable. Alternatively, it is fixedly attached to the taping unit, and its movement towards the cable bundle is achieved by a positioning movement of the taping unit, which also includes a pivoting movement.
  • the first pressure element is, for example, a strip-shaped element or, alternatively, a pressure roller. formed, which is moved against the conductor string and thereby presses the beginning of the tape against the conductor string.
  • a gripping unit which has gripping elements for compressing the cable bundle consisting of several individual wires or strands.
  • two gripping units are arranged on both sides of the winding head.
  • only one gripping unit is arranged on one side, so that the assembly head is as compact as possible.
  • the gripping unit is specifically located on the side opposite the taping unit, next to the winding module.
  • the gripping unit is preferably arranged "leading" the taping unit, so that the loose individual wires in the section to be taped next are compressed by the gripping unit.
  • the gripping elements In a closed end position, the gripping elements completely enclose the cable bundle circumferentially, at least in conjunction with a further gripper holder, on which they are preferably pivotably mounted.
  • the individual, especially loose, conductors of the conductor bundle are first pressed against each other in their final position, compressing them into a first, compressed final position. Subsequently, the individual conductors are held compressed by a further auxiliary element, in particular by the guide rollers described in more detail below, during the taping process.
  • the gripping unit is preferably moved into a further, second end position or gripping position, in which the gripping elements release the cable strand somewhat, such that the cable strand is preferably only loosely held in this gripping position.
  • the gripping elements are arc-shaped.
  • a pivoting motion achieves the desired compression of the individual conductors of the cable bundle.
  • the cable bundle is compressed, in particular, between these two arc-shaped gripping elements and the previously mentioned gripper holder.
  • a suitable drive mechanism is provided to execute the pivoting motion.
  • an actuating element is provided that acts on a base of the gripping element and pivots it about a pivot axis.
  • the gripping unit is arranged to be linearly movable in and against the longitudinal direction, and preferably relative to the winding module.
  • the gripping unit is particularly located directly next to the winding module. Specifically, it is attached to the winding module, for example via linear guides, so that it is adjustable in the longitudinal direction relative to the winding module. A suitable drive is provided for this adjustment movement.
  • the cable assembly is generally held and, in particular, kept under tension at least on one side, preferably on two opposite sides, between which the mounting head is located.
  • the mounting head is moved transversely along the cable assembly during the taping process.
  • the guide rollers of each pair can be moved towards the conductor, particularly in the longitudinal direction, and additionally pivoted, such that they are pressed against the conductor during operation, compressing and deforming it, at least to some extent.
  • the conductor has a flat cross-sectional geometry in the area of the guide rollers. This prevents the conductor from twisting around its own axis. Therefore, during the taping process, the The conductor strand is held between the two leading roles of each pair.
  • the guide rollers are preferably without their own drive and are loosely mounted so that they can rotate about a roller axis.
  • the assembly head moves – as described above – preferably in a transverse direction along the cable bundle. This is made possible by the guide rollers, which roll along the cable bundle, allowing it to pass through the two guide rollers.
  • Each pair of guide rollers is preferably adjustable in the longitudinal direction.
  • at least one of the pairs is attached to the gripping unit and adjustable in the longitudinal direction together with it.
  • At least one pair of guide rollers is preferably arranged within a recess of the winding module.
  • the pair is movable within this recess, specifically in the transverse direction.
  • this pair is positioned within the recess. This results in the most compact possible design of the assembly head.
  • this pair is preferably movable in the transverse direction relative to the winding module.
  • the gripping unit as a whole is movable in the transverse direction relative to the winding module.
  • the winding module generally comprises a support plate extending longitudinally, to which the winding head is rotatably attached laterally in the transverse direction.
  • a front end of the support plate similar to the winding head, is laterally open and, for example, designed as a ring segment, thus providing an open space that forms the aforementioned clearance into which the guide rollers can move.
  • the entire mounting head is specifically designed for attachment to a robot, particularly a multi-axis industrial robot.
  • a mechanical interface in particular a flange, with which it can be attached to the robot, specifically to a robot hand of the industrial robot.
  • the mounting head 2 shown generally has a support frame 4 to which several units, described in more detail below, are attached.
  • the support frame 4 has a flange 6 by which it is held on an industrial robot 8, which is indicated only by a dashed line of a mounting flange of a robot hand.
  • the mounting head 2 is thus largely free to move in space, so that it can be positioned as needed in any position and at any angle (0–360°). Alternatively, it is also possible for it to be moved linearly on a fixed frame, for example.
  • the mounting head itself is fixed and a cable string 10 is movable relative to the mounting head 2.
  • the mounting head 2 generally serves to band the conductor string 10 with a band 14.
  • the band 14 is preferably arranged in a fixed position and the mounting head moves in the direction of the conductor string 10.
  • the mounting head 2 extends in a longitudinal direction L, perpendicular to this in a transverse direction Q and further in a vertical direction V. During the banding process, the conductor string 10 extends in the transverse direction Q.
  • the assembly head 2 has a winding module 16 with a preferably C-shaped or ring-segment-like winding head 18.
  • a taping unit 20 is also attached to the winding head 18 and is thus part of the winding module 16. Due to its design, the winding head 18 has an insertion opening and encloses a central interior space into which the conductor 10 can be inserted.
  • the winding head 18 rotates about an axis of rotation (not shown here), which is also a central axis of the interior space defined by the winding head 18. During the taping process, the axis of rotation extends along the conductor 10.
  • a suitable drive device is provided for driving the winding head 18.
  • a toothed section 19A is formed on the outer circumference of the winding head, into which several drive bands or toothed belts 19B, distributed around the circumference, typically engage (see in particular also FIG 4 At least one toothed belt is driven by a suitable drive.
  • the complete belt drive is part of winding module 16.
  • the winding module 16 and thus the winding head 18 are preferably adjustable relative to the support frame 4 in and against the longitudinal direction L, so that a delivery movement in the direction of the conductor string 10 is enabled.
  • the winding head 18 can be moved linearly via a linear drive.
  • a suitable drive is provided for this purpose.
  • the winding module 16 has a support plate 16A, which is open at its front end, thus defining a clearance 16B.
  • the winding head 18 is rotatably attached to the support plate 16A at this front end.
  • a ring-segment-shaped plate of the winding head is rotated about the axis of rotation by the aforementioned belt drive.
  • the belt drive is also attached to the support plate 16A, specifically behind the winding head when viewed longitudinally.
  • the taping unit 20 has a tape dispenser 22 on which the tape 14 is stored. During operation, the tape dispenser 22 rotates with the winding head 18. For this purpose, the taping unit 20 is fixedly attached to the winding head 18, and in particular to the aforementioned ring-segment-shaped, rotatable plate. The taping unit 20 is therefore a component of the rotatable winding head 18.
  • the tape dispenser 22 in the exemplary embodiment has a spool carrier 40 to which a tape roll 42 (spool) is attached. This is held on the spool carrier 40 by a central roller holder 44.
  • the roller holder 44 achieves a preferably rotationally fixed connection with the spool carrier 40.
  • the band roller 42 is held by friction, preferably exclusively by friction.
  • the roller holder 44 preferably has an adjustment mechanism for setting the coefficient of friction.
  • Tape reels 42 of different widths can be accommodated on the reel carrier 40.
  • at least one adapter ring 46 is arranged, which can be fixed to the reel holder 44.
  • two adapter rings 46 are arranged, which define a space between them in which a narrow The tape roller 42 is held in place. The two adapter rings 46 also keep the narrow tape roller 42 centered.
  • the banding unit 20 has several guide elements and/or deflection elements with which the band 14 is reliably guided and deflected.
  • the taping unit 20 preferably has a first pressure element 24.
  • the pressure element 24 is movable towards the conductor string 10 and serves to guide and press a tape start against the conductor string 10 at the beginning of the taping process.
  • the first pressure element 24 is, for example, pivotally mounted on the taping unit 20. It is particularly designed in the form of a pressure roller.
  • the taping unit 20 has a second pressure element 25, which is also adjustable towards the conductor 10.
  • This second pressure element 25 is preferably designed as an elastic element, for example as an elastic tab, and in the exemplary embodiment in the form of a brush.
  • This second pressure element 25 serves to press a tape end against the conductor 10 at the end of the taping process, as will be explained in more detail below.
  • the taping unit 20 also includes a cutting element 23, which is arranged particularly directly adjacent to the further pressure element 25 and is adjustable with it.
  • the cutting element 23 and the further pressure element 25 preferably perform a common (pivoting) movement when cutting the tape 14.
  • a retaining element 27 Adjacent to the cutting element 23, specifically on the side oriented towards the belt 14 or the belt dispenser 22, and thus in particular opposite the further pressure element 25, a retaining element 27 is attached, which is intended to support or hold one end of the partial belt remaining on the belt dispenser 22.
  • the retaining element 27 has the following features for this purpose: For example, several pins, in the exemplary embodiment three pins, are oriented towards the tape 14 and specifically towards the tape dispenser 22. In the figures, the pins are shown as oversized and too long, contrary to the actual embodiment. In the FIG 3 and FIG 4 In the situation shown (after a previous banding process in which band 14 was cut off), the pins pierce band 14.
  • a balancing mass 34 is attached to the winding head 18, in particular to the banding unit 20.
  • Each gripping unit 26 has a gripper holder 28 and two arc-shaped gripping elements 30. These are mounted on the gripper holder 28, in particular so as to be pivotally movable.
  • FIG 2 A controllable actuating element 31 can be identified, which preferably has two actuating elements 31a, 31b, each of which is connected to one of the gripping elements 30 in a foot area. The actuating elements 31a, 31b can perform a pivoting movement and can also move the arc-shaped gripping elements 30.
  • the entire gripping unit 26 is preferably adjustable in the longitudinal direction L towards the conductor string 10.
  • the gripping unit is, for example, linearly displaceable on the winding module 16 and, in particular, on the support plate 16 A, with its own drive for linear adjustment.
  • the gripping elements 30 are shown in a partially closed position, in which they, together with the gripper holder 28, completely encircle the conductor bundle 10. This bundle therefore lies between the Gripping elements 30 and the gripper holder 28 are inserted.
  • the gripping elements 30 are brought together, the loose individual strands of the cable bundle 10 are gathered, so that the cable bundle 10 is compressed overall.
  • the cable bundle 10 is guided loosely in the gripping unit 26 during the taping process.
  • the cable bundle 10 is initially gripped firmly, in particular until a tape end is fixed to the cable bundle 10 and the tape 14 has optionally already been wrapped several times around the cable bundle 10.
  • the gripping unit 26 is opened slightly and moved into a gripping position, so that the cable bundle 10 is guided loosely and is passed through the gripping unit 26 during the taping process.
  • the assembly head 2 further comprises two pairs of guide rollers 32. These are mounted on both sides of the winding head 18 and the banding unit 20, respectively.
  • the pair located on the side of the gripping unit 26 is, for example, attached to the gripping unit 26, specifically to the gripper holder 28, and is adjustable in the longitudinal direction L with it.
  • the pair is adjustable in the longitudinal direction L independently of the gripper.
  • the guide rollers 32 are therefore specifically assigned their own adjustment mechanism for longitudinal adjustment, so that they can be adjusted independently of the gripper.
  • the opposite pair, which is arranged next to the banding unit 20, is preferably also adjustable in the longitudinal direction L and has a suitable linear drive for this purpose.
  • the guide rollers 32 are arranged opposite each other to the conductor 10 and can be adjusted towards the conductor 10. A pivoting movement is provided for this purpose. In their closed end position, their roller axes are preferably arranged parallel or largely parallel to each other.
  • the conductor 10 is guided and held between the guide rollers 32.
  • the distance between the guide rollers 32 is preferably dimensioned such that the conductor 10 is compressed somewhat overall, so that it is held, for example, by approximately
  • the tape has a flattened cross-sectional contour.
  • the distance between the guide rollers 32 during the taping process is preferably adjustable, for example by parameterization or alternatively manually, particularly depending on the diameter of the conductor string 10.
  • the guide rollers 32 are rotatable about their roller axis, but preferably do not have their own drive.
  • the surface of the guide rollers 32 preferably has good adhesion and is, for example, rubberized or similarly rubberized. This also largely prevents the risk of damage to the wiring harness 10 during the entire taping process. Furthermore, this counteracts and prevents twisting of the wiring harness during the taping process.
  • the pair of guide rollers 32 which is arranged on the side of the winding module 16 opposite the taping unit 20, can be positioned in the transverse direction in such a way that it lies in the previously described free space 16B in the carrier plate 16A at least during the taping process and preferably permanently.
  • the banding process is preferably as follows: The assembly head 2 is moved towards the cable bundle 10 by means of the robot 6. The cable bundle 10 is held in place, particularly on both sides. However, the positioning movement of the assembly head 2 is not strictly necessary, depending on how the positioning of the assembly head 2 relative to the cable bundle 10 is determined. The cable bundle 10 is located. Alternatively or additionally, the gripping unit 26 and the winding module 16 are advanced in the longitudinal direction L by moving the winding module 16 relative to the support frame 4. Preferably, the assembly head is positioned next to the cable bundle 10 at the beginning of the taping process, such that the lateral opening of the winding head 18 is oriented towards the cable bundle 10.
  • the gripping unit 26 is first positioned towards the cable bundle 10 and moved relative to the support frame 4 for this purpose.
  • the gripping elements 30 are then pivoted so that the cable bundle 10 is enclosed.
  • the gripping elements 30, together with the gripper holder 28, define a gripping diameter.
  • the individual cables are thereby brought together and, if necessary, also compressed.
  • the cable bundle 10 is first clamped and held in place during this step.
  • the guide rollers 32 are initially moved longitudinally forward towards the conductor string 10, either simultaneously or with a time offset, again relative to the support frame. They are then brought into their final position, in particular by a pivoting movement, so that they are pressed against the conductor string 10 and, in particular, flatten it and press it into a flat cross-sectional shape. The pressing force exerts a certain holding force on the conductor string 10.
  • the gripping elements 30 are loosened slightly so that they still completely enclose the cable bundle, but only hold it loosely, allowing the cable bundle 14 to be passed through the gripping unit 16 in a transverse direction.
  • the conductor strand 14 is tightened in the transverse direction by means of the two pairs on guide rollers 32.
  • the two pairs are pulled apart in opposite directions in and against the transverse direction Q, so that the conductor strand 10 is tightened in the area of the winding head 16. At least one of the pairs exerts a movement in the transverse direction Q.
  • the pair on the side of gripping unit 16 is offset in the transverse direction Q and thus relative to the winding module.
  • a suitable drive is attached for this purpose.
  • the winding module 16 is moved longitudinally L towards the conductor string 10 relative to the support frame 4, so that the latter is received inside the winding head 18.
  • any loose end of the tape 14 is preferably pressed against the conductor 10 during this delivery movement.
  • This is achieved in particular by means of the first pressure element 24, which presses the tape 14 from above against the conductor 10, so that the tape 14 is fixed between the pressure element 24 and the conductor 10 (see also Figure 1).
  • Figure 3 In an alternative design variant, the pressure element 24 can also be pivoted from below against the conductor 10, so that the tape start is pressed against the conductor 10. In any case, the tape start is fixed to the conductor 10 fully automatically.
  • the tape 14 is, in particular, a self-adhesive tape.
  • the winding head 18 and with it the taping unit 20 rotate around the axis of rotation, so that the tape 14 is unwound from the tape dispenser 22 and wound around the conductor 10.
  • the tape 14 is first wound several times around the conductor 10 at the starting position, so that the beginning of the tape is reliably fixed.
  • the conductor string 10 is then, for example, wrapped in a spiral shape with the tape 14.
  • the gripping unit 26 holds the conductor 10 firmly enclosed, preferably until the beginning of this spiral wrapping. Generally, the gripping elements 30 are opened slightly again before the start of the spiral wrapping. so that the conductor string 10 is still fully enclosed, but only loosely held.
  • the entire assembly head 2 is moved in or against the transverse direction Q using the industrial robot 8, so that the tape 14 is successively wrapped around the conductor 10 either as spiral wrapping or as full wrapping.
  • the assembly head 2 also allows for spot wrapping, in which the tape 14 is wrapped around the conductor 10 at only one position.
  • the tape is automatically cut.
  • the taping unit 20 (together with the winding head 18) first retracts a short distance in the opposite direction L. This causes a section of the tape to protrude radially from the conductor strand 10. The tape 14 is thereby taut and thus stretched.
  • the tape 14 is cut by means of the cutting element 23.
  • a pivoting movement of the taping unit 20, for example about the axis of rotation of the winding module 16, is provided. This guides the cutting element 23 from below against the stretched tape 14. The cutting element 23 then cuts the tape 14.
  • the banding unit 20 (together with the winding head 18) first moves back a short distance against the longitudinal direction L, thus tensioning the band 14.
  • the banding unit 20 then moves forward a short distance in the longitudinal direction, so that the band 14 is no longer elastically tensioned, but sufficient space remains for the cutting element 23 to cut it. This prevents the band 14 from curling back after cutting due to its elasticity, which would leave no loose band end available for the subsequent banding process.
  • the loose end of the band created in the process is preferably also pressed against the conductor string 10 by the further pressure element 25.
  • an end end remains on the strip 14 located on the tape dispenser 22, which defines the beginning of the strip for the next taping process.
  • This end end is held in place by the arrangement of the retaining element 27.
  • the strip end rests on top of the retaining element 27.
  • the retaining element 27 – as particularly in FIG 3 This can be seen – it is formed by several, in particular needle-shaped, pins that even pierce the band. Piercing occurs especially during cutting, when the cutting element 23 is pivoted from below against the band 14.
  • the holding element 27 is preferably pivoted together with the cutting element 23.
  • the needle-shaped pins pierce the end of the bandage. This holds the bandage end firmly in position for the next bandaging step.
  • the pins protrude only slightly beyond bandage 14 (exaggerated in the figures).
  • the end of the band is held in position by the pins.
  • the first pressure element 24, by pivoting, guides the band 14 to the conductor 10, so that the band 14 is pressed against the conductor 10 and it can adhere there.
  • the tape end is then automatically released from the pins.
  • the first pressure element 24 generally holds the strip 14 in position.
  • the pins hold the strip end downwards after cutting, until the next taping process.
  • the holding element 27 is arranged directly adjacent to the cutting element 23. This means, in particular, that the holding element 27, and thus the support point for the end of the belt, is located only a few centimeters away from the cutting element 23, for example, a maximum of 2 cm or even a maximum of 1 cm.
  • either another conductor strand 10 is brought into a desired taping position in which it is held and/or the mounting head 2 is moved to a next conductor strand 10.
  • FIG. 5 and 6 An alternative version of the mounting head 2 is shown. The preceding explanations apply at least largely equally to this alternative version.
  • the retaining element 27 is omitted.
  • Two gripping units 26 are also attached to both sides of the winding head 18.
  • a pair of guide rollers 32 is preferably attached to each gripping unit 26.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Basic Packing Technique (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Manufacture Of Motors, Generators (AREA)

Claims (15)

  1. Tête d'assemblage (2) qui s'étend dans une direction longitudinale (L), une direction transversale (Q) et une direction verticale (V) et qui est conçue pour l'enrubannage automatisé d'un faisceau de câbles (10) s'étendant en direction transversale (Q) avec un ruban (14), le faisceau de câbles (10) comportant plusieurs câbles individuels et la tête d'assemblage (2) comportant un châssis de support (4) sur lequel sont fixés les éléments individuels de la tête d'assemblage (2), et comportant un module d'enroulement (16) avec une tête d'enroulement (18) qui peut tourner autour d'un axe de rotation s'étendant en direction transversale (Q), ainsi qu'avec une unité d'enrubannage (20) destinée à la distribution et au guidage du ruban (14), l'unité d'enrubannage (20) étant fixée à la tête d'enroulement (18), et la tête d'enroulement (18) étant ouverte vers l'avant en particulier en direction longitudinale (L), de sorte que le faisceau de câbles (10) peut être introduit latéralement dans un espace interne de la tête d'enroulement (18), caractérisée en ce que le module d'enroulement (16) est déplaçable en direction longitudinale (L) par rapport au châssis de support (4), conjointement avec l'unité d'enrubannage (20), en ce qu'à l'unité d'enrubannage (20) est fixé un élément de coupe (23) qui est conçu pour la coupure automatique du ruban (14) à la fin du processus d'enrubannage, l'unité d'enrubannage (20) étant fixée de manière déplaçable et étant commandée en fonctionnement de façon telle qu'à la fin du processus d'enrubannage cette dernière est déplacée dans une position de coupe, en particulier à l'opposé de la direction longitudinale (L), la tête d'assemblage comportant en outre au moins une paire de rouleaux de guidage (32) qui guident entre eux les câbles individuels, les rouleaux de guidage (32) étant conçus et pouvant être commandés en fonctionnement et étant également commandés de façon telle qu'ils sont pressés contre le faisceau de câbles (10).
  2. Tête d'assemblage (2) selon la revendication précédente, dans laquelle le ruban (14) est tendu en la position de coupe lors du déplacement de l'unité d'enrubannage (20).
  3. Tête d'assemblage selon l'une quelconque des revendications précédentes, dans laquelle, dans la position de coupe, l'élément de coupe (23) peut être pivoté en direction du ruban (14), à cet effet en particulier l'unité d'enrubannage (20) étant pivotée conjointement avec l'élément de coupe (23) fixé à celle-ci.
  4. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle est prévu un élément de pression (25), désigné comme élément de pression supplémentaire (25), qui est conçu pour presser après la coupe du ruban (14) une extrémité de ruban contre le faisceau de câbles (10), l'élément de pression supplémentaire étant à cette fin réglable en direction du faisceau de câbles (10) et le réglage de l'élément de pression supplémentaire (25) en direction du faisceau de câbles (10) s'effectuant par un mouvement de rotation de l'unité d'enrubannage (20), l'élément de pression supplémentaire (25) étant en particulier configuré sous forme d'une patte ou brosse élastique à la flexion.
  5. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle à proximité de l'élément de coupe est disposé un élément de maintien (27) qui est conçu pour le maintien d'une extrémité de ruban du ruban (14), l'élément de maintien (27) étant constitué en particulier par plusieurs broches qui percent de préférence le ruban après une coupe.
  6. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle l'unité d'enrubannage (20) comporte un dérouleur (22) de ruban.
  7. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle une masse d'équilibrage (34) est fixée à la tête d'enroulement (18) et en particulier à l'unité d'enrubannage (20).
  8. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle lors du déplacement du module d'enroulement (16) conjointement avec l'unité d'enrubannage (20) par rapport au châssis de support (4), le ruban (14) lors du processus d'enrubannage et en particulier un début de ruban du ruban (14) peut être approché du faisceau de câbles (10) pour une fixation entièrement automatique du début de ruban sur le faisceau de câbles (10).
  9. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle l'unité d'enrubannage (20) comporte un (premier) élément de pression (24) qui est réglable en direction du faisceau de câbles (10), en fonctionnement l'élément de pression (24) étant déplacé au début de l'enrubannage en direction du faisceau de câbles (10) de façon telle qu'un début de ruban du ruban (14) est pressé contre le faisceau de câbles (10):
  10. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, qui comporte en direction transversale (Q) latéralement par rapport au module d'enroulement (16) une unité de préhension (26) comportant des éléments de préhension (30) réglables qui sont conçus pour la compression du faisceau de câbles (10) constitué de plusieurs faisceaux individuels et entourent le faisceau de câbles (10), le faisceau de câbles (10) étant maintenu en particulier de manière lâche dans une position de préhension pendant le processus d'enrubannage, de sorte que le faisceau de câbles (10) peut être guidé en direction transversale (Q) à travers l'unité de préhension (26), dans un perfectionnement préféré
    - les éléments de préhension (30) sont configurés en forme d'arc au moins sur leur côté tourné vers le faisceau de câbles (10), et / ou
    - l'unité de préhension (26) comporte en outre un support de préhension (28) fixe, qui entoure le faisceau de câbles (10) conjointement avec les éléments de préhension (30), les éléments de préhension (30) étant de préférence montés mobiles sur le support de préhension (28) et/ou
    - l'unité de préhension (26) est réglable par rapport au module d'enroulement en direction longitudinale (L) et est en particulier fixée de manière réglable sur le module d'enroulement (16).
  11. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle ladite au moins une paire de rouleaux de guidage est montée en particulier en plus de ladite au moins une unité de préhension (26) selon la revendication précédente, ladite au moins une paire de rouleaux de guidage (32) guidant les câbles individuels de façon telle qu'une rotation des câbles individuels autour de l'axe de rotation est évitée, les rouleaux de guidage étant de préférence sans entraînement propre et étant montés de façon lâche, de sorte qu'ils peuvent tourner autour d'un axe de rouleau.
  12. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle
    - les rouleaux de guidage (32) sont conçus et en fonctionnement peuvent être commandés et sont également commandés de façon telle qu'ils sont pressés contre le faisceau de câbles (10), de sorte que dans la zone des rouleaux de guidage (32), le faisceau de câbles (10) présente un contour de section transversale plat, et / ou
    - une paire de rouleaux de guidage (32) est disposée des deux côtés du module d'enroulement (16) et au moins une paire est réglable en direction transversale (Q) et ladite au moins une paire est en fonctionnement commandée de préférence de façon telle que les deux paires sont en fonctionnement écartées l'une de l'autre, en particulier au début du processus d'enrubannage, de sorte que les câbles individuels sont tendus.
  13. Tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans laquelle ladite au moins une paire des rouleaux de guidage (32) est disposée au moins temporairement pendant le processus d'enrubannage à l'intérieur d'un espace libre (16B) du module d'enroulement (16), en particulier à l'intérieur d'une plaque de support (16A) sur laquelle la tête d'enroulement (18) est fixée de manière à pouvoir tourner.
  14. Procédé pour l'enrubannage automatisé d'un faisceau de câbles (10) avec un ruban (14) à l'aide d'une tête d'assemblage (2) selon l'une quelconque des revendications précédentes, dans lequel sont effectuées au moins certaines et de préférence la totalité des étapes suivantes
    a. la tête d'assemblage (2) et le faisceau de câbles (10) sont déplacés l'une par rapport à l'autre en direction longitudinale (L),de sorte que le faisceau de câbles (10) est reu á l'intérieur de la tête d'enroulement (16),
    b. la tête d'assemblage (2) comporte, latéralement par rapport au module d'enroulement (16), une unité de préhension (26) comportant des éléments de préhension (30) réglables, les éléments de préhension (30) de l'unité de préhension (26) étant amenés d'une position ouverte à la position finale,
    c. les rouleaux de guidage d'une paire sont avancés chacun en direction du faisceau de câbles (10) et le pressent entre eux, de sorte que le faisceau de câbles (10) est aplati dans la zone des rouleaux et protégé contre une torsion,
    d. l'unité d'enrubannage (20) est avancée linéairement en direction du faisceau de câbles (10) et conjointement avec la tête d'enroulement (16),
    e. l'unité d'enrubannage (20) comporte un (premier) élément de pression (24) et un début de ruban du ruban (14) est pressé sur le faisceau de câbles à l'aide de l'élément de pression (24),
    f. ensuite, l'unité d'enrubannage (20) est mise en rotation autour du faisceau de câbles (10) conjointement avec la tête d'enroulement (18),
    g. dans le cas d'un enrubannage en spirale ou total, la tête d'assemblage (2) est déplacée en direction transversale (Q) le long du faisceau de câbles fixe (10) et en même temps la tête d'enroulement (16) tourne autour du faisceau de câbles (10),
    h. après le processus d'enrubannage, le ruban (14) est séparé à l'aide de l'élément de coupe (23), l'élément de coupe (23) étant à cette fin fixé sur l'unité d'enrubannage (20),
    i. après la séparation, une extrémité de ruban détachée est pressée contre le faisceau de câbles (14) à l'aide de l'élément de pression supplémentaire (25).
  15. Procédé selon la revendication précédente, dans lequel sont exécutées au moins certaines et de préférence la totalité des étapes supplémentaires suivantes
    - les éléments de préhension (30) de l'unité de préhension (26) sont amenés de la position ouverte à la position finale par un mouvement pivotant, les éléments individuels étant en ce cas d'abord comprimés et ensuite maintenus de manière lâche dans l'unité de préhension (26),
    - les deux paires de rouleaux des rouleaux de guidage sont ensuite légèrement écartées en direction transversale après avoir été amenées chacune sur le faisceau de câbles et après que ce dernier a été pressé entre la paire respective de rouleaux de guidage, afin de tendre le faisceau de câbles (10),
    - pour la pression du début de ruban du ruban (14) sur le faisceau de câbles, l'élément de pression (24) est déplacé par rapport à l'unité d'enrubannage (20) restante, de sorte que le début de ruban est fixé sur le faisceau de câbles (10),
    - l'unité d'enrubannage (20) comporte un dérouleur (22) de ruban et l'unité d'enrubannage (20) tourne conjointement avec le dérouleur (22) de ruban autour du faisceau de câbles (10),
    - l'élément de coupe (23) est déplacé avec l'unité d'enrubannage (20) par un mouvement pivotant contre le ruban (14) et le sectionne.,
    - après la séparation, l'extrémité de ruban détachée est pressée contre le faisceau de câbles (14) au moyen d'un mouvement de pivotement à l'aide de l'élément de pression supplémentaire (25).
EP23776342.0A 2022-09-22 2023-09-21 Tête d'assemblage et procédé d'emballage d'un faisceau de câbles de manière automatisée Active EP4402704B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP25221396.2A EP4682913A3 (fr) 2022-09-22 2023-09-21 Tête de montage et procédé de bobinage automatisé d'un faisceau de conduites
MA68837A MA68837B1 (fr) 2022-09-22 2023-09-21 Tête d'assemblage et procédé d'emballage d'un faisceau de câbles de manière automatisée

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022210026 2022-09-22
PCT/EP2023/076129 WO2024062061A1 (fr) 2022-09-22 2023-09-21 Tête d'assemblage et procédé d'emballage d'un faisceau de câbles de manière automatisée

Related Child Applications (1)

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EP25221396.2A Division EP4682913A3 (fr) 2022-09-22 2023-09-21 Tête de montage et procédé de bobinage automatisé d'un faisceau de conduites

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EP4402704A1 EP4402704A1 (fr) 2024-07-24
EP4402704C0 EP4402704C0 (fr) 2025-12-24
EP4402704B1 true EP4402704B1 (fr) 2025-12-24

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EP25221396.2A Pending EP4682913A3 (fr) 2022-09-22 2023-09-21 Tête de montage et procédé de bobinage automatisé d'un faisceau de conduites

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EP (2) EP4402704B1 (fr)
CN (1) CN120153438A (fr)
DE (2) DE102023201175A1 (fr)
MA (1) MA68837B1 (fr)
MX (1) MX2025003381A (fr)
WO (1) WO2024062061A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4632770A1 (fr) * 2024-04-10 2025-10-15 MD Elektronik GmbH Appareil et procédé pour envelopper des conduites
DE102024133248A1 (de) * 2024-08-14 2026-02-19 Tesa Se Verfahren zum Ummanteln von langgestrecktem Gut wie insbesondere Kabelsätzen

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6119749A (en) * 1998-01-23 2000-09-19 Sumitomo Wiring Systems, Ltd. Taping device

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Publication number Priority date Publication date Assignee Title
FR2590069B1 (fr) * 1985-11-14 1987-12-11 Alsthom Enrubanneuse pour l'enrubannage a chaud d'un conducteur electrique
DE102013205509B4 (de) * 2013-03-27 2019-02-28 S-Y Systems Technologies Europe Gmbh Vorrichtung zum Umwickeln eines Kabelbaums
DE202013009153U1 (de) * 2013-10-16 2015-01-19 Leoni Bordnetz-Systeme Gmbh Vorrichtung zur automatischen Befestigung von Clips
JP6358652B2 (ja) * 2014-05-29 2018-07-18 矢崎総業株式会社 テープ巻付装置及びテープ巻付方法
DE102017109819B4 (de) * 2017-05-08 2018-12-20 Lisa Dräxlmaier GmbH Umwickeln eines Leitungssatzes mit Band
JP6626864B2 (ja) * 2017-07-31 2019-12-25 矢崎総業株式会社 テープ巻付装置
DE102019213325A1 (de) * 2019-09-03 2021-03-04 Leoni Bordnetz-Systeme Gmbh Montagekopf sowie Verfahren zur automatisierten Umwicklung eines Leitungsstrangs

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6119749A (en) * 1998-01-23 2000-09-19 Sumitomo Wiring Systems, Ltd. Taping device

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Publication number Publication date
MX2025003381A (es) 2025-05-02
DE102023201175A1 (de) 2024-03-28
EP4402704A1 (fr) 2024-07-24
EP4682913A3 (fr) 2026-03-18
EP4402704C0 (fr) 2025-12-24
DE202023002770U1 (de) 2024-06-13
MA68837B1 (fr) 2026-01-30
CN120153438A (zh) 2025-06-13
WO2024062061A1 (fr) 2024-03-28
EP4682913A2 (fr) 2026-01-21

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