EP3503127B1 - Winding device and method for fully automated winding of a cable bundle with an adhesive tape - Google Patents

Winding device and method for fully automated winding of a cable bundle with an adhesive tape Download PDF

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Publication number
EP3503127B1
EP3503127B1 EP18212831.4A EP18212831A EP3503127B1 EP 3503127 B1 EP3503127 B1 EP 3503127B1 EP 18212831 A EP18212831 A EP 18212831A EP 3503127 B1 EP3503127 B1 EP 3503127B1
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EP
European Patent Office
Prior art keywords
winding
unit
bundle
wires
adhesive tape
Prior art date
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Active
Application number
EP18212831.4A
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German (de)
French (fr)
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EP3503127A1 (en
Inventor
Karl-Heinz Kiermeier
Stefan Strasser
Manfred Asbeck
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.)
Lisa Draexlmaier GmbH
Original Assignee
Lisa Draexlmaier GmbH
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Publication of EP3503127A1 publication Critical patent/EP3503127A1/en
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Publication of EP3503127B1 publication Critical patent/EP3503127B1/en
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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
    • H01B13/012—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/37—Tapes
    • B65H2701/377—Adhesive tape

Definitions

  • the invention relates to a winding device and a method for the fully automated winding of an adhesive tape around a bundle of lines.
  • Cable bundles for example when manufacturing cable harnesses for motor vehicles, are often wrapped with adhesive tapes, on the one hand to fix the individual cables of the cable bundle and on the other hand also to protect the cable bundle from mechanical influences by means of the wrapped adhesive tape.
  • the DE 10 2013 205 509 A1 shows a device for wrapping a wire harness with a tape.
  • the device comprises two semi-circular guides, the open sides of which face each other. Respective engagement elements are slidably mounted on the guides. By sliding the engaging members along the guides, a tape storage roll on which the tape is wound can be moved around the wire harness. This unwinds the tape from the tape storage and wraps it around the wire harness.
  • the device also includes a cutting device that can be moved relative to the cable harness and has a cutting element for cutting through the tape unwound from the tape store.
  • the cutting device also includes a cylindrical stop which serves as a holder for the part of the tape which is still connected to the tape store after the tape has been severed by the cutting device.
  • the DE 196 14 622 A1 shows a device for wrapping a bundle of lines.
  • the device includes a winding tool which can be moved by means of a robot arm along the bundle of cables to be wrapped.
  • the DE 40 32 511 A1 discloses an apparatus for wrapping a wire harness.
  • JP 2015 210905 A discloses a tape winding machine.
  • the GB 2 141 687 A discloses a tape device for wrapping a wire harness.
  • the DE 20 2017 102 503 U1 discloses an apparatus for wrapping a wire harness with a tape.
  • the JP 3 127843 B2 discloses a method of winding a ribbon.
  • U.S. 5,606,909 A discloses an apparatus for winding a tape.
  • the winding device also includes a tensioning device for tensioning the line bundle in the longitudinal direction of the winding device.
  • the winding device also has an infeed unit, by means of which the winding unit is moved transversely to the longitudinal direction of the winding device between a working position in which the winding unit encloses the tensioned bundle of cables and a set-back position in which the tensioned bundle of cables is outside the winding unit is arranged, is movable.
  • the winding device has a feed unit, by means of which the winding unit can be moved in the longitudinal direction of the winding device.
  • the winding device includes a control device, by means of which the winding unit, the tensioning device, the delivery unit and the feed unit can be controlled for fully automated wrapping of the line bundle.
  • the outer ring which is open on one side, is therefore designed in a quasi-C-shape, with the same applying to the winding rotor, which is open on one side.
  • the winding rotor is inserted into the outer ring on the inside, and this can be rotated relative to the outer ring by appropriate activation by means of the control device.
  • the winding unit is brought into said working position by means of the infeed unit, in which the winding unit encloses the bundle of lines stretched by means of the tensioning device.
  • the control device then controls the winding unit and the pre-screwing unit in such a way that they are coordinated with one another in such a way that the winding unit simultaneously executes a feed movement in the longitudinal direction of the winding device and thus along the tensioned bundle of cables and a rotary movement of the winding rotor, and as a result the bundle of cables is wrapped with the adhesive tape at a predetermined pitch.
  • the winding device it is possible by means of the winding device to leave a bundle of lines to be wrapped or a set of lines to be wrapped on a so-called building board, which serves as a functional carrier for the set of lines or for the bundle of lines to be wrapped.
  • the outer ring and the winding rotor which is open on one side, can be rotated relative to one another in such a way that their respective areas, which are partially open on the circumferential side, are arranged congruently. In this position, the line bundle to be wrapped with the adhesive tape can be easily inserted into the ring-shaped winding rotor by moving the winding unit accordingly by means of the infeed unit.
  • the ring-shaped winding rotor can be rotated about the axis of rotation relative to the open outer ring as often as desired. With the simultaneous execution of said advance movement of the entire winding unit along the bundle of wires to be wrapped, ie in the longitudinal direction of the winding direction, the result is a fully automated wrapping of the bundle of wires with the adhesive tape. Because said holder for receiving the roll of adhesive tape is rotatably attached to the winding rotor, the adhesive tape on the roll of adhesive tape can be easily unrolled from the roll of adhesive tape during the rotational movement of the winding rotor and the feed movement of the entire winding unit, since it is attached to said holder is, which is rotatably attached to the winding rotor.
  • tensioning device By means of the tensioning device, it is possible to pretension the cable bundle to be wrapped along a defined winding path and cleanly in the longitudinal direction of the winding device to align This also promotes wrapping of the bundle of lines if this is still arranged in the previously mentioned building board or function carrier.
  • winding device Using the winding device according to the invention, it is possible in a particularly simple manner to wrap wire bundles, for example in the production of cable harnesses in the automotive sector, fully automatically with an adhesive tape, while the wire bundle in question remains on the so-called building board, which has a positive effect on subsequent production processes .
  • Using the winding device according to the invention it is possible to wrap line bundles with an adhesive tape completely without human intervention.
  • the tensioning device has a fixing gripper for fixing the bundle of lines and a tensioning unit for pretensioning the bundle of lines.
  • the tensioning unit for pretensioning the line bundle also includes a tensioning gripper, which can be moved in the longitudinal direction of the winding device.
  • the tensioning unit can also include a linear drive, for example, by means of which the tensioning gripper of the tensioning unit can then be moved to a desired end position of a winding section.
  • the tensioning gripper of the tensioning unit clamps the bundle of cables and the tensioning gripper is then moved in the longitudinal direction of the winding device to the said end position of the desired winding section, as a result of which the bundle of cables is tensioned with a defined tensioning force. It is thus possible in a reliable manner by means of the tensioning device to align and pretension the bundle of lines, in particular in sections, over a specific length which corresponds to a predetermined winding distance. This has a particularly positive effect on the quality of the fully automated wrapping process with the adhesive tape.
  • a further advantageous embodiment of the invention provides that the winding device has a cutting unit, by means of which the adhesive tape can be severed and a free end of the adhesive tape roll can be fixed. After the fully automated wrapping of the cable bundle with the adhesive tape, it is also possible to cut through the adhesive tape fully automatically, with the free end of the adhesive tape still hanging on the adhesive tape roll being able to be fixed by means of the cutting unit.
  • the cutting unit can, for example, have one or more retractable and extendable cylinders, by means of which a blade and a clamping area can be moved accordingly in order to cut through the adhesive tape and fix the free end of the adhesive tape roll on the cutting unit.
  • the adhesive tape that is rolled up on the roll of adhesive tape can be reapplied to the bundle of cables or another bundle of cables in a particularly simple manner in a next process step, in order to then wrap it again fully automatically.
  • a further advantageous embodiment of the invention provides that the cutting unit can be moved between a retracted basic position, a fixing position and a cutting position, in which the cutting unit is positioned between the roll of adhesive tape and the bundle of lines. If required, the cutting unit can therefore be extended into said cutting position in order to cut through the adhesive tape and to fix the free end of the roll of adhesive tape on the cutting unit.
  • the fixing position can then also be used as a feed position or feed position in order to fix the free end of the adhesive tape or the adhesive tape on the cable bundle to be wrapped on the next winding section. In the retracted basic position, on the other hand, it can be ensured that the cutting unit does not impair or interfere with the actual automated wrapping process with the adhesive tape.
  • the winding device has a centering device, by means of which the line bundle can be arranged at least locally concentrically to the winding rotor.
  • the centering device it is possible by means of the centering device to align the line bundle exactly with the winding rotor in order to center at least the area of the line bundle which is currently being wound by means of the winding rotor relative to the winding rotor. In this way it can be ensured, particularly in the case of longer winding sections, that the line bundle is wrapped cleanly and precisely with the adhesive tape.
  • the centering device has a centering unit with two centering arms, which include respective depressions for receiving the line bundle, which together enclose the line bundle in a centering position of the centering unit and thereby arrange it concentrically to the winding rotor.
  • the centering arms are mounted on the outer ring of the winding unit via a four-bar linkage and are connected to an extendable cylinder for opening and closing the centering arms.
  • Part of the centering arms namely the part with the respective indentations for receiving the cable bundle, can be moved open and closed like a kind of scissors, whereby the cylinder can be extended and retracted to make a corresponding adjustment to the four-bar linkage, consequently the centering arms be moved apart and towards each other.
  • a joint of the four-bar linkage is mounted on the outer ring of the winding unit, as a result of which the centering arms are attached accordingly to the outer ring of the winding unit. This ensures that the distance between the centering arms and the part of the line bundle to be centered always fits, since the distance between the centering arms and the axis of rotation of the winding rotor is unchangeable.
  • the centering device has a further centering unit for arranging the line bundle concentrically to the winding rotor, the winding rotor being arranged in the longitudinal direction between the two centering units. It is thereby possible in a reliable manner to arrange that part of the bundle of lines which is arranged between the two centering units in a reliable manner at least essentially concentrically to the axis of rotation of the winding rotor.
  • a further advantageous embodiment of the invention provides that a further extendable cylinder is arranged on the outer ring of the winding unit, by means of which the further centering unit can be moved into a centering position in which it arranges the line bundle concentrically to the winding rotor.
  • the further centering unit can have two fork prongs, which enclose the line bundle in the centering position and thereby arrange it concentrically to the winding rotor.
  • the winding device has an interface by means of which the winding device can be attached to a robot, in particular to an articulated arm robot.
  • the interface can, for example, be designed in the form of a flange or the like, so that the winding device can be attached to a suitable interface of the robot in a simple manner.
  • the winding device can be mounted on a robot particularly easily. Using the robot, it is possible to position the entire winding device in a fully automated manner on the bundle of cables to be wrapped, in particular when the bundle of cables is arranged on the previously mentioned building board or function carrier.
  • the winding rotor has external teeth, in which a toothed belt that can be driven by means of a drive unit engages. In this way, it is easily possible to rotate the winding rotor about the axis of rotation relative to the outer ring of the winding unit.
  • a further advantageous embodiment of the invention provides that a plurality of bearing rollers are distributed on the winding rotor in the circumferential direction and roll on at least one inner track of the outer ring when the winding rotor rotates. In this way it can be ensured that the winding rotor runs true without any problems when it is driven and thereby rotated relative to the outer ring.
  • the bearing rollers in combination with the at least one inner wall of the outer ring, ensure a precisely guided rotational movement of the winding rotor relative to the outer ring.
  • an axis of rotation of the holder is set at an angle to the axis of rotation of the winding rotor, so that the axis of rotation of the holder is also set at an angle to the bundle of lines when the line bundle is tensioned.
  • This inclined position of the axis of rotation of the holder by means of which the roll of adhesive tape is held in a rotatable manner, compensates for a diagonal pull during a feed movement of the winding unit in the course of the automated winding process. As a result, a particularly good winding result can be achieved.
  • FIG 1 A perspective view of a robot 1, to which a winding device 2 for fully automatically wrapping a bundle of cables with an adhesive tape is attached, is shown in FIG 1 shown.
  • the robot 1 is an industrial robot in the form of an articulated arm robot.
  • the winding device 2 includes an interface 3 at which the winding device 2 is attached to the robot 1 .
  • the robot 1 has an interface which is not specified here and which is compatible with the interface 3 of the winding device 2 . With the robot 1, the entire winding device 2 can be moved in a simple manner to a cable bundle to be wrapped.
  • the winding device 2 is shown in a perspective rear view.
  • the winding device 2 comprises a winding unit 4 with an outer ring 5 open on one side, on which an annular winding rotor 6 open on one side is arranged on the inside such that it can rotate relative to the outer ring about an axis of rotation running in the longitudinal direction x of the winding device 2 .
  • a holder 7 is rotatably fastened to the winding rotor 6, by means of which a roll of adhesive tape 8 is accommodated.
  • the winding device 2 comprises a fixing gripper 9 for fixing a bundle of lines, not shown here, and a tensioning unit, denoted overall by 10, for pretensioning the bundle of lines.
  • the clamping unit 10 has a clamping gripper 11 which is movable in the longitudinal direction x of the winding device 2 by means of a linear drive 12 .
  • the fixing gripper 9 and the tensioning unit 10 with the tensioning gripper 11 and the linear drive 12 together form a tensioning device of the winding device 2, by means of which the cable bundle to be wrapped can be aligned and pretensioned in the longitudinal direction x of the winding device 2.
  • the winding device 2 also includes an infeed unit 13, by means of which the winding unit 4 transversely to the longitudinal direction x of the winding device 2 between a working position, in which the winding unit 4 encloses the bundle of lines, not shown here, and a set-back position, in which the bundle of lines, not shown here is arranged outside the winding unit 4, is movable.
  • the winding unit 4 is mounted on the infeed unit 13 with a type of frame 14 so that it can move in a translatory manner.
  • the infeed unit 13 can have a linear drive, not described in detail here, by means of which the frame 14 and thus the entire winding unit 4 can be retracted and extended transversely to the longitudinal direction x of the winding device 2 .
  • the winding device 2 also includes a feed unit 15, by means of which the winding unit 4 can be moved in the longitudinal direction x of the winding device 2.
  • the infeed unit 13 is arranged in a translationally movable manner on two guide rails 16 , one of which is equipped with a linear drive, so that the winding unit 4 can be moved in the longitudinal direction x of the winding device 2 .
  • the winding device 2 has a control device, by means of which the winding unit 4, the tensioning device, which includes the fixing gripper 9 and the tensioning gripper 11, the infeed unit 13 and the feed unit 15 can be controlled for fully automated wrapping of a cable bundle. Individual method steps are described with reference to the following figures, in order to wrap an adhesive tape wound onto the adhesive tape roll 8 fully automatically around a line bundle by means of the winding device 2 .
  • the winding device 2 is shown in a further perspective view, with the cable bundle 17 already mentioned several times now being shown and being tensioned by means of the fixing gripper 9 and the tensioning gripper 11 .
  • the winding rotor 6 has an external toothing 18 in which, for example, a toothed belt (not shown here) that can be driven by a drive unit can engage in order to rotate the winding rotor 6 relative to the outer ring 5 .
  • several bearing rollers can be distributed on the winding rotor 6, for example distributed in the circumferential direction be arranged, which can roll on at least one inner track of the outer ring 5 when the winding rotor 6 rotates.
  • the entire winding device 2 is first positioned by means of the robot 1 on the bundle of lines 17, which can be attached, for example, to a building board or function carrier, not shown here.
  • the winding device 2 is positioned in such a way that the line bundle 17 can be gripped in a defined manner with the fixing gripper 9, e.g. in the vicinity of a connector housing (not shown here).
  • the fixing gripper 9 then clamps the line bundle 17, with the clamping gripper 11 initially only enclosing the line bundle 17, but without pinching it.
  • the linear drive 12 of the clamping unit 10, which is not specifically identified here, then moves the clamping gripper 11 to a desired end position of a winding section.
  • the clamping gripper 11 clamps the line bundle 17 - at least from a certain point in time - as a result of which the linear drive 12 stretches the line bundle 17 with a defined clamping force and thus aligns it parallel to the longitudinal direction x of the winding device 2 .
  • the winding device 2 is shown in a further perspective view, with the winding unit 4 having been moved into a working position by means of the infeed unit 13, in which the tensioned bundle of cables 17 is arranged concentrically to the winding rotor 6 and thus concentrically to an axis of rotation of the winding rotor 6. Due to the fact that the outer ring 5 and the winding rotor 6 are open on one side, the tensioned bundle of cables 17 can be easily threaded into the interior of the winding unit 4 during the infeed movement of the winding unit 4 .
  • part of an adhesive tape 19 unwound from the adhesive tape roll 8 can be seen for the first time.
  • the winding device 2 comprises a cutting unit 20, by means of which the adhesive tape 19 can be severed and a free end of the adhesive tape 19 shown here, which has been partially unwound from the adhesive tape roll 8, can be fixed.
  • an axis of rotation of the holder 7, by means of which the roll of adhesive tape 8 is accommodated is set at an angle to the axis of rotation of the end winding 6 and thus also at an angle to the tensioned bundle of cables 17.
  • an oblique pull is compensated for by the feed movement of the winding unit 4 during the winding process.
  • a good winding result can be achieved.
  • the partially unwound adhesive tape 19 is clamped in the cutting unit 20 and is fixed to the tensioned bundle of lines 17 with one rotation of the winding rotor 6 relative to the outer ring 5 .
  • the cutting unit 20 is then opened and moved to the basic position shown in the figure below. In 4 the cutting unit is, however, extended in a kind of fixed position in which the Cutting unit 20 is seen from the tape roll 8 behind the tensioned bundle of cables 17.
  • the adhesive tape 19 has been fixed to the line bundle 17 by one revolution of the winding rotor 6 and the cutting unit 20 has then been opened, the remaining adhesive tape 19 is wound over the line bundle 17 or around the line bundle 17 in a subsequent feed movement of the winding unit 4.
  • the winding device 2 is shown in a further perspective view, with the winding unit 4 simultaneously performing a rotary movement with its winding rotor 6 and, as a whole, a feed movement in the longitudinal direction x of the winding device 2 .
  • the tensioned line bundle 17 is wrapped by means of the adhesive tape 19 in a fully automated manner.
  • the feed movement and the rotational movement of the winding rotor 6 are coordinated with one another in such a way that a predetermined gradient with regard to the wrapping of the cable bundle 17 with the adhesive tape 19 is achieved.
  • two centering arms 22, which each have indentations 23, are moved towards the tensioned bundle of lines 17 in such a way that the two centering arms 22 with their position the cable bundle 17 concentrically to the winding rotor 6 in the respective depressions 23 .
  • the two centering arms 22 are mounted on the outer ring 5 of the winding unit 4 via a four-bar linkage 24, with the centering arms 22 also being connected to an extendable cylinder 25 via the four-bar linkage 24 for opening and closing and for moving towards or away from the centering arms.
  • the fact that the two centering arms 22 are attached to the outer ring 5 by means of a rotary joint 21 of the four-bar linkage 24 means that the centering arms 22 are only opened or closed when the cylinder 25 is extended and retracted, but are not moved translationally relative to the winding unit 4 .
  • the indentations 23 are positioned and selected to match the length of the centering arms 22 and the attachment by the swivel joint 21 such that the line bundle 17 is always arranged at least essentially concentrically with the winding rotor 6 by means of the indentation 23 .
  • the winding device 2 includes another centering unit 26 for concentrically arranging the line bundle 17 to the winding rotor 6.
  • the A further centering unit 26 can, for example, have a fork-shaped attachment between the prongs of which the line bundle 17 can be arranged and thereby arranged concentrically with the winding rotor 6 .
  • the further centering unit 26 can have a further retractable and extendable cylinder, not shown here, by means of which the centering unit 26 in turn can be turned into a Centering position is movable, in which this line bundle 17 concentrically to the winding rotor 6 arranges.
  • This cylinder can be fastened, for example, on the side of the outer ring 5 that is not visible here.
  • the two centering arms 22 and the additional centering unit 26 are arranged such that the winding rotor 6 is arranged in the longitudinal direction x between the centering arms 22 on the one hand and the additional centering unit 26 .
  • the centering arms 22 and the further centering unit 26 move with it, as a result of which at least that part of the tensioned bundle of cables 17 that is in the area of the winding unit 4 is always aligned or arranged concentrically to the winding rotor 6.
  • the winding device 2 is shown in a further perspective view after the winding of the wire bundle 17 along the predetermined winding path has been completed.
  • the cutting unit 20 is positioned between the roll of adhesive tape 8 and the bundle of lines 17 .
  • a cutting cylinder 27 of the cutting unit 20 is then closed or retracted.
  • the adhesive tape 19 unwound from the adhesive tape roll 8 is thereby severed and the free end of the adhesive tape 19 is thereby clamped by the cutting unit 20 on the latter.
  • the cutting unit 20 is then moved away in such a way that the free end of the adhesive tape 10 fixed to the cutting unit 20 is moved laterally—that is, transversely to the longitudinal direction x—behind the cable bundle 17 into the fixing position.
  • the winding unit 4 can also be retracted transversely to the longitudinal direction x by correspondingly actuating the infeed unit 13 .
  • This positioning of the free end of the adhesive tape 19 then serves as a positioning position for the next winding section.
  • the winding unit 4 After the winding unit 4 has been moved away from the wrapped bundle of lines 17 by a corresponding movement of the infeed unit 13, in such a way that the bundle of lines 17 is outside of the winding unit 4, the winding unit 4 can be moved again by correspondingly actuating the feed unit 15 according to the present illustration be moved backwards to the right. Before or after that, the fixing gripper 9 and the clamping gripper 11 are opened and the robot 1 moves the entire winding device 2 away from the bundle of lines 17 . Further sections of the line bundle 17 (not shown here) can then be approached and wrapped with the adhesive tape 19 in a fully automated manner in the manner already described.

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  • Manufacturing & Machinery (AREA)
  • Manufacture Of Motors, Generators (AREA)
  • Basic Packing Technique (AREA)

Description

Technisches Gebiettechnical field

Die Erfindung betrifft eine Wickelvorrichtung sowie ein Verfahren zum vollautomatisierten Umwickeln eines Leitungsbündels mit einem Klebeband.The invention relates to a winding device and a method for the fully automated winding of an adhesive tape around a bundle of lines.

Stand der TechnikState of the art

Leitungsbündel, beispielsweise beim Herstellen von Kabelbäumen für Kraftfahrzeuge, werden oftmals mit Klebebändern umwickelt, einerseits um die einzelnen Leitungen des Leitungsbündels zu fixieren und andererseits teilweise auch, um das Leitungsbündel mittels des umwickelten Klebebands vor mechanischen Einflüssen zu schützen.Cable bundles, for example when manufacturing cable harnesses for motor vehicles, are often wrapped with adhesive tapes, on the one hand to fix the individual cables of the cable bundle and on the other hand also to protect the cable bundle from mechanical influences by means of the wrapped adhesive tape.

Die DE 10 2013 205 509 A1 zeigt eine Vorrichtung zum Umwickeln eines Kabelbaums mit einem Band. Die Vorrichtung umfasst zwei halbkreisförmige Führungen, deren offene Seiten einander zugewandt sind. An den Führungen sind jeweilige Eingriffselemente verschiebbar gelagert. Durch Verschieben der Eingriffselemente entlang der Führungen kann ein rollenförmiger Bandspeicher, auf dem das Band aufgewickelt ist, um den Kabelbaum herum bewegt werden. Dadurch wird das Band vom Bandspeicher abgewickelt und um den Kabelbaum herum gewickelt. Die Vorrichtung umfasst des Weiteren eine relativ zum Kabelbaum bewegbare Schneideinrichtung mit einem Schneidelement zum Durchtrennen des vom Bandspeicher abgewickelten Bands. Zur Schneideinrichtung gehört noch ein zylinderförmiger Anschlag, der als Halter für den Teil des Bands dient, der nach dem Durchtrennen des Bands mittels der Schneideinrichtung noch mit dem Bandspeicher verbunden ist.the DE 10 2013 205 509 A1 shows a device for wrapping a wire harness with a tape. The device comprises two semi-circular guides, the open sides of which face each other. Respective engagement elements are slidably mounted on the guides. By sliding the engaging members along the guides, a tape storage roll on which the tape is wound can be moved around the wire harness. This unwinds the tape from the tape storage and wraps it around the wire harness. The device also includes a cutting device that can be moved relative to the cable harness and has a cutting element for cutting through the tape unwound from the tape store. The cutting device also includes a cylindrical stop which serves as a holder for the part of the tape which is still connected to the tape store after the tape has been severed by the cutting device.

Die DE 196 14 622 A1 zeigt eine Vorrichtung zum Umwickeln eines Leitungsbündels. Die Vorrichtung umfasst ein Wickelwerkzeug, welches mittels eines Roboterarms entlang des zu umwickelnden Leitungsbündels bewegt werden kann.the DE 196 14 622 A1 shows a device for wrapping a bundle of lines. The device includes a winding tool which can be moved by means of a robot arm along the bundle of cables to be wrapped.

Die US 6 119 749 A offenbart eine Bandvorrichtung.the U.S. 6,119,749 A discloses a tape device.

Die DE 40 32 511 A1 offenbart eine Vorrichtung zum Umwickeln eines Kabelbaums.the DE 40 32 511 A1 discloses an apparatus for wrapping a wire harness.

Die JP 2015 210905 A offenbart eine Bandwickelmaschine.the JP 2015 210905 A discloses a tape winding machine.

Die GB 2 141 687 A offenbart eine Bandvorrichtung zum Umwickeln eines Kabelbaums.the GB 2 141 687 A discloses a tape device for wrapping a wire harness.

Die DE 20 2017 102 503 U1 offenbart eine Vorrichtung zum Umwickeln eines Leitungssatzes mit einem Band.the DE 20 2017 102 503 U1 discloses an apparatus for wrapping a wire harness with a tape.

Die JP 3 127843 B2 offenbart ein Verfahren zum Wickeln eines Bandes.the JP 3 127843 B2 discloses a method of winding a ribbon.

Die US 5 606 909 A offenbart eine Vorrichtung zum Wickeln eines Bandes.the U.S. 5,606,909 A discloses an apparatus for winding a tape.

Beschreibung der ErfindungDescription of the invention

Es ist die Aufgabe der vorliegenden Erfindung, eine Lösung bereitzustellen, mittels welcher auf besonders einfache und zuverlässige Weise ein Leitungsbündel vollautomatisiert mit einem Klebeband umwickelt werden kann.It is the object of the present invention to provide a solution by means of which an adhesive tape can be wrapped around a line bundle in a particularly simple and reliable manner in a fully automated manner.

Diese Aufgabe wird durch eine Wickelvorrichtung sowie durch ein Verfahren zum vollautomatisierten Umwickeln eines Leitungsbündels mit einem Klebeband mit den Merkmalen der unabhängigen Patentansprüche gelöst. Vorteilhafte Ausgestaltungen mit zweckmäßigen und nicht-trivialen Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen angegeben.This object is achieved by a winding device and by a method for fully automated wrapping of an adhesive tape around a bundle of lines with the features of the independent patent claims. Advantageous configurations with expedient and non-trivial developments of the invention are specified in the dependent claims.

Die erfindungsgemäße Wickelvorrichtung zum vollautomatisierten Umwickeln eines Leitungsbündels mit einem Klebeband umfasst eine Wickeleinheit mit einem einseitig offenen Außenring, an welchem innenseitig ein einseitig offener ringförmiger Wickelrotor relativ zum Außenring um eine in Längsrichtung der Wickelvorrichtung verlaufende Drehachse rotierbar angeordnet ist, wobei am Wickelrotor eine Halterung zum Aufnehmen einer Klebebandrolle rotierbar befestigt ist. Die Wickelvorrichtung umfasst des Weiteren eine Spanneinrichtung zum Spannen des Leitungsbündels in Längsrichtung der Wickelvorrichtung. Ferner weist die Wickelvorrichtung eine Zustelleinheit auf, mittels welcher die Wickeleinheit quer zur Längsrichtung der Wickelvorrichtung zwischen einer Arbeitsstellung, in welcher die Wickeleinheit das gespannte Leitungsbündel umschließt, und einer zurückversetzten Stellung, in welcher das gespannte Leitungsbündel außerhalb der Wickeleinheit angeordnet ist, bewegbar ist. Zudem weist die Wickelvorrichtung eine Vorschubeinheit auf, mittels welcher die Wickeleinheit in Längsrichtung der Wickelvorrichtung bewegbar ist. Schließlich umfasst die Wickelvorrichtung eine Steuereinrichtung, mittels welcher die Wickeleinheit, die Spanneinrichtung, die Zustelleinheit und Vorschubeinheit zum vollautomatisierten Umwickeln des Leitungsbündels steuerbar sind.The winding device according to the invention for the fully automated winding of an adhesive tape around a bundle of lines comprises a winding unit with an outer ring open on one side, on which an annular winding rotor open on one side is arranged on the inside such that it can rotate relative to the outer ring about an axis of rotation running in the longitudinal direction of the winding device, with a holder on the winding rotor for receiving a roll of tape is rotatably mounted. The winding device also includes a tensioning device for tensioning the line bundle in the longitudinal direction of the winding device. The winding device also has an infeed unit, by means of which the winding unit is moved transversely to the longitudinal direction of the winding device between a working position in which the winding unit encloses the tensioned bundle of cables and a set-back position in which the tensioned bundle of cables is outside the winding unit is arranged, is movable. In addition, the winding device has a feed unit, by means of which the winding unit can be moved in the longitudinal direction of the winding device. Finally, the winding device includes a control device, by means of which the winding unit, the tensioning device, the delivery unit and the feed unit can be controlled for fully automated wrapping of the line bundle.

Der einseitig offene Außenring ist also quasi C-förmig ausgebildet, wobei das gleiche für den einseitig offenen Wickelrotor gilt. Der Wickelrotor ist innenseitig in den Außenring eingesetzt, wobei dieser durch entsprechende Ansteuerung mittels der Steuereinrichtung relativ zum Außenring rotiert werden kann. Um ein Leitungsbündel vollautomatisiert zu umwickeln, wird die Wickeleinheit mittels der Zustelleinheit in die besagte Arbeitsstellung verbracht, in welcher die Wickeleinheit das mittels der Spanneinrichtung gespannte Leitungsbündel umschließt. Anschließend steuert die Steuereinrichtung die Wickeleinheit und die Vorschraubeinheit derart aufeinander abgestimmt an, dass die Wickeleinheit gleichzeitig eine Vorschubbewegung in Längsrichtung der Wickelvorrichtung und somit entlang des gespannten Leitungsbündels und eine Drehbewegung des Wickelrotors ausführt und infolgedessen das Leitungsbündel mit dem Klebeband mit einer vorgegebenen Steigung umwickelt wird.The outer ring, which is open on one side, is therefore designed in a quasi-C-shape, with the same applying to the winding rotor, which is open on one side. The winding rotor is inserted into the outer ring on the inside, and this can be rotated relative to the outer ring by appropriate activation by means of the control device. In order to wrap around a bundle of lines in a fully automated manner, the winding unit is brought into said working position by means of the infeed unit, in which the winding unit encloses the bundle of lines stretched by means of the tensioning device. The control device then controls the winding unit and the pre-screwing unit in such a way that they are coordinated with one another in such a way that the winding unit simultaneously executes a feed movement in the longitudinal direction of the winding device and thus along the tensioned bundle of cables and a rotary movement of the winding rotor, and as a result the bundle of cables is wrapped with the adhesive tape at a predetermined pitch.

Insbesondere ist es mittels der Wickelvorrichtung möglich, ein zu umwickelndes Leitungsbündel, beziehungsweise einen zu umwickelnden Leitungssatz an einem so genannten Baubrett zu belassen, welcher als Funktionsträger für den Leitungssatz beziehungsweise für das zu umwickelnde Leitungsbündel dient. Der Außenring und der einseitig offene Wickelrotor können so zueinander verdreht werden, dass ihre jeweils umfangsseitig teilweise geöffneten Bereiche deckungsgleich angeordnet sind. In dieser Stellung lässt sich das mit dem Klebeband zu umwickelnde Leitungsbündel auf einfache Weise in den ringförmigen Wickelrotor einführen, indem die Wickeleinheit entsprechend mittels der Zustelleinheit bewegt wird. Der ringförmige Wickelrotor kann beliebig oft relativ zu dem offenen Außenring um die Drehachse rotiert werden. Bei gleichzeitiger Ausführung der besagten Vorschubbewegung der gesamten Wickeleinheit entlang des zu umwickelnden Leitungsbündels, also in Längsrichtung der Wickelrichtung, ergibt sich vollautomatisiert eine Umwickelung des Leitungsbündels mit dem Klebeband. Dadurch, dass am Wickelrotor die besagte Halterung zum Aufnehmen der Klebebandrolle rotierbar befestigt ist, kann das auf der Klebebandrolle aufgenommene Klebeband während der Rotationsbewegung des Wickelrotors und der Vorschubbewegung der gesamten Wickeleinheit auf einfache Weise von der Klebebandrolle abgerollt werden, da diese auf der besagten Halterung angebracht ist, welche rotierbar am Wickelrotor befestigt ist.In particular, it is possible by means of the winding device to leave a bundle of lines to be wrapped or a set of lines to be wrapped on a so-called building board, which serves as a functional carrier for the set of lines or for the bundle of lines to be wrapped. The outer ring and the winding rotor, which is open on one side, can be rotated relative to one another in such a way that their respective areas, which are partially open on the circumferential side, are arranged congruently. In this position, the line bundle to be wrapped with the adhesive tape can be easily inserted into the ring-shaped winding rotor by moving the winding unit accordingly by means of the infeed unit. The ring-shaped winding rotor can be rotated about the axis of rotation relative to the open outer ring as often as desired. With the simultaneous execution of said advance movement of the entire winding unit along the bundle of wires to be wrapped, ie in the longitudinal direction of the winding direction, the result is a fully automated wrapping of the bundle of wires with the adhesive tape. Because said holder for receiving the roll of adhesive tape is rotatably attached to the winding rotor, the adhesive tape on the roll of adhesive tape can be easily unrolled from the roll of adhesive tape during the rotational movement of the winding rotor and the feed movement of the entire winding unit, since it is attached to said holder is, which is rotatably attached to the winding rotor.

Mittels der Spanneinrichtung ist es dabei möglich, das zu umwickelnde Leitungsbündel entlang einer definierten Wickelstrecke vorzuspannen und sauber in Längsrichtung der Wickelvorrichtung auszurichten. Dies begünstigt ebenfalls ein Umwickeln des Leitungsbündels, wenn dieses noch im zuvor erwähnten Baubrett beziehungsweise Funktionsträger angeordnet ist.By means of the tensioning device, it is possible to pretension the cable bundle to be wrapped along a defined winding path and cleanly in the longitudinal direction of the winding device to align This also promotes wrapping of the bundle of lines if this is still arranged in the previously mentioned building board or function carrier.

Mittels der erfindungsgemäßen Wickelvorrichtung ist es auf besonders einfache Weise möglich, Leitungsbündel, beispielsweise bei der Herstellung von Kabelbäumen im Automobilbereich, voll automatisiert mit einem Klebeband zu umwickeln, und zwar während das betreffende Leitungsbündel am so genannten Baubrett verbleibt, was sich positiv auf nachfolgende Fertigungsprozesse auswirkt. Mittels der erfindungsgemäßen Wickelvorrichtung ist es möglich, vollständig ohne menschlichen Eingriff Leitungsbündel mit einem Klebeband zu umwickeln.Using the winding device according to the invention, it is possible in a particularly simple manner to wrap wire bundles, for example in the production of cable harnesses in the automotive sector, fully automatically with an adhesive tape, while the wire bundle in question remains on the so-called building board, which has a positive effect on subsequent production processes . Using the winding device according to the invention, it is possible to wrap line bundles with an adhesive tape completely without human intervention.

Erfindungsgemäß weist die Spanneinrichtung einen Fixiergreifer zum Fixieren des Leitungsbündels und eine Spanneinheit zum Vorspannen des Leitungsbündels auf. Erfindungsgemäß umfasst die Spanneinheit zum Vorspannen des Leitungsbündels ferner einen Spanngreifer, welcher in Längsrichtung der Wickelvorrichtung bewegbar ist. Mit dem Fixiergreifer ist es auf einfache Weise möglich, das zu umwickelnde Leitungsbündel an einer definierten Position zu ergreifen, beispielsweise in der Nähe eines Steckergehäuses. Der Fixiergreifer kann das Leitungsbündel einklemmen, wobei der Spanngreifer der Spanneinheit zunächst das Leitungsbündel lediglich umschließt, ohne dieses einzuklemmen. Zur Spanneinheit kann beispielsweise noch ein Linearantrieb gehören, mittels welchem der Spanngreifer der Spanneinheit anschließend bis zu einer gewünschten Endposition einer Wickelstrecke bewegt werden kann. Der Spanngreifer der Spanneinheit klemmt dabei das Leitungsbündel ein und der Spanngreifer wird dann entsprechend der Längsrichtung der Wickelvorrichtung bis zur besagten Endposition der gewünschten Wickelstrecke bewegt, infolgedessen das Leitungsbündel mit einer definierten Spannkraft gespannt wird. So ist es mittels der Spanneinrichtung auf zuverlässige Weise möglich, das Leitungsbündel, insbesondere abschnittsweise, über eine bestimmte Länge, welche einer vorgegebenen Wickelstrecke entspricht, auszurichten und vorzuspannen. Dies wirkt sich besonders positiv auf die Qualität des vollautomatisierten Wickelvorgangs mit dem Klebeband aus.According to the invention, the tensioning device has a fixing gripper for fixing the bundle of lines and a tensioning unit for pretensioning the bundle of lines. According to the invention, the tensioning unit for pretensioning the line bundle also includes a tensioning gripper, which can be moved in the longitudinal direction of the winding device. With the fixing gripper, it is possible in a simple manner to grip the cable bundle to be wrapped at a defined position, for example in the vicinity of a connector housing. The fixing gripper can clamp the bundle of lines, with the clamping gripper of the clamping unit initially merely enclosing the bundle of lines without pinching it. The tensioning unit can also include a linear drive, for example, by means of which the tensioning gripper of the tensioning unit can then be moved to a desired end position of a winding section. The tensioning gripper of the tensioning unit clamps the bundle of cables and the tensioning gripper is then moved in the longitudinal direction of the winding device to the said end position of the desired winding section, as a result of which the bundle of cables is tensioned with a defined tensioning force. It is thus possible in a reliable manner by means of the tensioning device to align and pretension the bundle of lines, in particular in sections, over a specific length which corresponds to a predetermined winding distance. This has a particularly positive effect on the quality of the fully automated wrapping process with the adhesive tape.

Eine weitere vorteilhafte Ausführungsform der Erfindung sieht vor, dass die Wickelvorrichtung eine Schneideinheit aufweist, mittels welcher das Klebeband durchtrennbar und ein freies Ende der Klebebandrolle fixierbar ist. Nach dem vollautomatisierten Umwickeln des Leitungsbündels mit dem Klebeband ist es so auch vollautomatisch möglich, das Klebeband zu durchtrennen, wobei das freie Ende des Klebebands, welches noch an der Klebebandrolle hängt, mittels der Schneideinheit fixiert werden kann. Die Schneideinheit kann beispielsweise einen oder mehrere ein- und ausfahrbare Zylinder aufweisen, mittels welcher eine Klinge und ein Klemmbereich entsprechend bewegt werden kann, um das Klebeband zu durchtrennen und das freie Ende der Klebebandrolle an der Schneideinheit zu fixieren. Da nach dem Durchtrennen des Klebebands das freie Ende der Klebebandrolle an der Schneideinheit fixiert ist, kann das Klebeband, welches auf der Klebebandrolle aufgerollt ist, in einem nächsten Verfahrensschritt auf besonders einfache Weise erneut an das Leitungsbündel oder an ein anderes Leitungsbündel angelegt werden, um dieses dann wiederum vollautomatisiert zu umwickeln.A further advantageous embodiment of the invention provides that the winding device has a cutting unit, by means of which the adhesive tape can be severed and a free end of the adhesive tape roll can be fixed. After the fully automated wrapping of the cable bundle with the adhesive tape, it is also possible to cut through the adhesive tape fully automatically, with the free end of the adhesive tape still hanging on the adhesive tape roll being able to be fixed by means of the cutting unit. The cutting unit can, for example, have one or more retractable and extendable cylinders, by means of which a blade and a clamping area can be moved accordingly in order to cut through the adhesive tape and fix the free end of the adhesive tape roll on the cutting unit. Since after cutting through the tape the free end of the When the roll of adhesive tape is fixed to the cutting unit, the adhesive tape that is rolled up on the roll of adhesive tape can be reapplied to the bundle of cables or another bundle of cables in a particularly simple manner in a next process step, in order to then wrap it again fully automatically.

Eine weitere vorteilhafte Ausführungsform der Erfindung sieht vor, dass die Schneideinheit zwischen einer eingefahrenen Grundstellung, einer Fixierstellung und einer Schneidstellung bewegbar ist, in welcher die Schneideinheit zwischen der Klebebandrolle und dem Leitungsbündel positioniert ist. Bei Bedarf kann die Schneideinheit also in die besagte Schneidstellung ausgefahren werden, um das Klebeband zu durchtrennen und das freie Ende der Klebebandrolle an der Schneideinheit zu fixieren. Die Fixierstellung kann sodann auch als Anlegestellung beziehungsweise Anlegeposition genutzt werden, um an der nächsten Wickelstrecke das freie Ende des Klebebands beziehungsweise das Klebeband an dem zu umwickelnden Leitungsbündel zu fixieren. In der eingefahrenen Grundstellung hingegen kann sichergestellt werden, dass die Schneideinheit den eigentlichen automatisierten Umwickelvorgang mit dem Klebeband nicht beeinträchtigt beziehungsweise stört.A further advantageous embodiment of the invention provides that the cutting unit can be moved between a retracted basic position, a fixing position and a cutting position, in which the cutting unit is positioned between the roll of adhesive tape and the bundle of lines. If required, the cutting unit can therefore be extended into said cutting position in order to cut through the adhesive tape and to fix the free end of the roll of adhesive tape on the cutting unit. The fixing position can then also be used as a feed position or feed position in order to fix the free end of the adhesive tape or the adhesive tape on the cable bundle to be wrapped on the next winding section. In the retracted basic position, on the other hand, it can be ensured that the cutting unit does not impair or interfere with the actual automated wrapping process with the adhesive tape.

Erfindungsgemäß weist die Wickelvorrichtung eine Zentriereinrichtung auf, mittels welcher das Leitungsbündel zumindest lokal konzentrisch zum Wickelrotor anordnenbar ist. Insbesondere wenn die Wickelstrecke etwas länger sein sollte, ist es mittels der Zentriereinrichtung möglich, das Leitungsbündel exakt zum Wickelrotor auszurichten, um zumindest den Bereich des Leitungsbündels, welcher augenblicklich mittels des Wickelrotors umwickelt wird, relativ zum Wickelrotor zu zentrieren. Dadurch kann insbesondere bei längeren Wickelstrecken sichergestellt werden, dass ein sauberes und exaktes Umwickeln des Leitungsbündels mit dem Klebeband erfolgt.According to the invention, the winding device has a centering device, by means of which the line bundle can be arranged at least locally concentrically to the winding rotor. In particular, if the winding distance should be somewhat longer, it is possible by means of the centering device to align the line bundle exactly with the winding rotor in order to center at least the area of the line bundle which is currently being wound by means of the winding rotor relative to the winding rotor. In this way it can be ensured, particularly in the case of longer winding sections, that the line bundle is wrapped cleanly and precisely with the adhesive tape.

Erfindungsgemäß weist die Zentriereinrichtung eine Zentriereinheit mit zwei Zentierarmen auf, welche jeweilige Vertiefungen zum Aufnehmen des Leitungsbündels umfassen, die in einer Zentrierstellung der Zentriereinheit das Leitungsbündel gemeinsam umschließen und dadurch konzentrisch zum Wickelrotor anordnen. Mittels der beiden Zentrierarme und ihren jeweiligen Vertiefungen ist es auf einfache Weise möglich, dass die Zentrierarme das Leitungsbündel umfassen, infolgedessen das Leitungsbündel zumindest in diesem Bereich konzentrisch zum Wickelrotor angeordnet wird. Die Zentrierarme sind unter Vermittlung eines Gelenkvierecks am Außenring der Wickeleinheit gelagert sowie zum Öffnen und Schließen der Zentrierarme mit einem ausfahrbaren Zylinder verbunden. Ein Teil der Zentrierarme, und zwar der Teil mit den jeweiligen Vertiefungen zum Aufnehmen des Leitungsbündels, kann wie eine Art Schere auf und zu bewegt werden, wobei der Zylinder ein- und ausgefahren werden kann, um eine entsprechende Verstellung am Gelenkviereck vorzunehmen, infolgedessen die Zentrierarme auseinander und aufeinander zu bewegt werden. Ein Gelenk des Gelenkvierecks ist dabei am Außenring der Wickeleinheit gelagert, infolgedessen die Zentrierarme entsprechend am Außenring der Wickeleinheit befestigt sind. Dadurch kann sichergestellt werden, dass der Abstand der Zentrierarme zum zu zentrierenden Teil des Leitungsbündels immer passt, da der Abstand der Zentrierarme zur Drehachse des Wickelrotors unveränderlich ist.According to the invention, the centering device has a centering unit with two centering arms, which include respective depressions for receiving the line bundle, which together enclose the line bundle in a centering position of the centering unit and thereby arrange it concentrically to the winding rotor. By means of the two centering arms and their respective indentations, it is possible in a simple manner for the centering arms to enclose the bundle of lines, as a result of which the bundle of lines is arranged concentrically with the winding rotor, at least in this area. The centering arms are mounted on the outer ring of the winding unit via a four-bar linkage and are connected to an extendable cylinder for opening and closing the centering arms. Part of the centering arms, namely the part with the respective indentations for receiving the cable bundle, can be moved open and closed like a kind of scissors, whereby the cylinder can be extended and retracted to make a corresponding adjustment to the four-bar linkage, consequently the centering arms be moved apart and towards each other. A joint of the four-bar linkage is mounted on the outer ring of the winding unit, as a result of which the centering arms are attached accordingly to the outer ring of the winding unit. This ensures that the distance between the centering arms and the part of the line bundle to be centered always fits, since the distance between the centering arms and the axis of rotation of the winding rotor is unchangeable.

In weiterer vorteilhafter Ausgestaltung der Erfindung ist es vorgesehen, dass die Zentriereinrichtung eine weitere Zentriereinheit zum konzentrischen Anordnen des Leitungsbündels zum Wickelrotor aufweist, wobei der Wickelrotor in Längsrichtung zwischen den beiden Zentriereinheiten angeordnet ist. Dadurch ist es auf zuverlässige Weise möglich, den Teil des Leitungsbündels, welcher gerade zwischen den beiden Zentriereinheiten angeordnet ist, auf zuverlässige Weise zumindest im Wesentlichen konzentrisch zur Drehachse des Wickelrotors anzuordnen.In a further advantageous embodiment of the invention, it is provided that the centering device has a further centering unit for arranging the line bundle concentrically to the winding rotor, the winding rotor being arranged in the longitudinal direction between the two centering units. It is thereby possible in a reliable manner to arrange that part of the bundle of lines which is arranged between the two centering units in a reliable manner at least essentially concentrically to the axis of rotation of the winding rotor.

Eine weitere vorteilhafte Ausführungsform der Erfindung sieht vor, dass ein weiterer ausfahrbarer Zylinder am Außenring der Wickeleinheit angeordnet ist, mittels welchem die weitere Zentriereinheit in eine Zentrierstellung bewegbar ist, in welcher diese das Leitungsbündel konzentrisch zum Wickelrotor anordnet. Beispielsweise kann die weitere Zentriereinheit zwei Gabelzinken aufweisen, welche in der Zentrierstellung das Leitungsbündel umschließen und dadurch konzentrisch zum Wickelrotor anordnen. Mittels des weiteren ausfahrbaren Zylinders ist es auf einfache Weise bei Bedarf möglich, die weitere Zentriereinheit in die besagte Zentrierstellung zu bewegen.A further advantageous embodiment of the invention provides that a further extendable cylinder is arranged on the outer ring of the winding unit, by means of which the further centering unit can be moved into a centering position in which it arranges the line bundle concentrically to the winding rotor. For example, the further centering unit can have two fork prongs, which enclose the line bundle in the centering position and thereby arrange it concentrically to the winding rotor. By means of the further extendable cylinder, it is possible in a simple manner, if required, to move the further centering unit into said centering position.

Gemäß einer weiteren vorteilhaften Ausführungsform der Erfindung ist es vorgesehen, dass die Wickelvorrichtung eine Schnittstelle aufweist, mittels welcher die Wickelvorrichtung an einem Roboter, insbesondere an einem Gelenkarmroter, befestigbar ist. Die Schnittstelle kann beispielsweise flanschförmig oder dergleichen ausgebildet sein, sodass die Wickelvorrichtung auf einfache Weise an einer passenden Schnittstelle des Roboters befestigt werden kann. Auf diese Weise kann die Wickelvorrichtung besonders leicht an einem Roboter montiert werden. Mittels des Roboters ist es vollautomatisiert möglich, die gesamte Wickelvorrichtung passgenau am zu umwickelnden Leitungsbündel zu positionieren, insbesondere wenn das Leitungsbündel an dem zuvor bereits erwähnten Baubrett beziehungsweise Funktionsträger angeordnet ist.According to a further advantageous embodiment of the invention, it is provided that the winding device has an interface by means of which the winding device can be attached to a robot, in particular to an articulated arm robot. The interface can, for example, be designed in the form of a flange or the like, so that the winding device can be attached to a suitable interface of the robot in a simple manner. In this way, the winding device can be mounted on a robot particularly easily. Using the robot, it is possible to position the entire winding device in a fully automated manner on the bundle of cables to be wrapped, in particular when the bundle of cables is arranged on the previously mentioned building board or function carrier.

In weiterer vorteilhafter Ausgestaltung der Erfindung ist es vorgesehen, dass der Wickelrotor eine Außenverzahnung aufweist, in welche ein mittels einer Antriebseinheit antreibbarer Zahnriemen eingreift. Auf diese Weise ist es auf einfache Weise möglich, den Wickelrotor relativ zum Außenring der Wickeleinheit um die Drehachse zu rotieren.In a further advantageous embodiment of the invention, it is provided that the winding rotor has external teeth, in which a toothed belt that can be driven by means of a drive unit engages. In this way, it is easily possible to rotate the winding rotor about the axis of rotation relative to the outer ring of the winding unit.

Eine weitere vorteilhafte Ausführungsform der Erfindung sieht vor, dass am Wickelrotor in Umfangsrichtung verteilt mehrere Lagerrollen angeordnet sind, welche beim Rotieren des Wickelrotors auf zumindest einer Innenbahn des Außenrings abrollen. Auf diese Weise kann sichergestellt werden, dass der Wickelrotor problemlos rundläuft, wenn dieser angetrieben und dadurch relativ zum Außenring verdreht wird. Mit anderen Worten sorgen die Lagerrollen in Kombination mit der zumindest einen Innenwand des Außenrings für eine exakt geführte Rotationsbewegung des Wickelrotors gegenüber dem Außenring.A further advantageous embodiment of the invention provides that a plurality of bearing rollers are distributed on the winding rotor in the circumferential direction and roll on at least one inner track of the outer ring when the winding rotor rotates. In this way it can be ensured that the winding rotor runs true without any problems when it is driven and thereby rotated relative to the outer ring. In other words, the bearing rollers, in combination with the at least one inner wall of the outer ring, ensure a precisely guided rotational movement of the winding rotor relative to the outer ring.

Gemäß einer weiteren vorteilhaften Ausführungsform der Erfindung ist es vorgesehen, dass eine Drehachse der Halterung schräg zur Drehachse des Wickelrotors angestellt ist, sodass bei gespanntem Leitungsbündel die Drehachse der Halterung ebenfalls schräg zum Leitungsbündel angestellt ist. Durch diese Schrägstellung der Drehachse der Haltung, mittels welcher die Klebebandrolle rotierbar gehalten ist, wird ein Schrägzug bei einer Vorschubbewegung der Wickeleinheit im Zuge des automatisierten Wickelvorgangs ausgeglichen. Infolgedessen kann ein besonders gutes Wickelergebnis erzielt werden.According to a further advantageous embodiment of the invention, it is provided that an axis of rotation of the holder is set at an angle to the axis of rotation of the winding rotor, so that the axis of rotation of the holder is also set at an angle to the bundle of lines when the line bundle is tensioned. This inclined position of the axis of rotation of the holder, by means of which the roll of adhesive tape is held in a rotatable manner, compensates for a diagonal pull during a feed movement of the winding unit in the course of the automated winding process. As a result, a particularly good winding result can be achieved.

Bei dem erfindungsgemäßen Verfahren zum vollautomatisierten Umwickeln eines Leitungsbündels mit einem Klebeband mittels der erfindungsgemäßen Wickelvorrichtung oder einer vorteilhaften Ausführungsform der erfindungsgemäßen Wickelvorrichtung wird mittels der Wickeleinheit gleichzeitig eine Vorschubbewegung in Längsrichtung der Wickelvorrichtung und eine Drehbewegung des Wickelrotors ausgeführt und infolgedessen wird das Leitungsbündel mit dem Klebeband mit einer vorgegebenen Steigung umwickelt. Vorteilhafte Ausgestaltungen der erfindungsgemäßen Wickelvorrichtung sind als vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens und umgekehrt anzusehen, wobei die Wickelvorrichtung insbesondere Mittel zur Durchführung der Verfahrensschritte aufweist.In the method according to the invention for the fully automated wrapping of an adhesive tape around a bundle of lines by means of the winding device according to the invention or an advantageous embodiment of the winding device according to the invention, a feed movement in the longitudinal direction of the winding device and a rotary movement of the winding rotor are simultaneously carried out by means of the winding unit and as a result the bundle of lines with the adhesive tape is predetermined pitch wrapped. Advantageous configurations of the winding device according to the invention are to be regarded as advantageous configurations of the method according to the invention and vice versa, with the winding device in particular having means for carrying out the method steps.

Kurze FigurenbeschreibungBrief character description

Die Zeichnung zeigt in:

Figur 1
eine Perspektivansicht auf einen Industrieroboter, an welchem eine Wickelvorrichtung zum vollautomatisierten Umwickeln eines Leitungsbündels mit einem Klebeband angebracht ist;
Figur 2
eine perspektivische Rückansicht der Wickelvorrichtung;
Figur 3
eine weitere Perspektivansicht der Wickelvorrichtung, während mittels dieser ein zu umwickelndes Leitungsbündels gerade gespannt wird;
Figur 4
eine weitere Perspektivansicht der Wickelvorrichtung, während mittels dieser ein auf einer Klebebandrolle aufgewickeltes Klebeband gerade an das gespannte Leitungsbündel angelegt wird;
Figur 5
eine weitere Perspektivansicht der Wickelvorrichtung, während mittels dieser vollautomatisiert das gespannte Leitungsbündel umwickelt und zentriert gehalten wird; und
Figur 6
eine weitere Perspektivansicht der Wickelvorrichtung nach dem Beenden des automatisierten Umwickelvorgangs, wobei mittels einer Schneideinheit der Wickelvorrichtung das Klebeband durchtrennt wird.
The drawing shows in:
figure 1
a perspective view of an industrial robot, on which a winding device for fully automated wrapping of a cable bundle with an adhesive tape is attached;
figure 2
a rear perspective view of the winding device;
figure 3
a further perspective view of the winding device, while by means of this a wire bundle to be wrapped is being stretched;
figure 4
a further perspective view of the winding device, while by means of this an adhesive tape wound up on a roll of adhesive tape is just applied to the tensioned bundle of cables;
figure 5
another perspective view of the winding device, while the tensioned bundle of cables is wrapped and centered by means of this fully automated; and
figure 6
a further perspective view of the winding device after the end of the automated wrapping process, the adhesive tape being severed by means of a cutting unit of the winding device.

In den Figuren sind gleiche oder funktionsgleiche Elemente mit den gleichen Bezugszeichen versehen worden.Elements that are the same or have the same function have been provided with the same reference symbols in the figures.

Ein Roboter 1, an welchem eine Wickelvorrichtung 2 zum vollautomatisierten Umwickeln eines Leitungsbündels mit einem Klebeband angebracht ist, ist in einer Perspektivansicht in Fig. 1 gezeigt. Bei dem Roboter 1 handelt es sich um einen Industrieroboter in Form eines Gelenkarmroboters. Die Wickelvorrichtung 2 umfasst eine Schnittstelle 3, an welcher die Wickelvorrichtung 2 am Roboter 1 befestigt ist. Der Roboter 1 weist seinerseits eine hier nicht näher bezeichnete Schnittstelle auf, welche mit der Schnittstelle 3 der Wickelvorrichtung 2 kompatibel ist. Mit dem Roboter 1 kann die gesamte Wickelvorrichtung 2 so auf einfache Weise an ein zu umwickelndes Leitungsbündel bewegt werden.A perspective view of a robot 1, to which a winding device 2 for fully automatically wrapping a bundle of cables with an adhesive tape is attached, is shown in FIG 1 shown. The robot 1 is an industrial robot in the form of an articulated arm robot. The winding device 2 includes an interface 3 at which the winding device 2 is attached to the robot 1 . For its part, the robot 1 has an interface which is not specified here and which is compatible with the interface 3 of the winding device 2 . With the robot 1, the entire winding device 2 can be moved in a simple manner to a cable bundle to be wrapped.

In Fig. 2 ist die Wickelvorrichtung 2 in einer perspektivischen Rückansicht gezeigt. Die Wickelvorrichtung 2 umfasst eine Wickeleinheit 4 mit einem einseitig offenen Außenring 5, an welchem innenseitig ein einseitig offener ringförmiger Wickelrotor 6 relativ zum Außenring um eine in Längsrichtung x der Wickelvorrichtung 2 verlaufende Drehachse rotierbar angeordnet ist. Am Wickelrotor 6 ist des Weiteren eine Halterung 7 rotierbar befestigt, mittels welcher eine Klebebandrolle 8 aufgenommen ist.In 2 the winding device 2 is shown in a perspective rear view. The winding device 2 comprises a winding unit 4 with an outer ring 5 open on one side, on which an annular winding rotor 6 open on one side is arranged on the inside such that it can rotate relative to the outer ring about an axis of rotation running in the longitudinal direction x of the winding device 2 . Furthermore, a holder 7 is rotatably fastened to the winding rotor 6, by means of which a roll of adhesive tape 8 is accommodated.

Des Weiteren umfasst die Wickelvorrichtung 2 erfindungsgemäß einen Fixiergreifer 9 zum Fixieren eines hier nicht dargestellten Leitungsbündels und eine insgesamt mit 10 bezeichnete Spanneinheit zum Vorspannen des Leitungsbündels. Die Spanneinheit 10 weist einen Spanngreifer 11 auf, welcher in Längsrichtung x der Wickelvorrichtung 2 mittels einer Linearantriebs 12 bewegbar ist. Der Fixiergreifer 9 und die Spanneinheit 10 mit dem Spanngreifer 11 sowie dem Linearantrieb 12 bilden gemeinsam eine Spanneinrichtung der Wickelvorrichtung 2 aus, mittels welcher das zu umwickelnde Leitungsbündel ausgerichtet und in Längsrichtung x der Wickelvorrichtung 2 vorgespannt werden kann.Furthermore, the winding device 2 according to the invention comprises a fixing gripper 9 for fixing a bundle of lines, not shown here, and a tensioning unit, denoted overall by 10, for pretensioning the bundle of lines. The clamping unit 10 has a clamping gripper 11 which is movable in the longitudinal direction x of the winding device 2 by means of a linear drive 12 . The fixing gripper 9 and the tensioning unit 10 with the tensioning gripper 11 and the linear drive 12 together form a tensioning device of the winding device 2, by means of which the cable bundle to be wrapped can be aligned and pretensioned in the longitudinal direction x of the winding device 2.

Die Wickelvorrichtung 2 umfasst des Weiteren eine Zustelleinheit 13, mittels welcher die Wickeleinheit 4 quer zur Längsrichtung x der Wickelvorrichtung 2 zwischen einer Arbeitsstellung, in welcher die Wickeleinheit 4 das hier nicht dargestellte Leitungsbündel umschließt, und einer zurückversetzten Stellung, in welcher das hier nicht dargestellte Leitungsbündel außerhalb der Wickeleinheit 4 angeordnet ist, bewegbar ist. Die Wickeleinheit 4 ist dabei mit einer Art Gestell 14 translatorisch beweglich an der Zustelleinheit 13 gelagert. Die Zustelleinheit 13 kann einen hier nicht näher bezeichneten Linearantrieb aufweisen, mittels welchem das Gestell 14 und somit die gesamte Wickeleinheit 4 quer zur Längsrichtung x der Wickelvorrichtung 2 eingefahren und ausgefahren werden kann.The winding device 2 also includes an infeed unit 13, by means of which the winding unit 4 transversely to the longitudinal direction x of the winding device 2 between a working position, in which the winding unit 4 encloses the bundle of lines, not shown here, and a set-back position, in which the bundle of lines, not shown here is arranged outside the winding unit 4, is movable. The winding unit 4 is mounted on the infeed unit 13 with a type of frame 14 so that it can move in a translatory manner. The infeed unit 13 can have a linear drive, not described in detail here, by means of which the frame 14 and thus the entire winding unit 4 can be retracted and extended transversely to the longitudinal direction x of the winding device 2 .

Des Weiteren umfasst die Wickelvorrichtung 2 noch eine Vorschubeinheit 15, mittels welcher die Wickeleinheit 4 in Längsrichtung x der Wickelvorrichtung 2 bewegbar ist. Die Zustelleinheit 13 ist dabei translatorisch beweglich auf zwei Führungsschienen 16 angeordnet, wovon eine mit einem Linearantrieb ausgestattet ist, sodass die Wickeleinheit 4 in Längsrichtung x der Wickelvorrichtung 2 bewegt werden kann.Furthermore, the winding device 2 also includes a feed unit 15, by means of which the winding unit 4 can be moved in the longitudinal direction x of the winding device 2. The infeed unit 13 is arranged in a translationally movable manner on two guide rails 16 , one of which is equipped with a linear drive, so that the winding unit 4 can be moved in the longitudinal direction x of the winding device 2 .

Des Weiteren weist die Wickelvorrichtung 2 eine Steuereinrichtung auf, mittels welcher die Wickeleinheit 4, die Spanneinrichtung, welche den Fixiergreifer 9 und den Spanngreifer 11 umfasst, die Zustelleinheit 13 und Vorschubeinheit 15 zum vollautomatisierten Umwickeln eines Leitungsbündels steuerbar sind. Anhand der nachfolgenden Figuren werden einzelne Verfahrensschritte beschrieben, um ein Leitungsbündel mittels der Wickelvorrichtung 2 vollautomatisiert mit einem auf der Klebebandrolle 8 aufgewickelten Klebeband zu umwickeln.Furthermore, the winding device 2 has a control device, by means of which the winding unit 4, the tensioning device, which includes the fixing gripper 9 and the tensioning gripper 11, the infeed unit 13 and the feed unit 15 can be controlled for fully automated wrapping of a cable bundle. Individual method steps are described with reference to the following figures, in order to wrap an adhesive tape wound onto the adhesive tape roll 8 fully automatically around a line bundle by means of the winding device 2 .

In Fig. 3 ist die Wickelvorrichtung 2 in einer weiteren Perspektivansicht dargestellt, wobei das zuvor bereits mehrfach erwähnte Leitungsbündel 17 nun dargestellt ist und gerade mittels des Fixiergreifers 9 und des Spanngreifers 11 gespannt wird. In der vorliegenden Darstellung ist gut zu erkennen, dass der Wickelrotor 6 eine Außenverzahnung 18 aufweist, in welche beispielsweise ein mittels einer Antriebseinheit antreibbares, hier nicht dargestellter Zahnriemen eingreifen kann, um den Wickelrotor 6 relativ zu dem Außenring 5 zu verdrehen. Zudem können am Wickelrotor 6 beispielsweise in Umfangsrichtung verteilt noch mehrere, hier nicht dargestellte und gekennzeichnete Lagerrollen angeordnet sein, welche beim Rotieren des Wickelrotors 6 auf zumindest einer Innenbahn des Außenrings 5 abrollen können.In 3 the winding device 2 is shown in a further perspective view, with the cable bundle 17 already mentioned several times now being shown and being tensioned by means of the fixing gripper 9 and the tensioning gripper 11 . In the present illustration, it is easy to see that the winding rotor 6 has an external toothing 18 in which, for example, a toothed belt (not shown here) that can be driven by a drive unit can engage in order to rotate the winding rotor 6 relative to the outer ring 5 . In addition, several bearing rollers, not shown and marked here, can be distributed on the winding rotor 6, for example distributed in the circumferential direction be arranged, which can roll on at least one inner track of the outer ring 5 when the winding rotor 6 rotates.

Die gesamte Wickelvorrichtung 2 wird zunächst mittels des Roboters 1 an dem Leitungsbündel 17 positioniert, welches beispielsweise an einem hier nicht dargestellten Baubrett beziehungsweise Funktionsträger angebracht sein kann. Die Wickelvorrichtung 2 wird dabei so positioniert, dass das Leitungsbündel 17 definiert mit dem Fixiergreifer 9 ergriffen werden kann, z.B. in der Nähe eines hier nicht dargestellten Steckergehäuses. Der Fixiergreifer 9 klemmt dann das Leitungsbündel 17 ein, wobei der Spanngreifer 11 das Leitungsbündel 17 zunächst nur umschließt, ohne es jedoch einzuklemmen. Der Linearantrieb 12 der hier nicht näher gekennzeichneten Spanneinheit 10 bewegt dann den Spanngreifer 11 bis zu einer gewünschten Endposition einer Wickelstrecke. Der Spanngreifer 11 klemmt währenddessen - zumindest ab einem bestimmten Zeitpunkt - das Leitungsbündel 17 ein, infolgedessen der Linearantrieb 12 das Leitungsbündel 17 mit einer definierten Spannkraft streckt und so parallel zur Längsrichtung x der Wickelvorrichtung 2 ausrichtet.The entire winding device 2 is first positioned by means of the robot 1 on the bundle of lines 17, which can be attached, for example, to a building board or function carrier, not shown here. The winding device 2 is positioned in such a way that the line bundle 17 can be gripped in a defined manner with the fixing gripper 9, e.g. in the vicinity of a connector housing (not shown here). The fixing gripper 9 then clamps the line bundle 17, with the clamping gripper 11 initially only enclosing the line bundle 17, but without pinching it. The linear drive 12 of the clamping unit 10, which is not specifically identified here, then moves the clamping gripper 11 to a desired end position of a winding section. Meanwhile, the clamping gripper 11 clamps the line bundle 17 - at least from a certain point in time - as a result of which the linear drive 12 stretches the line bundle 17 with a defined clamping force and thus aligns it parallel to the longitudinal direction x of the winding device 2 .

In Fig. 4 ist die Wickelvorrichtung 2 in einer weiteren Perspektivansicht gezeigt, wobei die Wickeleinheit 4 mittels der Zustelleinheit 13 in eine Arbeitsposition bewegt worden ist, in welcher das gespannte Leitungsbündel 17 konzentrisch zum Wickelrotor 6 und somit konzentrisch zu einer Drehachse des Wickelrotors 6 angeordnet ist. Dadurch, dass der Außenring 5 und der Wickelrotor 6 einseitig offen sind, kann während der Zustellbewegung der Wickeleinheit 4 das gespannte Leitungsbündel 17 auf einfache Weise ins Innere der Wickeleinheit 4 eingefädelt werden. In der vorliegenden Darstellung ist erstmals ein Teil eines von der Klebebandrolle 8 abgewickelten Klebebands 19 zu erkennen. Die Wickelvorrichtung 2 umfasst eine Schneideinheit 20, mittels welcher das Klebeband 19 durchtrennbar und ein freies Ende des hier dargestellten Klebebands 19, welches von der Klebebandrolle 8 ein Stück weit abgewickelt worden ist, fixierbar ist.In 4 the winding device 2 is shown in a further perspective view, with the winding unit 4 having been moved into a working position by means of the infeed unit 13, in which the tensioned bundle of cables 17 is arranged concentrically to the winding rotor 6 and thus concentrically to an axis of rotation of the winding rotor 6. Due to the fact that the outer ring 5 and the winding rotor 6 are open on one side, the tensioned bundle of cables 17 can be easily threaded into the interior of the winding unit 4 during the infeed movement of the winding unit 4 . In the present illustration, part of an adhesive tape 19 unwound from the adhesive tape roll 8 can be seen for the first time. The winding device 2 comprises a cutting unit 20, by means of which the adhesive tape 19 can be severed and a free end of the adhesive tape 19 shown here, which has been partially unwound from the adhesive tape roll 8, can be fixed.

Vorliegend ist gut zu erkennen, dass eine Drehachse der Halterung 7, mittels welcher die Klebebandrolle 8 aufgenommen ist, schräg zu Drehachse des Wickelkopfs 6 und somit auch schrägt zum gespannten Leitungsbündel 17 angestellt ist. Dadurch wird ein Schrägzug durch die Vorschubbewegung der Wickeleinheit 4 während des Wickelvorgangs ausgeglichen. Infolgedessen kann ein gutes Wickelergebnis erzielt werden.In the present case, it is easy to see that an axis of rotation of the holder 7, by means of which the roll of adhesive tape 8 is accommodated, is set at an angle to the axis of rotation of the end winding 6 and thus also at an angle to the tensioned bundle of cables 17. As a result, an oblique pull is compensated for by the feed movement of the winding unit 4 during the winding process. As a result, a good winding result can be achieved.

In der hier dargestellten Arbeitsposition der Wickeleinheit 4 ist das teilweise bereits abgewickelte Klebeband 19 also in der Schneideinheit 20 eingeklemmt und wird mit einer Umdrehung des Wickelrotors 6 relativ zum Außenring 5 am gespannten Leitungsbündel 17 fixiert. Danach wird die Schneideinheit 20 geöffnet und in die in der nachfolgenden Fig. gezeigte Grundstellung verfahren. In Fig. 4 ist die Schneideinheit dagegen in einer Art Fixierstellung ausgefahren, in welcher die Schneideinheit 20 sich von der Klebebandrolle 8 aus gesehen hinter dem gespannten Leitungsbündel 17 befindet. Nachdem durch eine Umdrehung des Wickelrotors 6 das Klebeband 19 am Leitungsbündel 17 fixiert und danach die Schneideinheit 20 geöffnet worden ist, wird das noch überstehende Klebeband 19 in einer noch nachfolgenden Vorschubbewegung der Wickeleinheit 4 über das Leitungsbündel 17 beziehungsweise um das Leitungsbündel 17 gewickelt.In the working position of the winding unit 4 shown here, the partially unwound adhesive tape 19 is clamped in the cutting unit 20 and is fixed to the tensioned bundle of lines 17 with one rotation of the winding rotor 6 relative to the outer ring 5 . The cutting unit 20 is then opened and moved to the basic position shown in the figure below. In 4 the cutting unit is, however, extended in a kind of fixed position in which the Cutting unit 20 is seen from the tape roll 8 behind the tensioned bundle of cables 17. After the adhesive tape 19 has been fixed to the line bundle 17 by one revolution of the winding rotor 6 and the cutting unit 20 has then been opened, the remaining adhesive tape 19 is wound over the line bundle 17 or around the line bundle 17 in a subsequent feed movement of the winding unit 4.

In Fig. 5 ist die Wickelvorrichtung 2 in einer weiteren Perspektivansicht gezeigt, wobei die Wickeleinheit 4 gleichzeitig mit ihrem Wickelrotor 6 eine Drehbewegung und als Ganzes eine Vorschubbewegung in Längsrichtung x der Wickelvorrichtung 2 vollführt. Infolgedessen wird das gespannte Leitungsbündel 17 vollautomatisiert mittels des Klebebands 19 umwickelt. Die Vorschubbewegung und die Rotationsbewegung des Wickelrotors 6 erfolgen dabei derart abgestimmt aufeinander, dass eine vorgegebene Steigung bezüglich der Umwicklung des Leitungsbündels 17 mit dem Klebeband 19 erzielt wird.In figure 5 the winding device 2 is shown in a further perspective view, with the winding unit 4 simultaneously performing a rotary movement with its winding rotor 6 and, as a whole, a feed movement in the longitudinal direction x of the winding device 2 . As a result, the tensioned line bundle 17 is wrapped by means of the adhesive tape 19 in a fully automated manner. The feed movement and the rotational movement of the winding rotor 6 are coordinated with one another in such a way that a predetermined gradient with regard to the wrapping of the cable bundle 17 with the adhesive tape 19 is achieved.

Um insbesondere bei einer längeren Wickelstrecke sicherzustellen, dass das Leitungsbündel 17 zumindest im Wesentlichen konzentrisch zur Drehachse des Wickelrotors 6 positioniert wird, werden zwei Zentrierarme 22, welche jeweilige Vertiefungen 23 aufweisen, derart an das gespannte Leitungsbündel 17 heranbewegt, dass die beiden Zentrierarme 22 mit ihren jeweiligen Vertiefungen 23 das Leitungsbündel 17 konzentrisch zum Wickelrotor 6 positionieren. Die beiden Zentrierarme 22 sind dabei unter Vermittlung eines Gelenkvierecks 24 am Außenring 5 der Wickeleinheit 4 gelagert, wobei zum Öffnen und Schließen sowie zum Heranfahren beziehungsweise Wegfahren der Zentrierarme 22 diese über das Gelenkviereck 24 noch mit einem ausfahrbaren Zylinder 25 verbunden sind. Dadurch, dass die beiden Zentrierarme 22 mittels eines Drehgelenks 21 des Gelenkvierecks 24 am Außenring 5 befestigt sind, werden beim Ausfahren und Einfahren des Zylinders 25 die Zentrierarme 22 lediglich geöffnet oder geschlossen, jedoch nicht translatorisch relativ zur Wickeleinheit 4 bewegt. Die Vertiefungen 23 sind dabei abgestimmt auf die Länge der Zentrierarme 22 und die Befestigung durch das Drehgelenk 21 so positioniert und gewählt, dass das Leitungsbündel 17 mittels der Vertiefung 23 immer zumindest im Wesentlichen konzentrisch zum Wickelrotor 6 angeordnet wird.In order to ensure that the bundle of lines 17 is positioned at least essentially concentrically to the axis of rotation of the winding rotor 6, particularly in the case of a longer winding distance, two centering arms 22, which each have indentations 23, are moved towards the tensioned bundle of lines 17 in such a way that the two centering arms 22 with their position the cable bundle 17 concentrically to the winding rotor 6 in the respective depressions 23 . The two centering arms 22 are mounted on the outer ring 5 of the winding unit 4 via a four-bar linkage 24, with the centering arms 22 also being connected to an extendable cylinder 25 via the four-bar linkage 24 for opening and closing and for moving towards or away from the centering arms. The fact that the two centering arms 22 are attached to the outer ring 5 by means of a rotary joint 21 of the four-bar linkage 24 means that the centering arms 22 are only opened or closed when the cylinder 25 is extended and retracted, but are not moved translationally relative to the winding unit 4 . The indentations 23 are positioned and selected to match the length of the centering arms 22 and the attachment by the swivel joint 21 such that the line bundle 17 is always arranged at least essentially concentrically with the winding rotor 6 by means of the indentation 23 .

Die beiden Zentrierarme 22 mit dem Gelenkviereck 24 und dem Zylinder 25 bilden gemeinsam eine erste nicht näher bezeichnete Zentriereinheit zum konzentrischen Anordnen des Leitungsbündels 17 zum Wickelrotor 6. Die Wickelvorrichtung 2 umfasst noch eine weitere Zentriereinheit 26 zum konzentrischen Anordnen des Leitungsbündels 17 zum Wickelrotor 6. Die weitere Zentriereinheit 26 kann beispielsweise einen gabelförmigen Aufsatz aufweisen, zwischen deren Zinken das Leitungsbündel 17 angeordnet und dadurch konzentrisch zum Wickelrotor 6 angeordnet werden kann. Zudem kann die weitere Zentriereinheit 26 einen hier nicht dargestellten weiteren ein- und ausfahrbaren Zylinder aufweisen, mittels welchem die Zentriereinheit 26 ihrerseits in eine Zentrierstellung bewegbar ist, in welcher diese das Leitungsbündel 17 konzentrisch zum Wickelrotor 6 anordnet. Dieser Zylinder kann z.B. auf der hier nicht sichtbaren Seite des Außenrings 5 befestigt sein.The two centering arms 22 with the four-bar linkage 24 and the cylinder 25 together form a first unspecified centering unit for concentrically arranging the line bundle 17 to the winding rotor 6. The winding device 2 includes another centering unit 26 for concentrically arranging the line bundle 17 to the winding rotor 6. The A further centering unit 26 can, for example, have a fork-shaped attachment between the prongs of which the line bundle 17 can be arranged and thereby arranged concentrically with the winding rotor 6 . In addition, the further centering unit 26 can have a further retractable and extendable cylinder, not shown here, by means of which the centering unit 26 in turn can be turned into a Centering position is movable, in which this line bundle 17 concentrically to the winding rotor 6 arranges. This cylinder can be fastened, for example, on the side of the outer ring 5 that is not visible here.

Wie zu erkennen, sind die beiden Zentrierarme 22 und die weitere Zentriereinheit 26 so angeordnet, dass der Wickelrotor 6 in Längsrichtung x zwischen den Zentrierarmen 22 einerseits und der weiteren Zentriereinheit 26 angeordnet ist. Mit der Vorschubbewegung der Wickeleinheit 4 wandern so die Zentrierarme 22 und die weitere Zentriereinheit 26 mit, infolgedessen zumindest der Teil des gespannten Leitungsbündels 17, welcher sich im Bereich der Wickeleinheit 4 befindet, immer konzentrisch zum Wickelrotor 6 ausgerichtet beziehungsweise angeordnet wird.As can be seen, the two centering arms 22 and the additional centering unit 26 are arranged such that the winding rotor 6 is arranged in the longitudinal direction x between the centering arms 22 on the one hand and the additional centering unit 26 . With the feed movement of the winding unit 4, the centering arms 22 and the further centering unit 26 move with it, as a result of which at least that part of the tensioned bundle of cables 17 that is in the area of the winding unit 4 is always aligned or arranged concentrically to the winding rotor 6.

In Fig. 6 ist die Wickelvorrichtung 2 in einer weiteren Perspektivansicht gezeigt, und zwar nachdem das Umwickeln des Leitungsbündels 17 entlang der vorgegebenen Wickelstrecke abgeschlossen worden ist. Am Ende der Wickelstrecke wird die Schneideinheit 20 zwischen der Klebebandrolle 8 und dem Leitungsbündel 17 positioniert. Anschließend wird ein Schneidzylinder 27 der Schneideinheit 20 geschlossen beziehungsweise eingefahren. Das von der Klebebandrolle 8 abgewickelte Klebeband 19 wird dadurch durchtrennt und das freie Ende des Klebebands 19 wird dabei mittels der Schneideinheit 20 an dieser eingeklemmt.In 6 the winding device 2 is shown in a further perspective view after the winding of the wire bundle 17 along the predetermined winding path has been completed. At the end of the winding section, the cutting unit 20 is positioned between the roll of adhesive tape 8 and the bundle of lines 17 . A cutting cylinder 27 of the cutting unit 20 is then closed or retracted. The adhesive tape 19 unwound from the adhesive tape roll 8 is thereby severed and the free end of the adhesive tape 19 is thereby clamped by the cutting unit 20 on the latter.

Anschließend wird die Schneideinheit 20 so wegbewegt, dass das an der Schneideinheit 20 fixierte freie Ende des Klebebands 10 seitlich - also quer zur Längsrichtung x - hinter das Leitungsbündel 17 in die Fixierstellung bewegt wird. Gleichzeitig mit dieser Bewegung der Schneideinheit 20 kann auch durch entsprechende Ansteuerung der Zustelleinheit 13 die Wickeleinheit 4 quer zur Längsrichtung x zurückgefahren werden. Diese Positionierung des freien Endes des Klebebands 19 dient dann als Anlegeposition für die nächste Wickelstrecke. Nachdem die Wickeleinheit 4 durch entsprechende Bewegung der Zustelleinheit 13 von dem umwickelten Leitungsbündel 17 wegbewegt worden ist, und zwar so, dass sich das Leitungsbündel 17 außerhalb von der Wickeleinheit 4 befindet, kann die Wickeleinheit 4 durch entsprechende Ansteuerung der Vorschubeinheit 15 gemäß der vorliegenden Darstellung wieder nach rechts hinten bewegt werden. Davor oder danach werden der Fixiergreifer 9 und der Spanngreifer 11 geöffnet und der Roboter 1 bewegt die gesamte Wickelvorrichtung 2 vom Leitungsbündel 17 weg. Anschließend können noch weitere hier nicht dargestellte Abschnitte des Leitungsbündels 17 angefahren und vollautomatisiert in der bereits beschriebenen Weise mit dem Klebeband 19 umwickelt werden.The cutting unit 20 is then moved away in such a way that the free end of the adhesive tape 10 fixed to the cutting unit 20 is moved laterally—that is, transversely to the longitudinal direction x—behind the cable bundle 17 into the fixing position. Simultaneously with this movement of the cutting unit 20 , the winding unit 4 can also be retracted transversely to the longitudinal direction x by correspondingly actuating the infeed unit 13 . This positioning of the free end of the adhesive tape 19 then serves as a positioning position for the next winding section. After the winding unit 4 has been moved away from the wrapped bundle of lines 17 by a corresponding movement of the infeed unit 13, in such a way that the bundle of lines 17 is outside of the winding unit 4, the winding unit 4 can be moved again by correspondingly actuating the feed unit 15 according to the present illustration be moved backwards to the right. Before or after that, the fixing gripper 9 and the clamping gripper 11 are opened and the robot 1 moves the entire winding device 2 away from the bundle of lines 17 . Further sections of the line bundle 17 (not shown here) can then be approached and wrapped with the adhesive tape 19 in a fully automated manner in the manner already described.

BEZUGSZEICHENLISTEREFERENCE LIST

11
Roboterrobot
22
Wickelvorrichtungwinding device
33
Schnittstelleinterface
44
Wickeleinheitwinding unit
55
einseitig offener Außenringouter ring open on one side
66
einseitig offener Wickelrotorwinding rotor open on one side
77
Halterungbracket
88th
Klebebandrolletape roll
99
Fixiergreiferfixing gripper
1010
Spanneinheitclamping unit
1111
Greifer der SpanneinheitClamping unit gripper
1212
Linearantrieb zum Verstellen des SpanngreifersLinear drive for adjusting the clamping gripper
1313
Zustelleinheitdelivery unit
1414
Gestellframe
1515
Vorschubeinheitfeed unit
1616
Führungguide
1717
Leitungsbündelcable bundle
1818
Außenverzahnungexternal teeth
1919
Klebebandduct tape
2020
Schneideinheitcutting unit
2121
Drehgelenkswivel joint
2222
Zentrierarmcentering arm
2323
Vertiefungdeepening
2424
Gelenkviereckfour-bar linkage
2525
Zylindercylinder
2626
Zentriereinheitcentering unit
2727
Schneidzylindercutting cylinder
xx
Längsrichtunglongitudinal direction

Claims (10)

  1. Winding apparatus (2) for the fully automated wrapping of a bundle of wires (17) in an adhesive tape (19), comprising
    - a winding unit (4) having an outer ring (5), which is open on one side and on the inside of which an annular winding rotor (6), which is open on one side, is arranged such that it can be rotated relative to the outer ring (5) about an axis of rotation running in the longitudinal direction (x) of the winding apparatus (2), wherein a holder (7) for accommodating a roll (8) of adhesive tape is fastened in a rotatable manner on the winding rotor (6) ;
    - a bracing device for bracing the bundle of wires (17) in the longitudinal direction (x) of the winding apparatus (2);
    - a delivery unit (13), by means of which the winding unit (4) can be moved, in a direction transverse to the longitudinal direction (x) of the winding apparatus (2), between an operating position, in which the winding unit (4) encloses the braced bundle of wires (17), and a set-back position, in which the braced bundle of wires (17) is arranged outside the winding unit (4);
    - an advancement unit (15), by means of which the winding unit (4) can be moved in the longitudinal direction (x) of the winding apparatus (2);
    - a control device, by means of which the winding unit (4), the bracing device, the delivery unit (13) and the advancement unit (15) can be activated for the fully automated wrapping of the bundle of wires (17), wherein the bracing device has a fixing gripper (9) for fixing the bundle of wires (17) and also has a bracing unit (10) for prestressing the bundle of wires (17) prior to the prestressed bundle of wires being wrapped, and wherein the bracing unit (10) for prestressing the bundle of wires (17) has a bracing gripper (11), which can be moved in the longitudinal direction (x) of the winding apparatus (2),
    wherein the winding apparatus (2) has a centring device, by means of which the bundle of wires (17) can be arranged, at least locally, concentrically in relation to the winding rotor (6), wherein the centring device has a centring unit with two centring arms (22), which comprise respective depressions (23) for accommodating the bundle of wires (17), and, in a centring position of the centring unit, these depressions jointly enclose the bundle of wires (17) and thus arrange them concentrically in relation to the winding rotor (6),
    characterized in that
    the centring arms (22) are mounted on the outer ring (5) of the winding unit (4) by means of a four-bar linkage (24) and, in order for the centring arms (22) to be opened and closed, are connected to an extensible cylinder (25) .
  2. Winding apparatus (2) according to Claim 1, characterized in that
    the winding apparatus (2) has a cutting unit (20), by means of which the adhesive tape (19) can be severed and a free end of the roll (8) of adhesive tape can be fixed.
  3. Winding apparatus (2) according to Claim 2, characterized in that
    the cutting unit (20) can be moved between a retracted, basic position, an extended, fixing position and a cutting position, in which the cutting unit (20) is positioned between the roll (8) of adhesive tape and the bundle of wires (17).
  4. Winding apparatus (2) according to Claim 1, characterized in that
    the centring device has a further centring unit (26) for arranging the bundle of wires (17) concentrically in relation to the winding rotor (6), wherein the winding rotor (6) is arranged between the two centring units (26), as seen in the longitudinal direction (x).
  5. Winding apparatus (2) according to Claim 4, characterized
    by the arrangement, on the outer ring (5) of the winding unit (4), of a further extensible cylinder (25), by means of which the further centring unit (26) can be moved into a centring position, in which this further centring unit arranges the bundle of wires (17) concentrically in relation to the winding rotor (6).
  6. Winding apparatus (2) according to one of the preceding claims,
    characterized in that
    the winding apparatus (2) has an interface (3), by means of which the winding apparatus (2) can be fastened on a robot (1).
  7. Winding apparatus (2) according to one of the preceding claims,
    characterized in that
    the winding rotor (6) has an outer toothing formation (18), in which a toothed belt which can be driven by means of a drive unit engages.
  8. Winding apparatus (2) according to one of the preceding claims,
    characterized
    by the arrangement, on the winding rotor (6), of a plurality of circumferentially distributed bearing rollers, which, when the winding rotor (6) rotates, roll on at least one inner raceway of the outer ring.
  9. Winding apparatus (2) according to one of the preceding claims,
    characterized in that
    an axis of rotation of the holder (7) is positioned obliquely in relation to the axis of rotation of the winding rotor (6), and therefore, when the bundle of wires (17) is braced, the axis of rotation of the holder (7) is likewise positioned obliquely in relation to the bundle of wires (17).
  10. Method for the fully automated wrapping of a bundle of wires (17) in an adhesive tape (19) by means of a winding apparatus (2) according to one of the preceding claims, in the case of which method, by means of the winding unit (4), an advancement movement in the longitudinal direction of the winding apparatus (2) and a rotary movement of the winding rotor (6) are performed simultaneously and, as a result, the prestressed bundle of wires (17) is wrapped in the adhesive tape (19) with a predefined pitch.
EP18212831.4A 2017-12-21 2018-12-17 Winding device and method for fully automated winding of a cable bundle with an adhesive tape Active EP3503127B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017130895.4A DE102017130895B4 (en) 2017-12-21 2017-12-21 Winding device and method for fully automated wrapping of a bundle of wires with an adhesive tape

Publications (2)

Publication Number Publication Date
EP3503127A1 EP3503127A1 (en) 2019-06-26
EP3503127B1 true EP3503127B1 (en) 2022-04-06

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ID=64665750

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Application Number Title Priority Date Filing Date
EP18212831.4A Active EP3503127B1 (en) 2017-12-21 2018-12-17 Winding device and method for fully automated winding of a cable bundle with an adhesive tape

Country Status (3)

Country Link
EP (1) EP3503127B1 (en)
CN (1) CN109950003A (en)
DE (1) DE102017130895B4 (en)

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CN110444344B (en) * 2019-08-28 2024-05-31 诸暨中澳自动化设备有限公司 Thin full-automatic adhesive tape winding machine head, equipment and method thereof
DE102019213325A1 (en) * 2019-09-03 2021-03-04 Leoni Bordnetz-Systeme Gmbh Assembly head and method for the automated wrapping of a cable harness
CN110683095B (en) * 2019-09-29 2021-06-04 龙南市嘉兆环保科技发展有限公司 Packaging paperboard binding machine
CN111009358A (en) * 2019-12-31 2020-04-14 武汉巴士博技术有限公司 Numerical control wrapping equipment
WO2021174556A1 (en) * 2020-03-06 2021-09-10 诸暨中澳自动化设备有限公司 Wire harness tape bundling device, integrated apparatus, and method
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CN111696723B (en) * 2020-06-12 2021-10-19 上海信耀电子有限公司 Automatic adhesive tape winding equipment and adhesive tape winding method thereof
DE102022105198A1 (en) * 2022-03-04 2023-09-07 Komax Taping Gmbh & Co. Kg Method for operating a device for bandaging bundled goods and device for bandaging bundled goods
CN114803736A (en) * 2022-05-23 2022-07-29 安徽佳超新能源科技有限公司 Tape winding machine
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Also Published As

Publication number Publication date
CN109950003A (en) 2019-06-28
EP3503127A1 (en) 2019-06-26
DE102017130895A1 (en) 2019-06-27
DE102017130895B4 (en) 2023-06-29

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