WO2023227289A1 - Automatic wiring device - Google Patents

Abstract

The invention relates to an automatic wiring device for a mounting rail section (51), comprising a robotic arm (2), a mounting rail holder (5) with at least one mounting rail section (51) onto which at least one electrical component (52) can be placed, and a device for dispensing a wire section. The wiring device is characterized in that, within a range of activity of the robotic arm (2), there is a clamping device (8, 11) into which an end region of the wire section received by the robotic arm from the device for dispensing a wire can be clamped in order to fix said end region there and to orient said end region by movement of the robotic arm (2).

Description

Automatic wiring device

The invention relates to an automatic wiring device for at least one electrical component, which can be placed on a mounting rail section.

Electrical components, such as terminal blocks, switching or safety devices, power supplies, etc. are generally used in control cabinet construction. d. R. placed on mounting rail sections and then wired together. For the automated pre-processing of such mounting rail sections, automatic assembly machines are known which remove the required electrical components from magazines and place them on a mounting rail section according to an assembly plan in order to prepare it for installation in a control cabinet. Such placement machines are usually very complex, require a large number of settings and are correspondingly expensive.

In order to further support a control cabinet builder, it is desirable if the required conductors of a suitable length are already plugged into the electrical components. With conductors already inserted, the structure of a control cabinet is further simplified, since with the mounting rail section inserted, all the required conductors are available in the appropriate length and are only contacted with a free end with another electrical component on the same mounting rail section or another mounting rail section must.

It is an object of the present invention to describe an automatic wiring device which can flexibly carry out appropriate pre-wiring of mounting rail sections.

This task is solved by a wiring device with the features of the independent claim. Advantageous refinements and further developments are the subject of the dependent claims.

An automatic wiring device according to the invention for a mounting rail section has a robot arm, a mounting rail holder with at least one mounting rail section onto which at least one electrical component can be placed, and a device for dispensing a wire section. It is characterized by the fact that there is at least one clamping device in an effective area of the robot arm into which a End region of the wire section, which it has picked up from the device for dispensing a wire, can be clamped in order to fix it there and to align it by moving the robot arm.

By means of the clamping device, in conjunction with the mobility of the robot arm, a gripped wire section can be aligned so that it can subsequently be accurately inserted into insertion openings of the electrical components for their wiring. The wire sections can be provided, for example, by an automatic wire cutting machine. The alignment of the protruding wire section provides the conditions for further autonomous and flexible processing of the wire by the robot. Any existing processing stations can also be approached and used correctly with the aligned wire section. Such a processing station can advantageously be, for example, an automatic stripping machine, an automatic marking machine, an automatic crimping machine or a cable bundler.

In an advantageous embodiment of the wiring device, the clamping device has clamping jaws that can be pivoted open or moved apart in order to clamp the wire section. The clamping jaws can, for example, be provided with interlocking slats in order to securely grip wire sections. The slats can be V-shaped transversely to the direction of the wire in order to bring the wire into a defined position when the clamping jaws are closed.

In a further advantageous embodiment, the wiring device has a wire sensor with which a bend in the wire section can be detected. The wire section gripped by the robot arm can be measured with regard to its orientation and/or protruding length in order to be able to position it as correctly as possible. The wire sensor preferably has two optical measuring forks aligned transversely, in particular orthogonally, to one another. A protruding length and bend of the wire section can then be determined without contact by passing through the optical measuring forks in conjunction with a known movement sequence of the robot arm.

In a further advantageous embodiment, the wiring device is set up to straighten the wire section by the robot arm moving the wire section against the detected bend, while the end region of the wire section is fixed in the clamping device. clothing Additional bends in the protruding wire section can easily be compensated purely mathematically for further processing steps. With larger bends, there is a risk that when the wire is inserted into a terminal of the electrical component, for example, insertion forces do not act axially on the wire and it breaks out laterally. This can be effectively prevented by bending correction.

In a further advantageous embodiment, the at least one clamping device has a swivel arm on which the clamping jaws are arranged, the robot arm and the swivel arm being set up to carry out coordinated movements. This means that a wire section can not only be effectively straightened, but can also be placed transversely to its alignment, for example in a processing station. For example, there are automatic marking machines on the market in which a section of wire to be marked is inserted transversely to the longitudinal direction of the wire into a processing slot in which it is provided with the marking.

In a further advantageous embodiment, the wiring device has at least one component magazine for holding electrical components that can be grasped by the robot arm and placed on the at least one mounting rail section.

The component magazine preferably has at least one base with an inclined support onto which a box with the electrical components can be placed. As a rule, the electrical components that are suitable for mounting on mounting rails (e.g. terminal blocks) are delivered stacked one behind the other in boxes. The box can then simply be inserted into the component magazine after removing a lid or opening a cover to load the component magazine.

Of the components stacked in a component magazine, the lower one is then grabbed and pulled out transversely, in particular perpendicular to the stacking direction, forwards and diagonally upwards by the robot arm. The inclination of the support then causes the remaining components to slide without being unintentionally pulled out. The angular orientation relative to the horizontal is approximately 30-60°, in particular 40-50°. This angular range has proven to be particularly advantageous for safe removal. In a further advantageous embodiment, two angle rails are mounted on the support at a variable distance to accommodate the box. This allows boxes of different widths to be accommodated as flexibly as possible, which contain electrical components of different widths.

In a further advantageous embodiment, an extension base is mounted on the base of the at least one component magazine, which has a further support, which is also oriented obliquely, onto which a further box containing components can be placed. The further support can also be provided with angle rails at a variable distance to accommodate the box.

The expansion base creates an additional removal level and thus increases the capacity of the component magazine with the same elevation dimensions. This concept can be continued by placing a second expansion base on top of the first expansion base, etc.

It is noted that the component magazine described here in connection with the wiring device can also be used independently of this in other devices in which electrical components, in particular electrical components that can be placed on mounting rails, are kept available for removal. The use of the component magazine described is not limited to the wiring device according to the invention.

In a further advantageous embodiment, the wiring device has at least one magazine for holding various grippers that can be picked up by the robot arm and that are adapted to various of the electrical components. For example, at least one of the grippers has at least one plug-in dome, which engages positively and/or frictionally in an opening of the electrical component. This means that even narrow components can be easily gripped and further processed, and in particular can be lined up without gaps. The opening of the electrical component used for this purpose can be a conductor connection and/or an actuation opening and/or a channel for receiving cross-connectors and/or a receptacle for marker elements and/or a dedicated notch on the top of the electrical component. In a further advantageous embodiment, the wiring device has at least one gripper with two gripper halves, between which a cable channel is formed for gripping the wire section. Preferably, the two gripper halves can be moved towards or away from each other by the robot arm. This allows the wire section to be firmly gripped and released, or even loosely gripped, making it possible to move along the wire section. By moving along, the wire section can be processed at both ends by the robot arm.

Embodiments of a wiring device according to the invention are explained in more detail below using exemplary embodiments with the aid of figures. The figures show:

Figure 1 shows a spatial overall view of a first exemplary embodiment of a wiring device, designed as an assembly and wiring device;

Figure 2 is a top view of the device according to Figure 1;

Figure 3a is a spatial view of a section of a robot arm

Wiring device of Figures 1 and 2 with an inserted gripper;

Figure 3b shows the gripper from Figure 3a in a detailed view;

Figure 4a is a spatial view of a section of a robot arm

Wiring device of Figures 1 and 2 with a further example of a gripper inserted;

Figure 4b shows the gripper from Figure 4a in a detailed view;

Figure 5 is a spatial view of a wire sensor of the wiring device of Figures 1 and 2;

Figure 6 is a spatial view of a clamping device of the wiring device according to Figures 1 and 2; Figure 7 shows a spatial overall view of a second exemplary embodiment of a wiring device, designed as an assembly and wiring device;

Figure 8 is a top view of the device according to Figure 7;

Figure 9 is a spatial detailed view of a component magazine of the wiring device of Figures 7 and 8;

Figure 10 shows the component magazine of Figure 9 with inserted boxes with electrical components;

Figure 11 is a spatial view of an automatic marking machine of the wiring device according to Figures 7 and 8;

Figures 12a, b show a spatial view and a top view of a further clamping device of the wiring device according to Figures 7 and 8;

Figures 13a, b show a spatial view and a front view of a gripper of the wiring device according to Figures 7 and 8 in an open state;

Figures 14a, b show a spatial view and a front view of the gripper according to Figures 13a, b in a closed state; and

Figures 15a, b show a spatial view and a side view of a gripper half of the gripper according to Figures 13a, b and 14a, b.

The figures mentioned show two exemplary embodiments of an automatic wiring device, built on a work platform 1. In both exemplary embodiments shown, the wiring device is designed as an assembly and wiring device. It is therefore not only able to wire electrical components, but also assembles them independently on a provided mounting rail section. In all figures, the same reference numerals indicate the same elements. However, for reasons of clarity, not every element in each of the figures is provided with a reference number.

With reference to Figures 1 and 2, the structure and functionality of a first exemplary embodiment of the wiring device is explained using the spatial view of Figure 1 and the top view of Figure 2, respectively.

A robot arm 2 is arranged centrally on the work platform 1 and reaches and operates all of the components of the wiring device described below and arranged around it. For this purpose, the robot arm 2 has a plurality of arm elements 21, which are connected to one another in a movable and, in particular, actively rotatable manner via joints 22. At the free end of the robot arm 2 there is a gripper receptacle 23, into which different grippers 24 can be accommodated independently by the robot arm 2.

The robot arm 2 is designed as a so-called “co-robot”, i.e. as a robot that can work together with people by having a plurality of force sensors that are constantly evaluated and which detect unplanned forces acting on the robot arm 2. This minimizes the effects of collisions with people or objects and allows the robot arm 2 to work in a work environment together with people without having to be behind protective grilles or similar. must be positioned.

The sensors, in particular the majority of force sensors that the robot arm 2 has, are also used in connection with the activities carried out by it, as will be explained in more detail below.

In order to be able to carry out various activities related to the assembly and wiring of the electrical components, a gripper magazine 3 is arranged on the platform 1, which has at least one magazine fork 31, in the present example three magazine forks 31, having. Different grippers 24 can be stored in these magazine forks 31 or different grippers 24 can be picked up by the robot arm 2 from these magazine forks 31.

In Figure 3a, the front section of the robot arm 2 with the gripper holder 23 and an inserted gripper 24 is shown enlarged in more detail. In the illustration in FIG. 3a, the gripper 24 used has gripped a terminal block as an example of an electrical component 52 for further processing.

In Figure 3b, the gripper 24 used for this purpose is shown separately in an enlarged isometric view. Specifically, the gripper 24 shown is only a gripper half 241. The robot arm 2 usually has options for receiving and, if necessary, moving two such gripper halves 241 in order to be able to implement an active gripping movement.

The gripper 24 has a plug adapter 242 with which it is inserted into the corresponding gripper receptacle 23 of the robot arm 2. A groove 243 is formed in the lower region of the plug-in adapter 242, with which the gripper 24 can be inserted into the magazine fork 31 of the gripper magazine 3.

Furthermore, two plug-in mandrels 244 are formed on the gripper 24, which engage in openings of the electrical component 52 in a positive and/or frictional manner, so that it can be picked up and further processed. The openings mentioned on the electrical component 52 can be made into a housing of the component 52 specifically for this purpose. However, it is possible and advantageous to use openings on the electrical component 52 for this purpose anyway. Different grippers 24 are provided for different electrical components 52, which provide their plug-in mandrels 244 suitably dimensioned and positioned.

Figure 4a shows, in a manner comparable to Figure 3a, the free end of the robot arm 2 with a gripper 24 for a different function, specifically for gripping wires or wire sections. In Figure 4b, this gripper 24 is shown enlarged separately from the robot arm 2.

The gripper 24 for gripping wire sections comprises two gripper halves 241, each of which is designed with a plug-in adapter 242 and the aforementioned groove 243 for storage in the gripper magazine 3.

Each gripper half 241 has a gripping jaw 245, on the inside of which (ie the side facing the other of the gripper halves 241) comprises a number of slats 246. The slats 246 of the two gripper halves 241 are designed to interlock with each other, so they fit when the gripper is closed 24 into each other, which gives the gripper 24 increased stability in the closed state.

To grip a wire section, the slats 246 are provided with V-shaped incisions, which lie one behind the other and form a wire channel 247. A wire section is positioned in the wire channel 247, surrounded by the gripping jaws 245 and can protrude from the gripper 24 at both ends. The gripping jaws 245 are aligned at an angle to the plug adapter 242 so that a wire protruding through does not hit the robot arm 2. The V-shaped incisions in the slats 246, which form the wire channel 247, ensure that the wire is reliably gripped, even if it is not positioned exactly.

As can be seen in Figures 1 and 2, several component magazines 4 are arranged on the work platform 1, in which the electrical components 52 to be equipped are kept. The number of five component magazines 4 that are used in the exemplary embodiment shown is purely an example.

The component magazines 4 each have a base 41 which carries an inclined support 42. The support 42 is provided with a border on the sides and its lower end; an upper end is designed without a border. A stack of the components 52, usually enclosed in cardboard, is inserted into the supports 42.

The various electrical components 52, for example terminal blocks, safety elements, switching elements, etc., can each be removed from the robot arm 2 by a suitable gripper 24. In the context of this application, the term “electrical components” also includes those components that are equipped with electronic components, such as power supplies, and also those components that have a purely mechanical function, such as end plates for terminal blocks.

Since the components 52 are generally designed to be lined up on a mounting rail section, they are essentially flat and disc-shaped. Of the components 52 stacked in a component magazine 4, the lower one is grabbed and pulled out transversely, in particular perpendicular to the stacking direction, forwards and obliquely upwards by the robot arm 2. The inclination of the support 42 then leads to that the remaining components 52 slide without being unintentionally pulled out. The angular orientation relative to the horizontal is approximately 30-60°, in particular 40-50°. This angular range has proven to be particularly advantageous for safe removal.

As can be seen further in Figures 1 and 2, a mounting rail receptacle 5 is arranged on the work platform 1, on which at least one mounting rail section 51 that is to be equipped is positioned. Purely as an example, three short mounting rail sections 51 are provided next to each other. These are - also purely by way of example - already provided with various electrical components 52.

The mounting rail receptacle 5 is constructed in the shape of a desk, with the mounting rail sections 51 being arranged on an inclined surface of the mounting rail receptacle 5 that faces away from the robot arm 2. This leads to an advantageous working angle at which the wiring is carried out by the robot arm 2. Furthermore, the inclination causes already inserted wire sections to bend down to one side in a controlled manner due to gravity, thereby preventing further wiring openings on the electrical components 52 from being covered.

A wire cutting machine 6 is also arranged on the work platform 1, to which a coil carrier 61 with a coil 62 is assigned. Wire is provided on the coil 62, which is inserted into the wire cutting machine 6 and is output cut to a predeterminable length by the wire cutting machine 6 in the direction of the robot arm 2. Such a wire cutting machine 6 is known from wiring technology and can be used in automated wiring systems as well as in manually wired systems.

In the present case, the wire cutting machine 6 is controlled by a higher-level control device, which also controls the robot arm 2, via a communication interface in order to output a cut piece of wire of the required length at a specific time. This happens when the robot arm with its gripper 24 is positioned in front of the wire cutting machine 6, so that the piece of wire is inserted from the wire cutting machine into the wire channel 247 and, after being cut by the wire cutting machine 6, can be gripped by the gripper 24 for further processing. In a further development it can be provided that the robot arm 2 during removal of the wire performs a movement to support the cutting to length. The suitable time for the movement can be communicated to the robot arm 2 via the communication interface. Alternatively, a movement and/or vibration transmitted from the wire cutting machine 6 to the wire section can be detected and evaluated by force sensors of the robot arm 2 in order to determine a suitable time for the supporting movement of the robot arm 2.

The electrical components 52 are usually wired with slack wire, which is why the exact alignment of a projection with which the cut piece of wire protrudes forward from the gripper 24 is undetermined.

In order to be able to subsequently process the cut piece of wire with the robot arm 2, a wire sensor 7 is arranged on the work platform 1, which is shown separately in more detail in Figure 5.

The wire sensor 7 has two optical measuring forks 72, 73 mounted on a base 71. The optical measuring forks 72 and 73 are aligned orthogonally to one another. Each measuring fork 72, 73 has two fork arms, with an optical emitter, in particular a light-emitting diode, being arranged in one fork arm and an optical receiver, for example a photodiode, in the opposite fork arm. In this way, two detection lines 74, 75 are formed, with an interruption in the light beam being detected along the detection lines 74, 75.

After picking up a cut piece of wire, the robot arm 2 moves it to the wire sensor and moves the protrusion of the cut piece of wire one after the other through the optical measuring forks 72 and 73. During the movement, the time at which the light beam is interrupted along the detection lines 74, 75 is recorded and displayed the known position of the robot arm 2 at the moment of interruption determines a bend in the projection of the cut piece of wire.

If the detected bend of the cut piece of wire exceeds a predetermined tolerance range in one and/or the other spatial direction, the robot arm 2 moves with the cut piece of wire to a clamping device 8, which is also mounted on the work platform 1 and which is shown in detail in FIG is reproduced separately. The clamping device 8 has two clamping jaws 82 pivotally mounted on a base 81. The robot arm 2 positions a front part of the cut wire section between the swung-open clamping jaws 82, taking into account the previously determined bend in order to position the piece of wire appropriately. The two clamping jaws 82 then pivot and clamp the piece of wire in its free end region. To support this process, the clamping jaws 82 are V-shaped and have interlocking slats for stability reasons.

After clamping the front end of the piece of wire, the robot arm 2 moves and/or pivots the gripper 24 in such a way that the previously determined bend is counteracted. An “over-bend” of a certain percentage against the measured bend can be provided, through which the previously measured bend is compensated for as optimally as possible, so that after opening the clamping jaws 82, the cut wire is as straight as possible and in an extension of the wire channel 247 of the gripper 24 survives. It can be provided that the protruding piece of wire is then guided through the wire sensor 7 again in order to detect its current bend and, if necessary, compensate for it again using the clamping device 8.

In a next step for automated wiring, the end of the cut wire protruding from the gripper 24 of the robot arm 2 is inserted into an automatic stripping machine 9. This removes an insulating sheath from the wire over a specified length. At the same time it can be provided that a wire end sleeve is also put on and crimped.

The stripping machine 9 is a self-sufficient device that can be used in automated wiring devices, but also for manual wiring. In a preferred embodiment of the wiring device, no external communication between the robot arm 2 or the control device that controls it and the stripping machine 9 is required. Instead, the inevitable movements of an inserted wire end transmitted to the wire by the stripping machine 9 are detected and evaluated by force sensors of the robot arm 2. This type of haptic feedback from the stripping machine 9 to the robot arm 2 is used for process control.

This has the advantage that with minor adjustments, possibly via a learning process, the wiring device can be equipped with different insulation lierautomaten 9 can work together, even if they do not have a communication interface for external process control.

If necessary, it can be provided that after the stripping process the end of the wire section is passed through the wire sensor 7 again in order to detect any bending of the protruding wire section that may have arisen as a result of the stripping process and, if necessary, to correct it using the clamping device 8.

Then finally the wire section is inserted into a corresponding contact opening of a contact terminal of one of the electrical components 52 on one of the mounting rail sections 51. The contacts of the electrical components 52 are preferably so-called “snap-in contacts”, which are triggered by the insertion of the wire and contact the wire in a clamping manner under spring force. The robot arm 2 can be programmed so that it only applies force to insert the wire section in defined spatial areas in order to ensure safe operation.

Similar to the stripping machine 9, contacting can be detected by the robot arm 2 through corresponding haptic feedback via the wire. As a final step, it can be provided that the robot arm 2 presses down the wire section in order to move it out of the area of the contact openings to be subsequently wired with wires and then opens its gripper 24 in order to carry out a further wiring process. The oblique arrangement of the mounting rail sections 51 means that the orientation of the wire section is maintained.

A second exemplary embodiment of a wiring device, again designed as an assembly and wiring device, is shown in FIGS. 7-15b.

Figures 7 and 8 initially show, in the manner of Figures 1 and 2, the overall structure and functionality of the wiring device using a spatial view or a top view.

The wiring device of the second embodiment is a modification with extensions of the wiring device of the first embodiment. The basic structure and the basic operation are comparable for both wiring devices. With regard to the basic structure and function, reference is therefore made explicitly to the comments on the first exemplary embodiment. Differences between the two exemplary embodiments are explained in more detail below.

In order to have a larger selection of components, in particular electrical components 52, when equipping the mounting rail sections 51 with comparable dimensions of the work platform 1 or with comparable reach lengths of the robot arm 2, multi-story component magazines 4 are used in the second exemplary embodiment of the wiring device.

As in the first exemplary embodiment, a plurality of component magazines 4 are arranged in a circular arc on the work platform 1. As in the first exemplary embodiment, each of the component magazines 4 includes a base 41 which provides a support 42 that slopes towards the robot arm 2.

Figure 9 shows one of the component magazines 4 separately in an enlarged and more detailed view. In Figure 10, the component magazine 4 is equipped with boxes 53 in which the electrical components 52 are arranged. The basic principle explained in connection with the first exemplary embodiment is implemented, namely that the electrical components 52 are provided in an inclined stack by the component magazines 4. If the frontmost component 52 is removed from the lower end facing the robot arm 2, the following electrical components 52 slide due to gravity.

As a rule, the electrical components 52 are already delivered in the box 53. The box 53 can easily be inserted into the component magazine 4 after removing a lid or opening a cover. In order to be able to accommodate boxes 53 of different widths as flexibly as possible and thereby be able to provide electrical components 52 of different widths, unlike the first exemplary embodiment, there are not fixed edges on the support 42, but two angle rails 421 are arranged on the support 42, which are in Their distance from each other can be varied so that they can be adapted to boxes 53 of different widths. At the lower end of the angle rail 421 there is a stop for the box 53 is formed. In order to be able to adjust the distance variably, transverse elongated holes 422 are formed in the support 42, in which the angle rails 421 can be fixed in a displaceable manner, for example using screws or clamping elements.

Furthermore, a bracket 423 is optionally provided, which reaches over the electrical components 52 at a distance of approximately the stacking height of one of the components 52 from the lower end of the box 53. The bracket 423 prevents caught components 52 from being unintentionally lifted when the frontmost electrical component 52 is removed. The bracket 423 can be adjusted in height, i.e. H. its distance from the support 42 and its distance from the lower stop can be adjusted in order to adapt its position to the size and in particular the stacking height of the electrical components 52.

In the component magazines 4 of the second exemplary embodiment, an extension base 43 is placed on the base 41 and fixed, for example, with screws. The extension base 43 provides a further support 44 parallel to the support 42 and spaced from it to accommodate another cardboard box 53. Here too, angle rails 441 are used, which define the receptacle for the box 53. The angle rails 441 can be adjusted in their distance and position using elongated holes 442. A bracket 403 is also provided.

The extension base 43 creates a further removal level and thus increases the capacity of the component magazine 4. This concept can be continued by placing a second extension base 43 on the first extension base 43. The number of extension bases 43 used for a component magazine 4 is ultimately only limited by the reach of the robot arm 2 and the stability of the bases 41 or extension bases 43.

Further differences between the first and second exemplary embodiments of the wiring machine can be found in the cutting machine 6, which provides wire sections for wiring the electrical components 52. In the version used here, the cutting machine 6 is able to output two different types of wire, for example with different diameters. Accordingly, a coil carrier 61 is used, which offers the possibility of using two wire coils to store the types of wire used. Furthermore, the automatic wiring machine of the second exemplary embodiment is supplemented by an automatic marking machine 10 for marking the processed wire sections. This will be explained in more detail below with reference to Figures 11 and 12a, b, together with a further clamping device 11, which is used to handle the wire sections in connection with the automatic marking machine 10.

Figure 11 shows a spatial view of the automatic marking machine 10 and the further clamping device 11 during its use by the robot arm 2.

The marking machine 10 has a horizontal processing slot 101, into which a wire section 63, onto which a marking 102 is to be applied, is inserted lengthwise. After inserting the wire section 63, the marking machine 10 wraps an adhesive label, which it may have previously printed individually, as a marking 102 around the wire section 63. Figure 11 shows the inserted wire section 63 after the marking 102 has been applied.

In order to be able to position the wire section 63 in the processing slot 101 in the manner shown, the robot arm 2 is supported by the further clamping device 11.

After receiving the wire section 63 from the cutting machine 6 and then aligning the wire section 63 using the wire sensor 7 and the clamping device 8 (as described in connection with FIG. 5), the wire section 63 protrudes from the wire section by a length in the range of a few centimeters Gripper 24 of the robot arm 2.

With this protruding end of the wire section 63, the robot arm 2 first moves to the further clamping device 11. As a special feature compared to the clamping device 8, this has a swivel arm 112 which is pivotably mounted on a base 111. The position of the swivel arm 112 can be adjusted in a defined manner by a drive arranged in the base 111. At the end of the pivot arm 112, a gripper 113 is arranged, which has two clamping jaws 114, which can be opened and closed like the clamping jaws 82 of the clamping device 8 and which can clamp an inserted wire section 63. In Figures 12a, b, the further clamping device 11 is shown in more detail in a side view and a top view. Similar to what was explained in connection with the gripper 24 of FIG. 4b, the clamping jaws 114 have interlocking clamping lamellas 115, which are also V-shaped so that they can center and clamp the end of an inserted wire section 63.

After inserting and clamping the wire section 63 into or through the gripper 113, the robot arm 2 opens its gripper 24 just enough so that the gripped wire section 63 remains fixed in the transverse direction, i.e. does not slip out of the gripper 24, but in the longitudinal direction of the wire section 63 can be pulled by the gripper 24. An embodiment of the gripper 24 that is particularly suitable for this and that is used in this second exemplary embodiment of the wiring device is explained in more detail below in connection with Figures 13a to 15b.

With the “loose” grip described, the robot arm 2 then moves the gripper 24 away from the gripper 113, with the wire section 63 being held as tightly as possible between the gripper 113 and the gripper 24. The robot arm 2 removes the gripper 24 to such an extent that the length of the tensioned wire section 63 between the gripper 113 and the gripper 24 is sufficient to be able to insert the wire section 63 into the processing slot 101.

For this purpose, the robot arm 2 and the further clamping device 11 carry out coordinated movements in such a way that the tensioned wire section 63 is inserted into the processing slot 101 and assumes the position shown in Figure 11. After this has taken place, a corresponding command can be issued to the marking machine 10 by a control device of the robot arm 2 so that the marking 102 is applied to the wire section 63. Alternatively, it can be provided that the marking machine 10 itself detects the inserted wire section 63 and applies the marking 102.

It is noted that in the exemplary embodiment shown, the further clamping device 11 is present in addition to the clamping device 8. Alternatively, it can be provided that the additional clamping device 11 is not only used to insert the wire section into the marking machine 10, but also also together with the wire sensor 7 for aligning the wire section 63.

In Figures 13a-15b, the gripper 24 used in the second exemplary embodiment of the wiring device for the robot arm 2 is shown in more detail and separately from the robot arm 2. Figures 13a, b show the gripper 24 with both gripper halves 241 in the open position in a spatial representation and a view from the front, i.e. looking along a wire channel 247 in which a gripped wire or wire section runs lengthwise. Figures 14a, b show the gripper 24 in the closed state, i.e. with the gripper halves 241 closed. Figures 15a, b finally show only one of the gripper halves 241 in a spatial representation and in a side view.

The two gripper halves 241 have the same structure in this example, so they are not only mirror-symmetrical to one another, but also the same with regard to their front and rear sections (based on an inserted wire section).

Like the grippers 24 shown in FIGS. 3a to 4b, the gripper halves 241 each have a plug-in adapter 242 for insertion into the gripper receptacle 23 of the robot arm 2. Lateral grooves 243 are also formed on the plug-in adapter 242, which support storage of the gripper 24 in the gripper magazine 3.

A gripper jaw 245 is formed transversely to the insertion direction of the plug adapter 242, through which the wire channel 247 runs in the longitudinal direction. This is, as can be clearly seen in particular in Figures 15a, b, semi-cylindrical in a central section in each of the gripper halves 241. Towards the end, the wire channel 247 widens and opens into a semi-conical cross section, through which an insertion funnel 248 is formed.

The gripper 24 is designed in particular to grip wires with an outer diameter that is slightly larger than the diameter of the wire channel 247 formed. When the gripper halves 241 are closed around a wire section, this is centered along the wire channel 247. Depending on the pressure or force When the gripper halves 241 are closed, the wire section is either firmly gripped, released or held so that it is transverse does not slip out of the gripper 24, in the longitudinal direction, i.e. in the direction of the wire channel 247, but can be pulled through the gripper 24.

This makes it possible for the gripper 24 to move along the wire when the end of the wire section is clamped. As already described, this option is used in connection with inserting the wire section 63 into the processing slot 101 of the marking machine 10.

This option can also be used by the automatic wiring machine of the second exemplary embodiment to wire a wire section at both ends. For this purpose, the wire section is first received by the cutting machine 6 as described in connection with the first exemplary embodiment, so that a free end of the wire section protrudes beyond the end of the gripper 24 by a certain distance, for example a few centimeters. This protruding end can be measured in its orientation and also the length of the protrusion using the wire sensor 7 and, if necessary, aligned using the clamping device 8. In order to measure the length of the protrusion, the robot arm 2 moves the wire section in or out of the wire sensor 7 in a zigzag movement, so that a first or last interruption in the optical measuring path can be detected, from which the length of the protrusion can be calculated .

The length measurement of the wire section can also be carried out in order to check measured length data of the wire section provided by the automatic cutting machine 6 against planning data and to compare actual travel paths of the robot arm 2 with predetermined ones based on a difference.

After stripping by the stripping machine 9, the already stripped first end can be fixed in the clamping device 8, for example.

The robot arm 2 then opens its gripper 24 just enough that the wire section still remains in the gripper 24, but the gripper 24 can be moved along the wire. The robot arm 2 then moves the gripper 24 almost to the free, second end of the wire section, for example again a few centimeters in front of the second end. This is done on the basis of the length of the processed wire section known to the control system of the robot arm 2. The gripper 24 is then closed further so that the wire section is gripped and the first end of the wire section is released from the clamping device 8. The robot arm 2 has thus grasped the wire section so that the second end can now be processed. To do this, the robot arm 2 moves this still unprocessed second end of the wire section through the wire sensor 7 in order to determine its orientation and the length of the protrusion. This means that the position of the wire section in the gripper 24, which was initially only calculated, can actually be measured and, if necessary, corrected using the clamping device 8.

If a marking 102 is applied to the wire section using the marking machine 10, the marking process can already be used to encompass the wire section. The previously described separate gripping using the clamping device 8 can then be omitted.

In addition to the described processing options for the wire section, further devices or machines can also be mounted on the work platform 1 in a further development of the wiring device. By way of example, in the second exemplary embodiment, a cable bundler 12 is shown as a further processing station, which makes it possible to combine several wires into a cable harness. The cable bundler 12 has a feed-through opening 121 into which the wires are inserted. They are then bundled into a cable harness by the cable bundler 12 using two self-adhesive strips joined together.

As a further processing station, a crimping machine can be provided, for example, which applies a wire end sleeve to stripped ends of a wire section, or an machine which attaches a plug connector to a wire end. For this purpose, additional devices can be used that provide the wire end sleeves, connectors or other contact elements used. Cable feed units that provide pre-assembled cables can also be used. Reference symbol list

1 work platform

2 robot arm

21 arm element

22 joint

23 gripper holder

24 grippers

241 gripper half

242 plug adapter

243 groove

244 plug mandrel

245 gripper jaw

246 lamella 247 wire channel 248 insertion funnel

3 gripper magazine

31 magazine fork

4 component magazine

41 bases

42 support 421 angle rail 422 slot 423 bracket

43 expansion bases

44 additional support 441 angle rail 442 slot 443 bracket

5 support rail holder

51 mounting rail section

52 electrical component

53 box

6 cutting machines

61 coil carriers 62 wire spool

63 wire section

7 wire sensor

71 base

72, 73 optical measuring fork

74, 75 detection line

8 clamping device

81 base

82 clamping jaw

9 stripping machine

10 marking machines

101 processing slot

102 mark

11 additional clamping devices

111 base

112 swivel arm

113 grabs

114 jaw

115 clamping lamella

12 cable bundlers

121 through opening

Claims

Expectations 1 . Automatic wiring device for a support rail section (51), comprising - a robot arm (2); - a mounting rail holder (5) with at least one mounting rail section (51) onto which at least one electrical component (52) can be placed, and - a device for dispensing a wire section (63), characterized in that - There is at least one clamping device (8, 11) in an effective area of the robot arm (2), into which an end region of the wire section (63), which it has picked up from the device for dispensing a wire, can be clamped in order to fix it there and align it by moving the robot arm (2). 2. Wiring device according to claim 1, in which the clamping device (8, 11) has pivotable or extendable clamping jaws (82, 114) in order to clamp the wire section (63). 3. Wiring device according to claim 1 or 2, comprising a wire sensor (7) with which a bend of the wire section (63) can be detected. 4. Wiring device according to claim 3, wherein the wire sensor (7) has two optical measuring forks (72, 73) aligned transversely, preferably orthogonally to one another. 5. Wiring device according to claim 4, which is set up to determine a bend of the wire section (63) based on a passage of the optical measuring forks (72, 73) in conjunction with a known movement sequence of the robot arm (2). 6. Wiring device according to one of claims 3 to 5, which is designed to straighten the wire section (63) in which the robot arm (2) moves the wire section (63) against the detected bend while the wire section (63) with its End region is fixed in the clamping device (8, 114). 7. Wiring device according to one of claims 1 to 6, in which the device for dispensing a wire section (63) is a wire cutting machine (6). 8. Wiring device according to one of claims 1 to 7, comprising an automatic stripping machine (9) for wire sections (63) supplied by the robot arm (2). 9. Wiring device according to one of claims 1 to 8, comprising an automatic marking machine (10) in order to provide a wire section (63) supplied by the robot arm (2) with a marking (102). 10. Wiring device according to one of claims 1 to 9, wherein the at least one clamping device (12) has a swivel arm (112) on which the clamping jaws (114) are arranged, the robot arm (2) and the swivel arm (112) being set up for this purpose are to carry out coordinated movements. 11. Wiring device according to one of claims 1 to 10, comprising at least one component magazine (4) for holding electrical components (52) which can be grasped by the robot arm (2) and placed on the at least one mounting rail section. 12. Wiring device according to claim 11, in which the component magazine (4) has at least one base (41) with an inclined support (42) onto which a cardboard box (53) with stored components (52) can be placed. 13. Wiring device according to claim 12, in which two angle rails (421) are mounted on the support (42) at a variable distance to accommodate the box (53). 14. Wiring device according to claim 12 or 13, in which an extension base (43) is mounted on the base (41) of the at least one component magazine (4), which has a further support (44), which is also oriented obliquely, onto which another cardboard box ( 53) can be placed with components (52) provided. 15. Wiring device according to one of claims 1 to 14, comprising at least one magazine (3) for holding various grippers (24). can be picked up by the robot arm (2) and which are adapted to various of the electrical components (52). 16. Wiring device according to claim 15, wherein at least one of the grippers (24) has at least one plug-in dome (245) which engages positively and/or frictionally in an opening in the electrical component (52). 17. Wiring device according to claim 16, wherein the opening of the electrical component (52) is a conductor connection and / or an actuation opening and / or a channel for receiving cross connectors and / or a receptacle for marker elements and / or a dedicated notch on the top of the the electrical component (52). 18. Wiring device according to one of claims 15 to 17, wherein at least one of the grippers (24) has two gripper halves (241), between which a cable channel (247) is formed for gripping the wire section (63). 19. Wiring device according to claim 18, in which the two gripper halves (241) can be moved towards or away from each other by the robot arm (2).