阅读说明：本技术 用于对布置在装配平台上的电气开关设备的电气部件进行机器人辅助布线的方法 (Method for robot-assisted wiring of electrical components of an electrical switching device arranged on a mounting platform ) 是由 安德烈亚斯·迈克尔·巴克勒 于 2019-11-27 设计创作，主要内容包括：本发明涉及一种用于对布置在装配平台上的电气开关设备的电气部件进行机器人辅助布线的方法,所述方法具有如下步骤：-提供(100)开关设备(2)的规划,所述规划至少具有关于在所述装配平台(1)上的所述开关设备的多个电气部件(3)的位置信息和关于在每两个所述电气部件(3)之间的多条电气布线(4)的布线信息；-从多条布线(4)中的至少一条布线的布线信息提取(700)线缆路径,包括线缆源头坐标、线缆终点坐标和在所述线缆源头坐标与所述线缆终点坐标之间的敷设路径；-沿所述线缆路径生成(800)轨迹点和/或矢量点,并且参数化(900)所述轨迹点和/或矢量点,以便产生机器人控制器；并且-利用所述机器人控制器来控制(1100)机器人。(The invention relates to a method for robot-assisted wiring of electrical components of an electrical switching device arranged on a mounting platform, comprising the following steps: -providing (100) a plan of a switchgear (2) having at least position information on a plurality of electrical components (3) of the switchgear on the assembly platform (1) and wiring information on a plurality of electrical wirings (4) between each two of the electrical components (3); -extracting (700) a cable path from routing information of at least one of the plurality of routes (4), comprising a cable origin coordinate, a cable destination coordinate and a routing path between the cable origin coordinate and the cable destination coordinate; -generating (800) trajectory points and/or vector points along the cable path and parameterizing (900) the trajectory points and/or vector points in order to produce a robot controller; and-controlling (1100) the robot with the robot controller.)

1. A method for robot-assisted wiring of electrical components of an electrical switching apparatus arranged on a mounting platform, the method having the steps of:

-providing (100) a plan of a switchgear (2) having at least position information and orientation information on a plurality of electrical components (3) of the switchgear on the assembly platform (1) and wiring information on a plurality of electrical wirings (4) between each two of the electrical components (3);

-extracting (700) a cable path from routing information of at least one of the plurality of routes (4), comprising a cable origin coordinate, a cable destination coordinate and a routing path between the cable origin coordinate and the cable destination coordinate;

-generating (800) trajectory points and/or vector points along the cable path and parameterizing (900) the trajectory points and/or vector points in order to produce a robot controller; and is

-controlling (1100) a robot with the robot controller.

2. The method according to claim 1, comprising applying (200) an inspection routine of the wiring information in order to determine a degree of automation of the wiring (4) and adjusting (300) the wiring information, if necessary, for maximizing the degree of automation.

3. Method according to claim 1 or 2, wherein in providing (100) a plan of the switchgear (2), component information from the plan is also provided, preferably at least one dimension and/or contour of the assembly platform (1), a type of at least one of the electrical components (3) or another component of the electrical switchgear (2), a connection manner of at least one of the electrical components (3), connection coordinates and/or connection vectors of at least one of the electrical components (3), and/or a geometry of at least one of the electrical components (3).

4. The method according to claim 1, comprising optically detecting (400) an actual arrangement of the electrical component (3) on the mounting platform (1) and adapting (500) the position information and orientation information to the actual arrangement.

5. The method according to claim 1, comprising optically detecting (400) an actual arrangement of the electrical component (3) on the mounting platform (1) and adapting (500) the cable path according to the detected deviation between the actual arrangement of the electrical component (3) and the position and orientation information.

6. The method according to claim 4 or 5, wherein the optical detection (400) of the actual arrangement of the electrical component (3) on the mounting platform (1) comprises optically detecting obstacles and/or simultaneously determining a deviation between the planned position and orientation information and the actual arrangement of the electrical component (3) on the mounting platform (1) and simultaneously adapting (500) the cable path.

7. The method according to any of the preceding claims, comprising generating (1000) additional trajectory and/or vector points outside the cable path considered when parameterizing (900) the trajectory and/or vector points for producing the robot controller.

8. The method according to claim 7, wherein the generation (1000) of the additional trajectory and/or vector points outside the cable path comprises translating trajectory and/or vector points located on the cable path such that the trajectory and/or vector points are located outside the cable path.

9. Method according to claim 7 or 8, wherein the cable path has a change of direction, for example 90 °, at some positions of the cable path, at which the additional track points and/or vector points outside the cable path are generated.

10. The method according to claim 9, wherein the generating (1000) of the additional trajectory and/or vector points outside the cable path comprises generating trajectory and/or vector points located on a trajectory curve having a certain minimum radius.

11. The method of claim 10, wherein the first wire has a first conductor cross-section that is larger than a second conductor cross-section of the second wire, the locus points and/or vector points of the first wire being generated along a track curve having a radius that is larger than a radius of a track curve: and generating track points and/or vector points of the second conducting wire along the track curve.

12. The method according to any of the preceding claims, comprising extracting (700) wire connection directions from the wiring information and generating (800) trace points and/or vector points along the wire connection directions, and parameterizing (900) the trace points and/or vector points in order to produce the robot controller.

13. The method according to any of the preceding claims, comprising extracting (700) a cable end process from the wiring information, wherein the method comprises parameterizing (900) a gripping motion adapted to the cable end process in order to control a robot.

14. Method according to any one of the preceding claims, wherein, in the case of a laying path of the electrical wiring (4) having a 90 ° directional change being extracted when extracting (700), additional track points and/or vector points are generated which are advanced by a distance with respect to the outer radius of the 90 ° directional change.

Technical Field

The invention relates to a method for robot-assisted wiring of electrical components of an electrical switching device arranged on a mounting platform.

Background

In the production of switching and control devices, the wiring of electrical components is one of the most time-consuming work processes, which up to now have been carried out mainly by hand. In this case, not only is the complexity of the work process high, but in particular the requirement of one hundred percent being defect-free places high demands on the personnel performing the wiring.

For the optimization of the wiring process, there are different technical aids in different aid levels. These ancillary facilities range from hand tools and/or semi-automated machines for cable assembly to fully automated equipment that fully assembles individual wires, that is, cuts, removes insulation, installs core end ferrules and crimps. The preassembled cable thus produced can then be output as individual wires which are arranged in a row, as wires which are connected to one another or are arranged in series, or as a wire bundle. A cable sequence wound onto a drum is known from DE102015103444a 1. BE1019651A describes a multifunctional processing head which is integrated into the end effector of a wiring device. DE4431254a1 and EP0917259B1 describe a method and a device, respectively, for wiring connections of components of an electrical apparatus. EP0259394B1 describes a tool for laying cables.

Disclosure of Invention

It is therefore an object of the present invention to further develop a method of the type mentioned in the introduction such that it is as highly automated as possible.

This object is achieved by a method having the features of claim 1. The dependent claims each relate to advantageous embodiments of the invention.

Accordingly, the method has the following steps:

-providing a plan of the switchgear having at least position information and orientation information on a plurality of electrical components of the switchgear on the assembly platform and wiring information on a plurality of electrical wirings between each two electrical components;

-extracting a cable path from the wiring information of at least one of the plurality of wirings, including a cable source coordinate, a cable destination coordinate, and a wiring path between the cable source coordinate and the cable destination coordinate;

-generating trajectory points and/or vector points along the cable path and parameterizing the trajectory points and/or vector points to produce the robot controller; and is

-controlling the robot with the robot controller.

The planning of the switchgear, that is to say in particular the positional information and the orientation information about a plurality of electrical components of the switchgear and the wiring information relating to the wiring of the components, can be provided, for example, directly from the 3D-ECAD system. Supplementary information relating to the electrical switching apparatus can also be acquired by the system, provided that such information can assist in wiring. Such information may include, for example, individual assembly of individual cables of wiring.

The method may include applying an inspection routine to the wiring information to determine a degree of automation of the wiring and adjusting the wiring information as necessary to maximize the degree of automation. The determination of the degree of automation of the wiring can comprise determining the automation suitability of the individual wiring steps in which every two electrical components of the electrical switching device are wired to one another.

The provision of the plan and the application of the checking routine for the wiring information and, if necessary, the adjustment of the wiring information in order to maximize the degree of automation can be carried out computer-aided and thus essentially independent of the position and therefore does not have to be carried out compulsorily on a wiring automat provided for example for wiring. The adjusted wiring information can be introduced into the wiring device, for example, by manual recall on a wiring robot or by automatic recognition by reading a product identification code, for example an RFID chip.

Furthermore, the provision of the plan for the switchgear may provide component information from the plan, preferably at least one dimension or contour of the assembly platform, a type of the at least one electrical component or another component of the electrical switchgear, a connection manner of the at least one electrical component, connection coordinates and/or connection vectors of the at least one electrical component, or a geometry of the at least one electrical component or another component of the electrical switchgear.

The application of the checking routine of the wiring information in order to determine the degree of automation of the wiring may, for example, comprise checking at least one connection mode (conductor terminals, etc.) of at least one electrical component and/or connection coordinates of one of the electrical components for automatable contacting. The connection angle of the conductor terminals of the electrical component can be outside or within an angle range that can be operated by the wiring robot, for example.

Furthermore, the method may comprise optically detecting the actual arrangement of the electrical component on the mounting platform and adapting the position information and the orientation information to the actual arrangement. The optical detection of the actual arrangement of the electrical component on the mounting platform may comprise scanning the mounting plane of the mounting platform on which the electrical component is arranged. The scanning may be performed by means of a robot, preferably a robot controlled by a robot controller, for example an articulated arm robot having a multifunctional end effector with an optical detection mechanism, such as a camera or scanner. The articulated arm robot can scan the mounting platform plane line by line with the camera. By means of the optically detected actual arrangement of the electrical components, actual data about the local arrangement of the electrical components on the assembly platform plane can be detected and compared with planned given data, position information and orientation information contained in the planning of the switchgear. It can be provided that the adaptation of the position information and the orientation information to the actual arrangement of the components is carried out when a tolerance value of the local arrangement of one or more components is exceeded.

The optical detection of the actual arrangement of the electrical component may comprise optically detecting a unique identification of the electrical component, for example a QR code. However, the identification of the electrical components can also be carried out by means of the usual methods of image recognition, in which the individual components of the electrical switching device are inferred from the geometry of the components to be detected and the relative arrangement of the different components to one another in the assembly plane.

The method may include optically detecting an actual placement of the electrical component on the mounting platform and adjusting the adapted cable path according to the detected deviation between the actual placement of the electrical component and the position and orientation information.

Furthermore, the method may comprise generating additional trajectory points and/or vector points outside the cable path to be considered when parameterizing the trajectory points and/or vector points for generating the robot controller. This is advantageous in particular when the planning of the switchgear has an ideal cable path, for example feeding the cable perpendicular to the electrical components, and/or between the contacting components a cable path consisting only of straight running sections of the cable (which run at right angles to one another). In order to automate such a wiring, it may be advantageous to soften the right angle by adding cables to the change of direction of the round conductors or to realize the contact means even in the case of actual contact angles deviating from the planned ideal angle.

The generation of additional track points and/or vector points outside the cable path can comprise the transfer of the track points and/or vector points located on the cable path in such a way that these are arranged outside the cable path. In the case of a laying path of the electrical wiring having a 90 ° directional change being extracted when extracting, additional track points and/or vector points can be generated which are advanced by a distance with respect to the outer radius of the 90 ° directional change. Thus, additional track points and/or vector points outside the cable path can be generated, in particular at some positions of the cable path at which the cable path has a change of direction, for example a change of direction of 90 °.

The generation of additional trajectory points and/or vector points outside the cable path may comprise generating trajectory points and/or vector points located on a curve of the track having a certain minimum radius.

The first conductor has a first conductor cross section which is larger than a second conductor cross section of the second conductor, and the track points and/or vector points of the first conductor can be generated along a track curve having a larger radius than the radius of the track curve: and generating track points and/or vector points of the second conducting wire along the track curve.

The generation of the trajectory points and/or vector points and the parameterization of the trajectory points and/or vector points for producing the robot controller may comprise the application of pre-fabricated programming modules. The 90 ° change in direction of the cabling path to be implemented may include, for example, a standardized number of trajectory points and/or vector points around the planned cabling path, so that an automatable and parametrizable cabling path is obtained.

The optical detection of the actual arrangement of the electrical component on the mounting platform may comprise an optical detection of obstacles and/or a simultaneous determination of a deviation between the planned position information and the orientation information and the actual arrangement of the electrical component on the mounting platform and a simultaneous adjustment of the adaptation cable path.

Furthermore, the method may comprise extracting wire connection directions from the wiring information and generating track points and/or vector points along the wire connection directions and parameterizing the track points and/or vector points in order to produce the robot controller.

Furthermore, the method may comprise extracting a cable end treatment from the wiring information, wherein the method comprises parameterizing the gripping movement adapted to the cable end treatment for controlling the robot.

Drawings

Further details of the invention will be explained with reference to the following figures. Wherein:

FIG. 1 shows a schematic flow diagram of an exemplary method for robot-assisted wiring of electrical components of an electrical switching apparatus arranged on an assembly platform;

fig. 2 schematically illustrates the generation of additional track points and/or vector points outside the cable path in the region of a 90 ° directional change of the cable path;

fig. 3 schematically shows the generation of additional track points and/or vector points outside the cable path of the entire cable run between two electrical components that are in contact with one another;

fig. 4 shows a first embodiment of an exemplary apparatus for performing the method according to the present invention;

fig. 5 shows a second embodiment of an exemplary apparatus for performing the method according to the present invention;

FIG. 6 shows a third embodiment of an exemplary apparatus for performing the method according to the present invention;

FIG. 7 illustrates a fourth embodiment of an exemplary apparatus for performing the method according to the present invention;

fig. 8 shows a fifth embodiment of an exemplary apparatus for performing the method according to the present invention;

fig. 9 shows a sixth embodiment of an exemplary apparatus for performing the method according to the present invention;

fig. 10 shows a seventh embodiment of an exemplary apparatus for performing the method according to the present invention;

fig. 11 shows an eighth embodiment of an exemplary apparatus for performing the method according to the present invention; and is

Fig. 12 shows a ninth embodiment of an exemplary apparatus for carrying out the method according to the present invention.

Detailed Description

In the method shown in fig. 1, a planning of the switchgear is provided in step 100, which planning has at least position information and orientation information about a plurality of electrical components of the switchgear on the assembly platform and wiring information about a plurality of electrical wirings between each two of the electrical components.

In step 200, an inspection routine of the wiring information is applied in order to determine the degree of automation of the wiring. Depending on the result of the application of the checking routine, the wiring information can be adjusted in a subsequent step 300, if necessary, in order to maximize the degree of automation. This adjustment may be performed iteratively, with repetitions of the method steps 200 being inserted in between, respectively.

In this optional step 200, an examination routine of the wiring information can be applied in order to determine the maximum achievable degree of automation of the wiring taking into account the functional range of the available devices for carrying out the wiring method. The routing information can then be adjusted if necessary in order to maximize the degree of automation, for example, taking into account the available devices for carrying out the routing method.

In the adjustment of the routing information in step 300, routing steps that cannot be automated may be separated out for manual routing 310, such that these routing steps are not considered in the automated routing 310. In this regard, the method may be performed computer-assisted as described in EP3392987a 1.

Furthermore, the method may comprise optically detecting 400 an actual arrangement of the electrical component on a mounting platform provided for the wiring and adapting 500 the position information and the orientation information to the actual arrangement. Optical inspection 400 may include scanning the mounting plane of the mounting platform with a laser profilometry system and/or applying conventional image recognition methods. Alternatively, the optical detection may be performed with a fixed camera 14 or a camera 14 mounted on the robot 8.

In step 700, a cable path is extracted from routing information for at least one of the plurality of routes, including a cable source coordinate, a cable destination coordinate, and a routing path between the cable source coordinate and the cable destination coordinate.

In step 800, trajectory points and/or vector points are generated along the cable path and in step 900, the trajectory points and/or vector points are parameterized to produce a robot controller.

Step 1000 comprises generating additional track points and/or vector points and parameterizing the additional track points and/or vector points in order to produce the robot controller using pre-manufactured programming modules.

In step 1100, the robot is controlled using the robot controller, thereby enabling automated wiring of electrical components of the electrical switching apparatus. As long as the wiring cannot be automated, the wiring can be performed manually and computer-aided, as described in EP3392987a 1.

In step 1100, automated wiring of electrical components can be performed in a predetermined wiring sequence and with consideration of-adjusted if necessary-wiring information and adjusted position information and orientation information. The cabling may include removing at least partially pre-assembled or unassembled cables from the care-of interface with a robot. The cabling can alternatively or additionally comprise the sequential production of a plurality of individual preassembled cables in the cabling order, possibly in "time" with the cabling, so that at the care-of interface the cable to be routed next is always provided exactly for removal.

Automated cabling may comprise removing the at least partially pre-assembled or unassembled cable from a transfer interface for transferring the at least partially pre-assembled or unassembled cable by means of a robot, preferably an articulated arm robot.

Removing the at least partially preassembled cable may include removing a cable cut to a particular length from a transfer interface of a cable cutting robot.

After the cable has been removed from the care-of interface, the method can also comprise assembling at least one at least partially preassembled or unassembled end of the cable, for which purpose the cable end is transported to the cable end machining robot by means of the robot and removed from the cable end machining robot after the cable end treatment has been completed.

The removal can comprise gripping a first preassembled cable end of the preassembled cable and transporting the first preassembled cable end to a cable connection location and electrical contacting of the first electrical component.

The method can furthermore comprise the sequential transfer of a plurality of individually preassembled cables via a transfer interface onto at least one robot, which is preferably designed as an articulated arm robot.

Automated cabling may also include pre-assembling a plurality of cables in the cabling order and with consideration of cabling information. The cabling information may comprise, for example, for each cabling of the two electrical components, at least one cable path and at least one cable characteristic, preferably cable length, cable cross section, cable color, core end treatment and/or cable marking.

After the cable end has been fed to the electrical component and is in electrical contact with the electrical component, the method may comprise performing a pulling control, for which a robot acts on the contacted cable end, for example with a tension-sensitive gripper, and applies a predetermined pulling force to the cable end opposite to its contact direction. A compliant contact of the cable ends can be considered to be that the contact withstands a predetermined pull force and in particular that the cable ends do not come off. Furthermore, the contact can be electrically checked, for example by means of contact resistance measurements.

The removal of the pre-assembled or unassembled cable with the robot may include removing a first cable end of the cable with a first robot and removing a second cable end of the cable with a second robot. Thus, the cable is gripped by different robots at both ends thereof. In this embodiment, the two robots can be driven in a master-slave mode, in which the master robot delivers the cable end to be wired first to one of the electrical components before the other cable end, and the slave robot tracks the cable to be wired subsequently in a step performed simultaneously, until one of the two cable ends is contacted.

The tracking can comprise gripping the cable end to be subsequently routed while maintaining a minimum distance from the assembly plane of the assembly platform, and/or tensioning the cable end to be subsequently routed when the cable is slack, and/or gripping the cable end to be subsequently routed under mechanical pretensioning.

Fig. 2 shows the generation of additional track points and/or vector points outside of the cable path of the entire cable run between two electrical components in contact with one another, in the region of a 90 ° directional change of the cable path along the drawn dashed line, outside of the ideal cable path predetermined by the planning (indicated by dotted lines).

Furthermore, the method may comprise generating additional trajectory points and/or vector points outside the cable path, which are taken into account in the parameterized trajectory points and/or vector points in order to produce the robot controller. This is advantageous in particular when: the switching device is designed with an ideal cable path, for example, feeding the cable perpendicular to the electrical components, and/or the cable path between the contacting components consists only of straight run sections of the cable, which run sections merge into one another at right angles. In order to automate such a wiring, it may be advantageous to soften the right angle by adding cables to the change of direction of the round conductors or to realize the contact means even in the case of actual contact angles deviating from the planned ideal angle.

The generation of additional track points and/or vector points outside the cable path can comprise the transfer of the track points and/or vector points located on the cable path such that these are arranged outside the cable path. For example, additional track points and/or vector points can be generated which are displaced by a distance with respect to the outer radius of the 90 ° directional change when the cable course changes by 90 ° according to the plan.

Additional track points and/or vector points are generated outside the cable path, rather than outside the ideal cable path predetermined by the planning, for example at locations of the cable path having an abrupt change in direction, in which a change in direction of 90 ° occurs between two straight cable sections that are perpendicular to one another. The generation of additional track points and/or vector points outside the cable path comprises the generation of track points and/or vector points lying on a track curve with a certain minimum radius, for example a minimum radius of 5cm, thereby simplifying the automated routing.

The electronic components 3 each have a cable connection position 13 with a cable connection direction drawn by a dotted line. The generation of additional track points and/or vector points outside the cable path can thus comprise the generation of track points and/or vector points along the cable connection direction of the associated electronic component 3.

Fig. 4 to 12 show exemplary embodiments of a device for carrying out the method according to the invention for robot-assisted wiring of electrical components 3 of an electrical switching apparatus 2 to be built on a mounting platform 1. The assembly platform 1 is held in a horizontal orientation by an assembly platform handling carriage 12, so that the components 3 can be reached from above by the robot 8 for cable transport and cable connection.

The device for carrying out the exemplary description of the method according to the invention can be connected to an ECAD system, by means of which the planning of the switchgear is provided, if necessary, an inspection routine for the wiring information is applied, and the wiring information is then adjusted in order to maximize the degree of automation. The application of the checking routine of the wiring information and the adjustment of the wiring information to maximize the degree of automation can also be performed independently of the ECAD system on a separate computer system having an interface to not only the ECAD system but also to the means for wiring the electrical components. The computer system can then refer to the planning of the switchgear from the ECAD system, apply an inspection routine on the wiring information, and make adjustments to the wiring information if necessary. The computer system may also be configured to extract a conductor path from the routing information for at least one of the plurality of routes, including the cable origin coordinate and/or the cable origin vector, the cable destination coordinate and/or the cable destination vector, and a routing path between the cable origin coordinate and the cable destination coordinate. The computer system can likewise be designed to generate track points and/or vector points along the cable path and to parameterize the track points and/or vector points in order to produce the robot controller. The computer system may be an integral part of the apparatus for performing the wiring process.

The device for performing the wiring process may have a multifunctional end effector with an optical detection mechanism for optically detecting the actual arrangement of the electrical components on the mounting platform. After detecting the actual arrangement of the electrical components by means of the optical detection mechanism of the multifunctional end-effector, this information can be used to: the adaptation of the position information and the orientation information to the actual arrangement is carried out, if necessary, by means of a computer system. The computer system then transmits the correspondingly adjusted planning of the switching device or the machine control program generated therefrom to the device for wiring the electrical components, so that the device carries out the automated wiring of the electrical components in a predetermined wiring sequence, which wiring sequence has been modified by the computer system if necessary in an adjustment of the wiring information intended for a maximization of the degree of automation.

In the embodiment of the device shown in fig. 4, a plurality of cable cutting robots 9.1 are used to provide a specific type of cable, for example type a-D, respectively, and a specific length, respectively. The cable types may differ, for example, in cable cross-section, cable color, or other cable characteristics. All cable characteristics, including cable length, can be taken from the planning of the switchgear, for example in the form of a planning file provided by the ECAD system.

The single-arm articulated arm robot 8 is directly taken off from the interface 6 of the cable cutting robot 9 which provides the cable 5 of the desired type, in order to feed the cut cable 5 successively to the cable end processing robot 9.2 for processing the cable ends in a defined manner, with the two ends 7 being used for the respectively required subsequent processing. The subsequent treatment may in particular comprise de-insulation, mounting of the core end sleeve and crimping of the core end sleeve.

After the treatment of the core wire ends, the one-armed articulated-arm robot 8 can process the preassembled cable 5 thus obtained on the assembly platform 1 in accordance with the planning of the switchgear 2 in the manner described with reference to fig. 1, in particular wiring the components 3 of the switchgear 2 in accordance with the planning of the switchgear 2.

The embodiment shown in fig. 5 differs from the embodiment shown in fig. 4 in that a two-arm articulated arm robot 8 is used instead of the one-arm articulated arm robot 8. As long as in the present application reference is made to a first and a second robot, in particular to a first and a second articulated arm robot 8, this can equally be achieved by the two-arm articulated arm robot 8 shown in fig. 5. The two arms of the articulated arm robot 8 can work together in a cooperative manner as it is described with reference to fig. 1. In particular by having two robots 8 operating in a master-slave mode, in which the master robot 8 is provided for wiring of a first cable end 7 and the slave robot 8 is provided for tracking of the opposite cable end 7, for example so that the opposite cable end 7 is kept at a certain minimum distance from the mounting platform 1, in order to avoid the cable 5 from becoming entangled with the electrical components 3 arranged on the mounting platform 1, or in order to facilitate the placing of the cable 5 into the cable channel during the cable transport performed by the robots between two components 3 to be electrically contacted to each other.

The embodiment shown in fig. 6 differs from the embodiment shown in fig. 5 in that a further articulated arm robot 8 is provided in order to produce a preassembled cable in a timely manner and to transfer it to the two-armed articulated arm robot 8 by means of the cable assembly robots 9.1, 9.2 in the manner described above.

The embodiment shown in fig. 7 shows the use of a wire changer 10, by means of which different types of cables of the a-D type, which are obtained from different sources, for example from the cable drum shown, are fed on demand to a single cable cutting robot 9.1. The transport system 11 of the cable cutting robot 9.1 removes the wire ends, which are respectively provided on the wire changer 10 as required, from the wire changer 10. The wire changer 10 is movable relative to the transport system 11 between its different removal positions (indicated by vertical double arrows) so that the desired wire types a-D can be fed to the cable cutting robot 9.1 as required.

The embodiment according to fig. 8 shows a variant of the embodiment according to fig. 7, in which instead of one single-arm articulated arm robot 8, one two-arm articulated arm robot 8 or two single-arm articulated arm robots 8 are used. The guiding of the cable end can be performed under the conditions as already described with reference to fig. 5.

Fig. 9 shows a variant of the embodiment according to fig. 8, in which a separate single-arm articulated arm robot 8 is provided in order to remove the cut cable 5 from the cable cutting robot 9.1 and to carry out a core end treatment of the cut cable 5 by means of the core end treatment robot 9.2. The one-arm articulated arm robot hands over the cable 5 subjected to the core wire end processing to the other two one-arm articulated arm robots cooperating for wiring. The cooperative routing process has been described with reference to fig. 5.

Fig. 10 shows another embodiment of the apparatus according to the invention, wherein the one-armed articulated arm robot 8 gets a pre-assembled cable 5 provided by a cable assembly device 9. The cable assembly device 9 has a cable cutting robot 9.1, to which the cable 5 of the a-D type is selectively fed by a wire changer 10. The cut cable sections 5 are fed to a core end processing robot 9.2, which has an outfeed section, by means of which the preassembled cables 5 are individually, i.e. successively, outfeed in a predetermined laying sequence. The pre-assembled cable 5 is flexible and is provided in a U-shaped geometry at the interface 6 by a cable assembly device 9. The cable 5 is gripped at its end 7 so that the articulated arm robot 8 can remove the assembled cable 5 from the cable assembly device 9 through the cable end 7 in a defined arrangement of the cable ends 7.

The embodiment shown in fig. 11 differs from the embodiment shown in fig. 10 in that the cable assembly device 9 is provided separately from the means for performing the method. The cable assembly device 9 thus produces a care-of interface 6 configured as a storage section with a plurality of preassembled cables 5, which are arranged in the care-of interface 6 in a predetermined wiring sequence and in a defined orientation with respect to one another, so that the articulated arm robot 8 can remove individual wires 5 from the storage section in a defined manner, for which purpose the storage section is oriented in a predetermined arrangement and orientation with respect to the articulated arm robot 8. Furthermore, the articulated arm robot 8 may have an identification mechanism, such as an optical identification mechanism, in order to distinguish the individual wires 5 in the storage.

In contrast to the embodiment shown in fig. 11, the embodiment shown in fig. 12 has a cable assembly device 9 in which the cable 5 is held at its two opposite ends 7 in a transfer interface 6 designed as a storage section and is therefore arranged in a defined manner, thereby facilitating the removal of the cable 5 by means of the articulated arm robot 8.

The features of the invention disclosed in the above description, in the drawings and in the claims may be essential for the realization of the invention, both individually and in any combination.

List of reference numerals

1 Assembly platform

2 switching device

3 electric component

4 electric wiring

5 Cable

6 transfer interface

7 Cable end

8 robot

9 cable assembly automatic machine

9.1 automatic cable cutting machine

9.2 automatic machine for processing end of core wire

10 wire changer

11 transmission system

12 assembly platform operation car

13 cable connection location

14 vidicon

100 provide

200 application

300 adjustment

400 optical detection

500 adjustment adaptation

700 extraction

800 generating

900 parameterization

1000-generation robot controller

1100 control