Cable processing machine apparatus

Abstract

A cable processing machine apparatus includes a cable processing machine for processing a cable, in particular a crimping machine for connecting a cable to a crimp contact by a crimping connection, and a handling robot that includes a gripping arm for gripping a portion of the cable or of multiple cables and moving the cable(s) into the cable processing machine and/or out of the cable processing machine.

Claims

1. A cable processing machine apparatus comprising: a cable processing machine for processing cables; a handling robot having a gripping arm for gripping part of a cable and for moving the cable at least one of into the cable processing machine and out of the cable processing machine; and wherein the handling robot is adapted to grip cable processing cassettes, including crimping cassettes, to exchange one of the crimping cassettes used by the cable processing machine for another one of the crimping cassettes.

2. The A cable processing machine apparatus comprising: a cable processing machine for processing cables; a handling robot having a gripping arm for gripping part of a cable and for moving the cable at least one of into the cable processing machine and out of the cable processing machine; and wherein the cable processing machine apparatus includes a crimp cassette receptacle for holding a plurality of crimp cassettes for use in processing the cables.

3. A cable processing machine apparatus comprising: a cable processing machine for processing cables; a handling robot having a gripping arm for gripping and holding the cable processing cassettes; and wherein the handling robot is adapted to grip the cable processing cassettes, including crimping cassettes, to exchange one of the crimping cassettes used by the cable processing machine for another one of the crimping cassettes.

Description

DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a perspective view of an embodiment of the cable processing machine apparatus according to the invention in the form of a crimping system;

(2) FIG. 2 is a partial view of the crimping system of FIG. 1;

(3) FIG. 3 is a detailed view of a gripping unit of the crimping system of FIG. 1;

(4) FIG. 4a is a detailed view of the gripping unit of FIG. 3 in the open position of the gripping jaws;

(5) FIG. 4b is a detailed view of the gripping unit of FIG. 3 in the closed position of the gripping jaws;

(6) FIG. 5 is a detailed view of the cable tray and the removal trough of the crimping system of FIG. 1;

(7) FIG. 6 is a detailed view of the cable conveyor device and the alignment unit of the crimping system of FIG. 1;

(8) FIG. 7a is a first detailed view of the alignment unit of the crimping system of FIG. 1;

(9) FIG. 7b is a second detailed view of the alignment unit of the crimping system of FIG. 1;

(10) FIG. 7c is a third detailed view of the alignment unit of the crimping system of FIG. 1;

(11) FIG. 8 is a detailed view of the cable processing machine of FIG. 1;

(12) FIG. 9a is a first detailed view of the gripping unit of the crimping system of FIG. 1 when picking up a crimp cassette;

(13) FIG. 9b is a second detailed view of the gripping unit of the crimping system of FIG. 1 when picking up a crimp cassette;

(14) FIG. 10 is a further perspective view of the crimping system of FIG. 1 with a crimping cassette used;

(15) FIG. 11 is a detailed view of the cable gripper of the gripping unit of the crimping system of FIG. 1;

(16) FIG. 12 is a detailed view of the cable gripper of the gripping unit of the crimping system of FIG. 1 when checking the quality of the cable;

(17) FIG. 13a is a first detailed view of the cable gripper of the gripping unit of the crimping system of FIG. 1 when guiding the cable;

(18) FIG. 13b is a second detailed view of the cable gripper of the gripping unit of the crimping system of FIG. 1 when guiding the cable;

(19) FIG. 14 is a detailed view of the gripping unit of the crimping system of FIG. 1 while holding a cable;

(20) FIG. 15 is a detailed view of the cable tray and the removal trough of the crimping system of FIG. 1;

(21) FIG. 16 is a detailed view of the removal trough of the crimping system of FIG. 1;

(22) FIG. 17a is a first detailed view of the removal trough of the crimping system of FIG. 1 when removing cables; and

(23) FIG. 17b is a second detailed view of the removal trough of the crimping system of FIG. 1 when removing cables.

(24) The figures are merely schematic and are not true to scale. Like reference signs refer to like or equivalent features in the various figures.

DETAILED DESCRIPTION

(25) FIG. 1 is a perspective view of an embodiment of the cable processing machine apparatus according to the invention in the form of a crimping system 1. The cable processing machine apparatus may be a crimping system 1. Accordingly, the cable processing machine apparatus comprises a cable processing machine 5 in the form of a crimping device 5 or crimping press 8 and a handling robot 30.

(26) Other cable processing machines for processing cables 15 (FIG. 6) instead of the crimping device 5 or crimping press 8 are possible.

(27) The crimping device 5 is designed to connect a crimp contact to a cable 15 by means of a crimp connection. The cables 15 that are processed or connected to the crimp contact are stored in a cable tray 20 of the cable processing machine 5 or the crimping device 5. The cable tray 20 can be tilted so that the cables 15 present in the cable tray 20, for example a production batch or a plurality of production batches of cables 15, fall into a lower-lying removal trough 22. The cable tray 20 and the removal trough 22 run parallel to one another and extend along a cable processing axis 6. The cables 15 are moved along in the cable processing machine 5 in the longitudinal direction of the cable tray 20, which is also referred to as the cable processing axis 6.

(28) The cable processing machine 5 assembles the cable 15, i.e. cuts the cable 15 off or cuts it through at a desired point in order to achieve a cable 15 of a predetermined cable length with two ends.

(29) To crimp the cable 15 with a crimp contact, part of the cable 15 is pivoted out of the cable processing axis 6 and guided to a crimping press 8 (which is shown on the left of the cable processing axis 6 in FIG. 1). A crimp contact is connected to a first end of the cable 15 by means of the first crimping press 8. A second crimping press 8 is arranged on the other side of the cable processing axis 6 (on the right in FIG. 1). A second end of the cable 15 opposite the first end is connected to a crimp contact by means of the second crimping press 8.

(30) Further workstations to which the cable 15 is moved are possible.

(31) FIG. 2 is a partial view of the crimping system 1 of FIG. 1. The crimping system 1 has a cable replacement device 110 (FIG. 6) which can hold a plurality of cables 15. In addition, the crimping system 1 has an alignment unit 115 which aligns the cable 15 that is currently being used by the crimping device 5. In addition, the crimping system 1 or the crimping device 5 comprises a cable conveyor device 100 which conveys the cable 15, i.e. pulls more of the cable 15 into the crimping system 1 or can convey the cable 15 out of the crimping device 5 again.

(32) FIG. 3 is a detailed view of a gripping unit 50 of the crimping system 1 of FIG. 1. FIG. 4a is a detailed view of the gripping unit 50 according to FIG. 3 in the open position of the gripping jaws 60, 61. FIG. 4b shows a detailed view of the gripping unit 50 according to FIG. 3 in the closed position of the gripping jaws 60, 61.

(33) The handling robot 30 of the cable processing machine apparatus can be attached to the cable processing machine 5 or to the crimping machine or to the crimping device 5 or can be connected thereto. The handling robot 30 comprises a gripping unit 50 with a gripping arm 55. The gripping unit 50 or the gripping arm 55 can be moved linearly parallel to the cable processing axis 6 by means of a carriage 31 of the gripping unit 50. For this purpose, the handling robot 30 has a linear guide 32 (FIG. 1) on which the carriage 31 is guided. The linear guide 32 runs above the cable processing axis 6, along which the cable 15 is moved in the cable processing machine 5.

(34) The handling robot 30 allows automation of a large number of processes that were previously carried out manually or by hand.

(35) The gripping arm 55 of the handling robot 30 can be moved on both sides of the cable processing machine 5 or crimping machine or crimping device 5, i.e. the left side and the right side in FIG. 1. For this purpose, the crimping device 5 has a corresponding recess or a corresponding shape at the end of the crimping device 5, which is not visible in FIG. 1, in the direction of the cable processing axis 6. The gripping arm 55 can, so to speak, be moved around one end of the crimping device 5. The gripping arm 55 can thus be moved on a first side of the linear guide 32 and on a second side of the linear guide 32 opposite the first side.

(36) The gripping unit 50 can be moved back and forth along the linear guide 32 in the direction a. For this purpose, the crimping system 1 has a toothed belt drive 33 of the linear guide 32. A gripping arm 55 of the gripping unit 50 is attached to a rod 37 (FIG. 3). The gripping arm 55 can be rotated about a vertical axis by means of a rotary and linear unit 34 (indicated by the double arrow c in FIG. 3). The vertical axis runs through the center of the rod 37. The gripping arm 55 together with the rod 37 can also be moved up and down (indicated by the double arrow d in FIG. 3). In this way, the height of the gripping arm 55 relative to the crimping device 5 can be changed. For this purpose, the rotary and linear unit 34 has two further toothed belt drives 35, 36.

(37) By means of the pivot arm 39 of the gripping unit 50, the distance between the gripping arm 55 and the linear guide 32 can be changed. By a rotation along the double arrow b, the distance between the gripping arm 55 and the linear guide 32 can be increased or decreased. In addition, the gripping arm 55 can thereby be moved to the other side of the linear guide 32 or the crimping device 5. The rotation along the double arrow b can be carried out by a third toothed belt drive 38.

(38) The gripping arm 55 can pick up the cables 15 from the cable replacement device 110 and put them down again or hang them there. As a result, the cable 15 used by the crimping device 5 can be exchanged or replaced in an automated manner.

(39) The gripping arm 55 is operated pneumatically. The gripping arm 55 comprises two jaw carriers 63, 64 which close symmetrically. The gripping jaws 60, 61 fastened to the jaw carriers 63, 64 point towards one another in the open position which is shown in FIG. 4a. The gripping jaws 60, 61 are designed to grip a plurality of cables 15 or to release cables 15. The gripping jaws 60, 61 each have a recess which is designed to receive and hold production batches from the removal trough 22. The gripping jaws 60, 61 each comprise two elements which are spaced from one another in the open position.

(40) In the closed position of the gripping jaws 60, 61, which is shown in FIG. 4b, there are two openings at the location of the depressions of the gripping jaws 60, 61, in which the batches of processed cables 15 can be received and held.

(41) Both jaw carriers 63, 64 each have a flange element 65, 66 with holes. In the open position of the gripping jaws 60, 61, one of the flange elements 65, 66 is arranged, so to speak, on the rear side of a jaw. The flange elements 65, 66 are designed to grip and hold a cable processing cassette such as a crimping cassette 80 (FIG. 1).

(42) In the closed position of the gripping jaws 60, 61, the flange elements 65, 66 are also in a closed position.

(43) A two-part cable gripper 70 which is designed to grip and hold individual cables 15, is arranged on one of the flange elements 65, 66 (on the right flange element 65 in FIG. 4a or FIG. 4b) of the gripping unit 50 or of the gripping arm 55. In FIG. 4a and in FIG. 4b, the cable gripper 70 is in the open position. The cable gripper 70 can grasp and (firmly) hold a single cable 15, so that the cable 15 cannot slide relative to the cable gripper 70. The cable gripper 70 also has a semi-closed position in which the cable 15 is held by the cable gripper 70 such that the cable 15 can slide relative to the cable gripper 70. The cable 15 can thus slide through the cable gripper 70. As a result, the cable gripper 70 can move along the cable 15.

(44) The gripping arm 55 is designed to remove from the removal trough 22 batches of finished cables 15 or a plurality of finished cables 15 that have been conveyed from the cable tray 20 into the removal trough 22.

(45) FIG. 5 is a detailed view of the cable tray 20 and the removal trough 22 of the crimping system 1 of FIG. 1. The processed or crimped cables 15 are stored in the cable tray 20. When the cables 15 of a production batch, i.e. a specific number of cables 15, are present in the cable tray 20, the cable tray 20 is tilted (this is indicated in FIG. 5 by a curved arrow 24), for example by a pneumatic device, and the cables 15 in the cable tray 20 fall into the removal trough 22 located below.

(46) The gripping arm 55 can remove the cables 15 from the removal trough 22 by means of the gripping jaws 60, 61 and, for example, transport them into a holding device, boxes or the like.

(47) The removal trough 22 can be moved pneumatically in the direction of the double arrow 24 in FIG. 5 with respect to the cable tray 20, so that the removal trough 22 is completely removed from the region of a hood that covers part of the cable processing machine 5 or the crimping device 5.

(48) The removal trough 22 can be designed as a non-smooth channel and have a plurality of cutouts or depressions which make it easier to grasp the cables 15 located in the removal trough 22 by means of the gripping arm 55. The removal trough 22 shown in FIG. 5 is composed of individual segments. Other variants, such as a pressed sheet metal part, deep-drawn plastics, etc., are also possible in order to achieve a comparable design.

(49) The gripping jaws 60, 61 of the gripping unit 50 or of the gripping arm 55 can be divided so that they can engage in more than one depression of the removal trough and can grip the cables 15 or the batch at a plurality of points at the same time. The large number of depressions in the removal trough 22 also makes it possible, in the case of batches of longer cables 15, to grasp or hold them over a wide range of lengths or, if necessary, with a plurality of grippers or gripping arms 55.

(50) In the following it is explained by way of example and with the aid of various methods what the handling robot 30 or the gripping unit 50 or the gripping arm 55 can perform or carry out automatically on the crimping system 1 or the crimping device 5.

(51) FIG. 6 shows a detailed view of the cable conveyor device 100 and the alignment unit 115 of the crimping system 1 according to FIG. 1. The crimping system 1 comprises an alignment unit 115 for aligning the cable 15. In addition, the crimping system 1 comprises a cable conveyor device 100 with two transport belts 102, 103 for conveying the cable 15 after it has been introduced into the cable conveyor device 100 by means of the alignment unit 115 through a guide tube 106. A clamping device 105, in which the cable 15 can be clamped, is arranged between the cable conveyor device 100 and the alignment unit 115. The cable replacement device 110 for holding a plurality of cables 15 is arranged on the side of the alignment unit 115 facing away from the cable conveyor device 100.

(52) One process that can be carried out by means of the handling robot 30 or the gripping arm 55 is a cable replacement, i.e. the replacement of the cable 15 used by the crimping device 5.

(53) A cable replacement is necessary when the cable bundle is empty or an article with a different cable 15 is to be processed. In the first case, a second cable of the same type is prepared in one of the three cable receptacles 111-113 (FIG. 2) of the cable holding device 110, while in the second case there must also be an empty space there to accommodate the old cable.

(54) The cable 15 to be replaced is introduced or threaded into the cable processing machine 5 as follows:

(55) The cable conveyor device 100 and the alignment unit 115 are opened and the cable gripper 70 of the gripping unit 50 takes over the cable 15 in a program-controlled or computer-controlled manner from the correct gripper or holder of the cable receiving device 110. This is shown in FIG. 6.

(56) FIG. 7a is a first detailed view of the alignment unit 115 of the crimping system 1 of FIG. 1. FIG. 7b shows a second detailed view of the alignment unit 115 of the crimping system 1 of FIG. 1. FIG. 7c shows a third detailed view of the alignment unit 115 of the crimping system 1 of FIG. 1.

(57) The gripping unit 50 is moved so that the cable 15 is inserted into the guide tube 106. Then the cable 15 is clamped in the clamping device 105 so that the cable gripper 70 can grip by being brought into the semi-closed position, being moved away from the guide tube 106 (wherein the cable 15 slides along in the cable gripper 70) and being brought again into the completely closed position so that the cable 15 cannot slide relative to the cable gripper 70.

(58) Afterwards, the clamping device 105 is opened so that the cable 15 is no longer clamped, and the cable 15 is pushed further into the cable conveyor 100 by the gripping unit 50. This is repeated a plurality of times until the cable 15 can be securely grasped by the transport belts 102, 103 when the cable conveyor device 100 is closed. This process is shown in FIGS. 7a-7c.

(59) As soon as the transport belts 102, 103 clamp the cable 15 securely, the cable 15 can be tensioned. For this purpose, the clamping device 105 is closed and the gripping unit 50 moves back until the cable gripper 70 is in front of the alignment unit 115 (see FIG. 7c). The gripping unit 50 also moves vertically up and down in order to avoid collisions and the clamping force of the cable gripper 70 is reduced (e.g. by means of a pressure regulating valve) so that it assumes the so-called semi-closed position so that the cable 15 can slide in the gripping arm 55.

(60) Afterwards, the alignment unit 115 is closed, so that the actual threading process is completed.

(61) To remove the cable 15, the cable 15 is transported backwards by the cable conveyor device 100 until the transport belts 102, 103 (FIG. 6) lose contact with the cable 15. Afterwards, the cable conveyor device 100 and the alignment unit 115 are opened and the gripping unit 50 grasps the cable 15 near the clamping unit device 105 in order to pull it out of the guide tube 106 with a single grasp, again in interaction with the clamping device 105. The gripping unit 50 is then moved to the cable replacement device 110 and there transfers the cable 15 to one of the cable grippers 70 or cable holders.

(62) A further example of an automated process by means of the handling robot 30 is the replacement of the crimping cassette 80 or the cassette replacement, which is described below.

(63) In a comparable manner to the cable replacement, the crimping cassette 80 must be replaced when the crimping roller inserted in the crimping cassette 80 is empty or when the article to be produced has a different crimp contact. If continuous production is to be possible without manual intervention by the machine operator, the necessary crimping cassettes 80 are to be provided in the crimping cassette receptacle 82 (FIG. 8).

(64) Since the gripping unit 50 can be moved to both crimping presses 8, one crimping cassette receptacle 82 or crimping cassette holder on one side of the crimping device 5 is sufficient to supply both crimping presses 8 or to replace the crimping cassette 80 in both crimping presses 8. If a large number of crimping cassettes 80 are provided, the crimping cassette receptacle 82 can be designed in such a way that the crimping cassettes 80 are actively brought from a crimping cassette storage device to a transfer position for transferring the crimping cassette 80 to the gripping arm 55.

(65) FIG. 8 is a detailed view of the crimping cassette receptacle 82 of the crimping system 1 of FIG. 1.

(66) In the simplest case, as shown in FIG. 8, the crimping cassette receptacle 82 has a plurality of spaces for crimping cassettes 80 arranged adjacent to one another, all of which are located in the range of movement of the handling robot 30.

(67) FIG. 9a is a first detailed view of the gripping unit 50 of the crimping system 1 according to FIG. 1 when a crimping cassette 80 is picked up. FIG. 9b is a second detailed view of the gripping unit 50 of the crimping system 1 according to FIG. 1 when a crimping cassette 80 is picked up.

(68) The cassette is replaced, if necessary, by placing the old crimping cassette 80 in the crimping cassette receptacle 82 and gripping of the new crimping cassette 80 by the gripping arm 55. FIG. 9a and FIG. 9b show the interaction of the gripping unit 50 and the holder on the crimping cassette 80. Due to the centering function of the four retaining bolts 57 on a crimping cassette holder 58, the position of the crimping cassettes 80 can vary somewhat and the crimping cassette 80 can nevertheless be securely gripped by the gripping unit 50. In the flange elements 65, 66 (FIG. 4a) of the gripping arm 55, openings corresponding to the retaining bolts 57 are present. By engagement of the retaining bolts 57 in the openings, the crimping cassette 80 is gripped and held by the gripping arm 55.

(69) The crimping cassette 80 is then moved to or into the crimping press 8 and gripped or clamped there. The crimping cassette 80 has a base plate 85 (FIG. 1) on which the crimp connection is made.

(70) The state after this step is shown in FIG. 10. FIG. 10 shows a further perspective view of the crimping system 1 according to FIG. 1 with a crimping cassette 80 that is used.

(71) FIG. 11 shows a detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to FIG. 1.

(72) A further example of an automated process by means of the handling robot 30 is the checking of processed cables 15 or cable samples, which is described below.

(73) The cables 15 can be brought to quality control devices by means of the gripping unit 50. These can be taken over directly by the gripping unit 50 from the pivoted-out pivot unit 10 of the cable processing machine 5 or crimping machine or crimping device 5. In FIG. 11, the transfer from the pivot unit 10 of the cable processing machine 5 to the gripping unit 50 or the cable gripper 70 of the gripping unit 50 is currently taking place.

(74) The handling robot 30 then brings the cable 15 to the quality control device 90 or to an inspection station. FIG. 12 shows a detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to FIG. 1 during checking of the quality of the cable 15. FIG. 12 shows the optical measurement of the crimp height by way of example. Here, the crimp height can be measured in a simple manner at a plurality of points on the crimp contact, since the cable 15 can be freely positioned in space in different positions relative to the quality control device 90 by means of the gripping arm 55 or the gripping unit 50.

(75) FIG. 13a shows a first detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to FIG. 1 while the cable 15 is being guided. FIG. 13b shows a second detailed view of the cable gripper 70 of the gripping unit 50 of the crimping system 1 according to FIG. 1 while the cable 15 is being guided.

(76) A further example of an automated process by means of the handling robot 30 is the removal of defectively produced cables 15 (so-called faulty cables) from the crimping device 5, which is described below.

(77) The defectively produced cables 15 can be removed from the machine most easily if both ends of the cable 15 can be gripped. In order to make this possible, the storage gripper can be used, which is already present in some machines in order to facilitate the cable storage in the cable tray 20.

(78) The faulty cable or defective cable 15 is first transferred from the pivot unit 10 of the crimping device 5 to the storage gripper, which grasps it at the trailing end of the cable 15. The leading end of the cable 15 is already in the cable tray 20 and should be removed again therefrom. For this purpose, the cable gripper 70 of the gripping unit 50 grabs the faulty cable immediately behind the storage gripper and moves with reduced gripper pressure (semi-closed position) in the direction of the leading cable end, the cable 15 sliding in the cable gripper 70. FIG. 13a shows the situation when this step is completed. A variant of the gripping unit 50 is shown in which the cable gripper 70 can be rotated in order to improve accessibility.

(79) The trailing cable end is then transferred to the pivot unit again 10. This is shown in FIG. 13b.

(80) The pivot unit 10 is then pivoted out completely and the gripping unit 50 is rotated and moved until both cable ends are parallel and located outside the cable tray 20. This is shown in FIG. 14. FIG. 14 shows a detailed view of the gripping unit 50 of the crimping system 1 according to FIG. 1 while a cable 15 is held at both ends. The faulty cable or the cable 15 can now be disposed of outside the cable tray 20, for example by dropping it into a container.

(81) FIG. 15 shows a detailed view of the cable tray 20 and the removal trough 22 of the crimping system 1 according to FIG. 1.

(82) A further example of an automated process by means of the handling robot 30 is the removal of production batches or processed cables 15 from the removal trough 22, as described below.

(83) When the desired number of cables 15 for a production batch is reached in the cable tray 20, the cable tray 20 is pivoted or tilted so that the batch or the cables 15 fall(s) into the removal trough 22.

(84) FIG. 16 shows a detailed view of the removal trough 22 of the crimping system 1 according to FIG. 1.

(85) The removal trough 22 is then moved in the longitudinal direction in order to bring it into a region that can be reached by the handling robot 30 and the gripping unit 50 is positioned above the removal trough 22 in such a way that the gripping jaws 60, 61 are above the desired recess or depression in the removal trough 22. This is shown in FIG. 16.

(86) FIG. 17a shows a first detailed view of the removal trough 22 of the crimping system 1 of FIG. 1 when cables 15 are removed. FIG. 17b shows a second detailed view of the removal trough 22 of the crimping system 1 of FIG. 1 when cables 15 are removed.

(87) The gripping unit 50 is then lowered (see FIG. 17a) and the gripping jaws 60, 61 are closed (see FIG. 17b) in order to grip and hold the production batch or the cables 15. The gripping arm 55 or the gripping unit 50 can now be raised in order to remove the cables 15 from the removal trough 22.

(88) If the production batches have been removed from or taken out of the removal trough 22, they can be transferred to a suitable device, such as, for example, transport racks on which the batches or cables 15 are suspended and/or transport containers in which the batches or cables 15 are placed.

(89) The cable processing machine 5 can comprise a further pivot unit in addition to the pivot unit 10 shown in FIG. 11. The further pivot unit can move a cable 15 out of the cable processing axis 6 by swiveling or pivoting the pivot unit with part of the cable 15 out of the cable processing axis 6.

(90) Finally, it should be noted that terms such as having, comprising, etc. do not preclude other elements or steps, and terms such as a or an do not exclude a plurality of elements or steps. Furthermore, it should be noted that features or steps that have been described with reference to one of the above embodiments can also be used in combination with other features or steps of other embodiments described above.

(91) In accordance with the provisions of the patent statutes, the present invention has been described in what is considered to represent its preferred embodiment. However, it should be noted that the invention can be practiced otherwise than as specifically illustrated and described without departing from its spirit or scope.

LIST OF REFERENCE SIGNS

(92) 1 cable processing machine apparatus (crimping system) 5 cable processing machine (crimping device) 6 cable processing axis 8 crimping press 10 pivot unit 15 cable 20 cable tray 22 removal trough 24 tilt direction 30 handling robot 31 carriage 32 linear guide 33 toothed belt drive of the linear guide 34 rotary and linear unit 35, 36 toothed belt drives for rotary and linear unit 37 rod 38 third toothed belt drive 39 pivot arm 50 gripping unit 55 gripping arm 57 retaining bolt 58 crimping cassette holder 60, 61 gripping jaws 63, 64 jaw carrier 65, 66 flange elements 70 cable gripper 80 crimping cassette 82 crimping cassette receptacle 85 base plate 90 quality control device 100 cable conveyor device 102, 103 transport belt 105 clamping device 106 guide tube 110 cable replacement device 111-113 cable receptacle 115 alignment unit a movement direction b rotation direction c rotation direction d up and down direction