CN111262184B - Wire harness routing device - Google Patents
Wire harness routing device Download PDFInfo
- Publication number
- CN111262184B CN111262184B CN201811449334.1A CN201811449334A CN111262184B CN 111262184 B CN111262184 B CN 111262184B CN 201811449334 A CN201811449334 A CN 201811449334A CN 111262184 B CN111262184 B CN 111262184B
- Authority
- CN
- China
- Prior art keywords
- wire harness
- wire
- jaws
- harness
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
Landscapes
- Installation Of Indoor Wiring (AREA)
- Electric Cable Installation (AREA)
Abstract
A wire harness wiring device, comprising: a clamp composed of a pair of clamping jaws capable of clamping the wire harness; and a control unit configured to control a clamping force and movement of the clamp, wherein the control unit is configured to move the clamp along a predetermined wiring trajectory, and to smooth the wire harness from one end to the other end of the wire harness, thereby routing the wire harness along the wiring trajectory.
Description
Technical Field
The present invention relates to a wire harness wiring device.
Background
The wire harness is a neural network of large equipment such as automobiles and elevators. However, the wiring work of the wire harness is still done manually at present. Moreover, wiring is a work with a great amount of work and work difficulty. Each wire harness requires a worker to arrange and combine several tens or hundreds of wire harnesses in order strictly according to the wiring diagram. This not only takes a lot of time, but also requires workers to have sufficient patience, care, and even excellent memory to ensure production efficiency.
Patent document 1 discloses an automatic wiring machine for an aircraft harness, which can realize automatic wiring of the aircraft harness. In which a reel is fed by a rotatable tray and the wire harness has been manually loaded onto individual wire racks in advance. And then, feeding the wire harness which is wound into a roll into an automatic wire feeder through a feeding track, and grabbing one end of the wire harness by a robot for fixing. And then, grabbing a certain fixing point of the wire for fixing. Finally, the wire is cut by a wire cutting knife on the wire feeder, and the robot grabs the second end of the wire to fix the wire. When each coil of wiring harness is fed manually, the front end of the wiring harness needs to penetrate through the wire collecting opening and the wire discharging opening to be positioned. Before each wire harness is taken away by the robot, the wire harness needs to be guided through two small holes, namely a wire collecting hole and a wire discharging hole.
Patent document 1: chinese publication No. CN106711866A
However, when the automatic wiring machine for wire harnesses of patent document 1 is used, all the wire harnesses are previously wound on a rack one by a worker, and then the wire ends are drawn out and fixed, which makes the operation complicated. In addition, the automatic wiring machine for the wire harness can only use the condition that two ends of the wire harness are not cut and are not riveted, and the condition that the wire harness is cut and metal ends are riveted at the two ends is not considered. For wire harnesses with large output, various varieties and complex wiring process, such as automobiles, elevator control cabinets and the like, in order to improve the efficiency and carry out the power-on test on the assembled wire harnesses in time, the wire harnesses are automatically cut and riveted with metal terminals before wiring. In this case, the metal terminals at both ends of the wire harness prevent the wire harness from sliding in small holes such as the wire take-up opening and the wire discharge opening, and therefore, the wire harness automatic wiring machine cannot be applied to the lead wire and the wire discharge method. Even if the wire harness coiling machine is used, the workload of independently coiling each wire harness and independently perforating the lead is extremely complicated, and the labor cost can not be reduced.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and a main object thereof is to provide an automatic wiring device capable of automating wiring of a wire harness with a simple configuration.
Technical solution 1 of the present invention is a wire harness wiring device, comprising:
a clamp composed of a pair of clamping jaws capable of clamping the wire harness; and
a control unit capable of controlling the clamping force and movement of the clamp,
the control unit may move the jig along a predetermined wiring trajectory, and may move the jig so as to move the jig from one end of the wire harness to the other end of the wire harness, thereby routing the wire harness along the wiring trajectory.
According to the present invention, since the wire harness is stroked from one end to the other end of the wire harness so as to move along the predetermined routing track by the jig, the wire harness is routed along the routing track, and therefore, it is not necessary to manually route the wire harness, and it is possible to automate the routing and improve the routing efficiency.
In claim 2, the control unit may cause the jig to hold the one end of the wire harness and insert the terminal near the one end into a predetermined one of the harness interfaces before causing the jig to perform the wire stroking, and cause the jig to hold the other end of the wire harness and insert the terminal near the other end into the other of the harness interfaces after causing the jig to perform the wire stroking.
Thus, it is not necessary to pass the harness terminals at both ends of the harness through the wire take-up port and the wire pay-out port, and it is possible to automate a series of wiring of gripping the harness from the feeder, inserting the wire from one harness terminal to the harness interface, stroking the harness, and inserting the wire from the other harness terminal to the harness interface, and it is possible to further improve the wiring efficiency.
Further, according to claim 3, the control unit sets the holding force of the jig when the connection terminal is inserted into the wire harness interface as a plug holding force P1And the clamping force of the clamp is set to be larger than the inserting wire clamping force P when the wire harness is stroked1Small wire-stroking clamping force P2The pair of jaws is slidable with respect to the wire harness when the wire is stroked.
Thereby, the wire is clamped by the clamping force P2Set to be smaller than the plug wire clamping force P1Therefore, the wire can be smoothly smoothed out, and the wire smoothing-out holding force P can be avoided2The wire harness is too large to move relative to the clamp, and thus cannot be stroked.
In addition, in claim 4, the resistance received by the wire harness terminal when the wire connecting terminal is smoothly inserted into the wire harness interface is set as the wire insertion resistance F1F is a coefficient of static friction between the wire harness and the pair of jaws,
the control unit clamps the plug wire with a force P1The following relationship is set to be satisfied:
wherein k is a safety coefficient and takes a value of 1.5-3.
Thereby, the clamping force P of the plug wire1Greater than the minimum force F required to successfully insert the terminal into the wire harness interface1And/f, therefore, the stability of clamping can be ensured, and the sliding between the wire harness and the clamp can be avoided. And, the plug wire clamping force P1Less than a minimum force F required to successfully insert the wire connecting terminal into the wire harness interface13 times of/f, thereby preventing the clamping force P caused by the plug wire1Too large to cause the plastic deformation of the wire harness.
In claim 5, the dynamic friction force between the wire harness and the pair of jaws at the time of wire straightening is F2Will be able to handle the aboveThe minimum pulling force of the wiring terminal from the wire harness interface is T, and the yield stress of the cable is F0.2The minimum force capable of straightening the wire harness is set to G,
the control unit makes the kinetic friction force F2The wire-stroking clamping force P is set so as to satisfy the following relationship2，
F2<T、F2<F0.2And F2>G。
Thereby, the wire clamping force P is controlled2So that the dynamic friction force F during wire stroking2Since the minimum tension T is less than the minimum tension T, the harness terminal can be prevented from being pulled out from the harness interface during wire stripping. And, the wire-smoothing clamp holding force P is controlled2So that the dynamic friction force F during wire stroking2Less than the yield stress of the cable itself to F0.2Therefore, the wire harness can be prevented from being broken. And, the wire-smoothing clamp holding force P is controlled2So that the dynamic friction force F during wire stroking2The force G is larger than the minimum force G enough to straighten the wire harness, so that the wire harness can be kept in a relaxed state during wire stroking.
In claim 6, a V-shaped groove is formed in a surface of at least one of the pair of jaws facing the other jaw, and the wire harness is held in the V-shaped groove.
Thus, the wire harness can be positioned well when being clamped.
In claim 7, engagement grooves for engaging the pair of jaws with each other are further formed on the surfaces of the pair of jaws facing each other, and the extending direction of the engagement grooves intersects with the extending direction of the V-shaped grooves.
Thus, since the engagement grooves for engaging the pair of jaws with each other are formed on the surfaces of the pair of jaws facing each other, the positioning ability of the jaws can be ensured, and the wire harness can be stably held.
In claim 8, the pair of jaws has V-shaped grooves formed on the surfaces thereof facing each other,
at least the surfaces of the V-shaped grooves of the pair of jaws are made of an elastic material or a viscoelastic material having a hardness and an elastic modulus larger than those of the outer surface insulating layer of the wire harness.
This can prevent the outer surface of the wire harness from being damaged when the wire is stroked.
In addition, according to claim 9, the surface roughness Ra of at least the V-shaped grooves of the pair of jaws is less than 30 um.
In claim 10, when the vertex angle of the V-shaped groove is 2 θ, a friction angle between the inclined surface of the V-shaped groove and the outer surface insulating layer of the wire harness is set to 2 θ
The following relationship is satisfied:
when the vertex angle of the V-shaped groove is too large, there may be a case where the wire harness is gripped first before the pair of jaws are stably engaged by the engagement groove, and the gripping state becomes unstable. According to the invention of claim 10, the V-shaped groove can be prevented from having an excessively large vertex angle, and the clamped state can be stabilized.
Drawings
Fig. 1 (a) is a perspective view showing a harness routing device at the time of wire insertion. Fig. 1 (b) is a perspective view showing the wire harness routing device in the wire stroking process.
Fig. 2 (a) is a view showing a state where a V-shaped groove is formed in one of the jaws. Fig. 2 (b) is a view showing a case where V-grooves are formed in both the jaws.
Fig. 3 (a) and (b) are views showing a state in which engagement grooves are formed in the jaws.
Fig. 4 (a) is a view of the V-shaped groove and the engagement groove as viewed from the direction in which the gripping surfaces of the jaws are formed. Fig. 4 (b) is a side view of the V-shaped groove and the engagement groove. Fig. 4 (c) is a perspective view showing a case where V-shaped grooves and engagement grooves are formed in the jaws.
Fig. 5 (a) and (b) are views showing the relationship between the V-shaped groove and the engagement groove.
Fig. 6 is a diagram showing a state in which the wire harness is clamped by the clamp.
Detailed Description
A wire harness routing device according to an embodiment of the present invention will be described below with reference to the drawings.
[ first embodiment ]
Fig. 1 (a) is a perspective view showing the wire harness routing device 100 at the time of wire insertion. Fig. 1 (b) is a perspective view showing the wire harness routing device 100 when performing wire stroking.
As shown in fig. 1 (a) and (b), the wire harness routing device 100 includes a jig 10. The jig 10 is composed of a pair of jaws 11 and 12 capable of clamping the wire harness 200. The pair of jaws 11, 12 can clamp the wire harness 200 between the clamping surfaces facing each other. One ends of the jaws 11, 12 are connected to a force-controlled gripper such as an actuator (described later) via a connecting structure such as a connecting hole.
As shown in fig. 2 (a), in order to ensure the positioning ability of the jaws 11 and 12, for example, a V-shaped groove 13 is formed on the holding surface of one jaw 11, the holding surface of the other jaw 12 is a flat surface, and the wire harness 200 is held between the V-shaped groove 13 of the jaw 11 and the holding surface of the jaw 12. In this case, an isosceles triangle is held in the cross section.
As shown in fig. 2 (b), V-shaped grooves 13 may be formed on both the clamping surfaces of the pair of jaws 11, 12, and the wire harness 200 may be clamped between the V-shaped grooves 13 of the jaws 11, 12. In this case, the cross-section is clamped to a rhomboid shape.
As shown in fig. 3 (a) and (b) and fig. 4 (a) and (b) and (c), an engagement groove 14 for engaging the pair of jaws 11 and 12 with each other is formed on the holding surfaces of the jaws 11 and 12, and the extending direction of the engagement groove 14 is orthogonal to the extending direction of the V-shaped groove 13. However, the extending direction of the engaging groove 14 is orthogonal to the extending direction of the V-shaped groove 13, and may not be orthogonal.
Since the engagement grooves 14 are formed in the opposed holding surfaces of the pair of jaws 11, 12, the positioning ability of the jaws 11, 12 can be ensured, and the wire harness can be stably held.
The wire harness routing device 100 further includes an actuator not shown. The actuator has two motion outputs which are connected to the connection ends of the jaws 11, 12, respectively. The two ends of the two motion output ends can move towards or away from each other in parallel.
The wire harness routing device 100 further includes an electrode not shown. The actuator is driven by the motor, a one-dimensional force sensor (not shown) is arranged between the motor and the motion output end of the actuator, and the magnitude of the force applied to the motion output end of the clamping jaws 11 and 12 in the clamping process is measured in real time, so that the magnitude of the clamping force is measured.
The wire harness routing device 100 further includes a controller, not shown. When the measured clamping force of the clamping jaws 11, 12 reaches a set threshold value. The controller signals the motor drive to stop, the motor stops further drive and the jaws 11, 12 maintain the specified clamping force constant. When the clamping force of the clamping jaws 11, 12 is smaller than the threshold value, the motor is driven again to move the two motion outputs of the actuator towards each other. When the clamping force of the clamping jaws 11, 12 is greater than the threshold value, the drive motor moves the two motion outputs of the actuator away from each other. This maintains the dynamic balance of the clamping force.
The wire harness routing apparatus 100 clamps the jig 10 from the material rack (not shown) via the actuator to the insulation of one end of one wire harness, and sets the clamping force of the jig 10 to a predetermined wire insertion clamping force P via the actuator1Then, the terminal 201 near the one end is inserted into a predetermined harness interface 300 of a wiring board (not shown). After completion of the wire insertion, the clamping force of the clamp 10 is set to be higher than the wire insertion clamping force P via the actuator1Small and predetermined yarn-stroking clamping force P2. Here, "stroking" refers to an operation of stroking the wire harness 200 with the jig 10 to route the wire harness 200. Thereafter, the wire harness routing device 100 moves the jig 10 along a predetermined routing trajectory while stroking the wire harness 200 until the jig 10 approaches the wire harness terminal at the other end of the wire harness. Thereafter, the wire harness routing device 100 re-increases the clamping force of the clamp 10 to the plug wire clamping force P via the actuator1The terminal at the other end of the wire harness 200 is inserted into the other wire harness interface (not shown) of the wiring board. Due to the clamping force P of the wire smoothing clamp2Set to be smaller than the plug wire clamping force P1Therefore, the wire can be smoothly smoothed out, and the wire smoothing-out holding force P can be avoided2If the size is too large, the wire harness 200 and the jig 100 cannot move relative to each other, and wire stroking cannot be performed.
The aforementioned actuator, electrode, sensor, and controller constitute a control unit (not shown) that controls the clamping force and movement of the clamp 10. However, this is merely an example of the control means, and the control means is not limited to this, as long as the clamping force and movement of the jig 10 can be controlled.
At least the surfaces of the clamping jaws 11 and 12 of the clamp 10 are made of an elastic material or a viscoelastic material having hardness and elastic modulus larger than those of the outer surface insulating layer of the wire harness 200. The outer surface of the wire harness 200 can be prevented from being damaged when stroking the wire. The surface of the clamping surface is smooth and uniform, and under the action of specified speed and pressure, the sliding friction between the clamping surface and the insulating layer material of the wire harness does not generate visible scratches on the surface of the insulating layer.
Further, the surface roughness Ra of at least the V-shaped grooves 13 of the jaws 11, 12 may be set to be less than 30 um.
Next, the principle of designing the wire harness routing device 100 will be described by taking as an example a case where the V-shaped grooves 13 are formed on both the clamping surfaces of the jaws 11, 12, that is, a case of a diamond-shaped clamping cross section.
As shown in fig. 5, the main parameters of the V-shaped jaw are defined. Specifically, the length of the jaws 11 and 12 in the longitudinal direction of the wire harness 200 is L, the width of the engagement groove 14 in the longitudinal direction of the wire harness is L, the vertex angle of the V-shaped groove 13 is 2 θ, the length of the slope of the V-shaped groove 13 is c, and the distance between the deepest part of the engagement groove 14 and the vertex of the V-shaped groove 13 along the slope of the V-shaped groove 13 is t.
If the angle of friction between the clamping surface material and the insulation layer material of the wire harness 200 is
In order to satisfy the positioning (centering) of the wire harness 200 when the jig 10 grips the wire harness 200) Functionally, setting the apex angle of the V-shaped groove 13 to 2 θ requires satisfying the following relationship:
when the vertex angle of the V-shaped groove 13 is too large, there may be a case where the wire harness 200 is gripped first before the pair of jaws 11, 12 are stably engaged by the engagement groove 14, and the gripping state becomes unstable. By satisfying the above relationship, the V-shaped groove 13 can be prevented from having an excessively large vertex angle, and the clamped state can be stabilized.
When the wire connecting terminal 201 is smoothly inserted into the wire harness interface 301, the resistance received by the wire harness terminal 201 is the wire insertion resistance F1If the static friction coefficient between the wire harness 200 and the pair of jaws 11 and 12 is f, the control unit clamps the inserted wire with a clamping force P so that the wire harness 200 does not slip with the clamping surface when the wire harness terminal 201 of the wire harness 200 is inserted into the wire harness interface 301 to ensure stable clamping1The following relationship is set to be satisfied:
wherein k is a safety coefficient and takes a value of 1.5-3.
Thereby, the clamping force P of the plug wire1Greater than the minimum force F required to successfully insert the wire terminal 201 into the wire harness interface 3011Therefore, the stability of the clamping can be ensured, and the sliding between the wire harness 200 and the clamp 10 can be avoided.
And, the plug wire clamping force P1Less than the minimum force F required to successfully insert the wire terminal 201 into the wire harness interface 30113 times of/f, thereby preventing the clamping force P caused by the plug wire1Too large, resulting in plastic deformation of the wire harness 200.
In the embodiment of the present invention, an upper limit value is set for the plug resistance. In the wire plugging process, the resistance value of the wire plugging is monitored through a sensor, when the resistance value of the wire plugging reaches the upper limit value, the control unit enables the clamp 10 to retract, and the wire plugging is carried out again after the adjustment.
Further, a dynamic frictional force between the wire harness 200 and the pair of jaws 11 and 12 during wire straightening is F2The minimum tensile force with which the terminal 201 can be pulled out from the wire harness interface 301 is T, and the yield stress of the cable 200 itself is F0.2Since the tension applied to each part of the wire harness 200 is considered to be equal during the wire stripping process, the control unit controls the dynamic friction force F2The wire-stroking clamping force P is set in a manner satisfying the following relationship2，
F2<T、F2<F0.2……(3)。
Thereby, the wire clamping force P is controlled2So that the dynamic friction force F during wire stroking2Since the minimum tension T is less than the minimum tension T, the harness terminal 201 can be prevented from being pulled out from the harness interface 301 during wire stripping. And, the wire-smoothing clamp holding force P is controlled2So that the dynamic friction force F during wire stroking2Less than the yield stress of the cable 200 itself is set to F0.2Therefore, the wire harness can be prevented from being broken.
In addition, in order to maintain the wire harness 200 in a relaxed state during the wire stripping process, it is necessary to ensure that the tension of the wire harness 200 is greater than the minimum force for straightening the wire harness 200. The minimum force can be measured by suspending the weight on the wire harness, the weight of the minimum weight which enables the wire harness to be in a linear state judged by naked eyes is measured, and the weight gravity G is calculated and is the value of the minimum force. Thus, the unit is controlled so that the kinetic friction force F2The wire-stroking clamping force P is set in a manner satisfying the following relationship2，
F2>G……(4)。
Due to the control of the wire stroking clamping force P2So that the dynamic friction force F during wire stroking2Since the force G is larger than the minimum force G enough to straighten the wire harness 200, the wire harness 200 can be kept in a relaxed state during wire stroking.
Further, in order to ensure that the design satisfies the above equations (3) and (4), it is necessary to influence how the clamping force of the jig 10 and the structures of the jaws 11, 12 affect the dynamic friction force F between the clamping surface and the wire harness 2002And (6) performing calculation.
How to calculate F is described below2。
As shown in fig. 6, a distance between the center of the contact surface of the jig 10 and the wire harness 200 and the vertex angle of the V-shaped groove 13 is represented by "a" and a width of the contact surface is represented by "b".
According to Newton's third law, the clamping pressure W of each clamping surface acting on the wire harness 200 is
The clamping pressures W acting on the 4 clamping surfaces with the rhombic sections are the same in size and are axially symmetrical and are respectively perpendicular to the 4 clamping surfaces.
Since the wire harness 200 is flexible, the insulating layer of the outer layer thereof is generally an elastomer or a viscoelastic body. The rigidity of the core metal of the wire harness 200 is much higher than that of the insulating layer, and the thickness of the insulating layer is large, so that the clamping force at the time of stroking the wire is small. Therefore, it is considered that the deformation of the wire harness 200 due to the clamping force during the wire stripping process is small, and the deformation occurs only in the insulating layer. By using the hertzian contact theory, the width b of the contact surface between the clamping surface and the wire harness can be calculated as:
wherein, mu1、E1Is the Poisson's ratio and modulus of elasticity, μ, of the material of the clamping face of the clamping jaws 11, 122、E2Is the poisson's ratio and the elastic modulus of the insulation layer material of the wire harness 200.
According to the theory of elastomer friction, the friction of the elastomer is represented by the adhesive friction FadhAnd hysteresis friction force FhystAnd (4) forming. That is to say that the first and second electrodes,
therefore, the dynamic friction force F during yarn stroking2Comprises the following steps:
wherein, K, sigma0、δ、μ2、E2Is an intrinsic parameter of the insulation layer material itself of the wiring harness 200. K is the stretch proportionality coefficient, inversely proportional to the stretch breaking ratio, σ0Is the tensile strength, tan delta is the loss factor, prTrue contact pressure of the contact point (for elastomers, p can be considered)r≈0.8E2)，pcIs the profile contact pressure.
For elastomers, it is considered that
pr≈W/A……(10)。
Where a is the apparent contact area (i.e., the contact area of the wire harness 200 with the jaws 11, 12).
The calculation of the apparent contact area a is explained below.
In the case where a part of the contact portion of the wire harness 200 with the jaws 11, 12 is in the range of t, i.e., in the case where a-b/2< t < a + b/2,
A＝bL―2(a+b/2―t)l……(11)。
further, in the case where the contact portion of the wire harness 200 with the jaws 11, 12 is not within the range of t, i.e., in the case where t < a-b/2,
A＝bL―2bl……(12)。
further, in the case where the contact portion of the wire harness 200 with the jaws 11, 12 is within the range of t, i.e., in the case where t > a + b/2,
A＝bl……(13)。
where, as described above, t is the distance between the deepest part of the engagement groove 14 and the apex of the V-shaped groove 13 along the slope of the V-shaped groove 13, L is the length of the jaws 11, 12 in the longitudinal direction of the wire harness 200, and L is the width of the engagement groove 14 in the longitudinal direction of the wire harness.
When the radius of the wire harness 200 is r, the wire harness 200 is bent
a＝r/tanθ……(14)。
In the case where a-b/2< t < a + b/2, according to the formulae (9) to (11),
in addition, in the case where t < a-b/2, according to the formulae (9), (10), (12),
in addition, in the case where t > a + b/2, according to the formulas (9), (10), (13),
as is clear from the formulae (15) to (17),
according to formula (5), obtaining
It can be seen that the size of the apex angle of the V-shaped groove 13 or the wire clamping force P can be adjusted2So that the dynamic friction force F during the wire smoothing2Satisfies the above-mentioned formulas (3) and (4).
According to the present invention, since the jig 10 moves along the predetermined wiring trajectory and wires the wire harness 200 by stroking the wire harness 200 from one end to the other end of the wire harness 200, the wiring of the wire harness 200 along the wiring trajectory does not need to be performed manually, and it is possible to automate the wiring and improve the wiring efficiency.
Further, according to the present invention, it is not necessary to pass the harness terminals 201 at both ends of the harness 200 through the wire take-up opening and the wire discharge opening, and it is possible to automate a series of wiring of gripping the harness from the feeder, inserting the wire of one harness terminal to the harness interface, smoothing out the harness, and inserting the wire of the other harness terminal to the harness interface, and it is possible to further improve the wiring efficiency.
The embodiments of the present invention have been described above with reference to the accompanying drawings. The embodiments described above are merely specific examples of the present invention, and are not intended to limit the scope of the present invention. Those skilled in the art can modify and combine the embodiments based on the technical idea of the present invention, and the embodiments obtained thereby are also included in the scope of the present invention.
Claims (9)
1. A wire harness wiring device, comprising:
a clamp composed of a pair of clamping jaws capable of clamping the wire harness; and
a control unit capable of controlling the clamping force and movement of the clamp,
the control means is capable of stroking the wire harness from one end to the other end of the wire harness so as to move the jig along a predetermined routing trajectory, thereby routing the wire harness along the routing trajectory,
the control unit may cause the jig to hold the one end of the wire harness and insert the terminal near the one end into a predetermined one of the harness interfaces before causing the jig to perform the wire stroking, and cause the jig to hold the other end of the wire harness and insert the terminal near the other end into the other harness interface after causing the jig to perform the wire stroking.
2. The wire harness routing device according to claim 1,
the control unit sets the clamping force of the clamp when the wiring terminal is inserted into the wire harness interface as a wire clamping force P1And the clamping force of the clamp is set to be larger than the inserting wire clamping force P when the wire harness is stroked1Small wire-stroking clamping force P2The pair of jaws is slidable with respect to the wire harness when the wire is stroked.
3. The wire harness routing device according to claim 2,
the resistance received by the wire harness terminal when the wire harness terminal is smoothly inserted into the wire harness interface is the wire insertion resistance F1F is a coefficient of static friction between the wire harness and the pair of jaws,
the control unit clamps the plug wire with a force P1The following relationship is set to be satisfied:
wherein k is a safety coefficient and takes a value of 1.5-3.
4. The wire harness routing device according to claim 3,
the dynamic friction force between the wire harness and the pair of jaws is F when the wire is stroked2The minimum pulling force with which the terminal can be pulled out from the wire harness interface is T, and the yield stress of the wire harness itself is F0.2The minimum force capable of straightening the wire harness is set to G,
the control unit makes the kinetic friction force F2The wire-stroking clamping force P is set so as to satisfy the following relationship2，
F2＜T、F2＜F0.2And F2＞G。
5. The wire harness routing device according to claim 4,
a V-shaped groove is formed in a surface of at least one of the pair of jaws, the surface facing the other jaw, and the wire harness is held in the V-shaped groove.
6. The wire harness routing device according to claim 5,
the pair of jaws has engagement grooves formed on surfaces thereof facing each other, the engagement grooves engaging with each other, and a direction in which the engagement grooves extend intersects with a direction in which the V-shaped grooves extend.
7. The wire harness routing device according to claim 6,
v-shaped grooves are formed on the surfaces of the pair of clamping jaws which are opposite to each other,
at least the surfaces of the V-shaped grooves of the pair of jaws are made of an elastic material or a viscoelastic material having a hardness and an elastic modulus larger than those of the outer surface insulating layer of the wire harness.
8. The wire harness routing device according to claim 7,
the surface roughness Ra of at least the V-shaped grooves of the pair of clamping jaws is less than 30 um.
9. The wire harness routing device according to claim 7 or 8,
when the vertex angle of the V-shaped groove is 2 theta, the friction angle between the inclined surface of the V-shaped groove and the outer surface insulating layer of the wire harness is set as
The following relationship is satisfied:
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811449334.1A CN111262184B (en) | 2018-11-30 | 2018-11-30 | Wire harness routing device |
| JP2019212118A JP6796179B2 (en) | 2018-11-30 | 2019-11-25 | Wire harness wiring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811449334.1A CN111262184B (en) | 2018-11-30 | 2018-11-30 | Wire harness routing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111262184A CN111262184A (en) | 2020-06-09 |
| CN111262184B true CN111262184B (en) | 2021-06-22 |
Family
ID=70909382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811449334.1A Active CN111262184B (en) | 2018-11-30 | 2018-11-30 | Wire harness routing device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6796179B2 (en) |
| CN (1) | CN111262184B (en) |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5554138Y2 (en) * | 1977-09-13 | 1980-12-15 | ||
| JPS61250909A (en) * | 1985-04-26 | 1986-11-08 | 株式会社日立製作所 | Wiring apparatus |
| JP2585919Y2 (en) * | 1993-06-24 | 1998-11-25 | 松下電工株式会社 | Wire holder for automatic wiring equipment |
| JPH07240267A (en) * | 1994-02-28 | 1995-09-12 | Yazaki Corp | Method and device of inserting wired terminal into connector housing |
| JP2897670B2 (en) * | 1995-01-11 | 1999-05-31 | 住友電装株式会社 | Wire terminal holder |
| JP2001298822A (en) * | 2000-04-10 | 2001-10-26 | Nichifu Co Ltd | Wire stripper for covered electric wire |
| JP4025588B2 (en) * | 2002-06-20 | 2007-12-19 | 矢崎総業株式会社 | Wire clamp |
| JP2007202318A (en) * | 2006-01-27 | 2007-08-09 | Chugoku Electric Power Co Inc:The | Clamp and method for binding electric wire |
| CN103474178B (en) * | 2013-09-27 | 2016-03-02 | 天津长城精益汽车零部件有限公司 | A kind of manufacture method of wire harness |
| JP6124940B2 (en) * | 2015-04-09 | 2017-05-10 | 矢崎総業株式会社 | Wire harness manufacturing method and wiring jig |
| JP6553486B2 (en) * | 2015-11-09 | 2019-07-31 | 矢崎総業株式会社 | Grommet wire insertion jig |
| CN107017585B (en) * | 2016-01-28 | 2018-05-15 | 中国科学院沈阳自动化研究所 | A kind of broken strand of power transmission line smoothes out with the fingers return device |
| CN107346857B (en) * | 2016-05-05 | 2018-11-27 | 沈阳新松机器人自动化股份有限公司 | The device of robot automatic wire inserting Shu Duanzi a kind of and its slotting Wiring harness terminal method |
| CN106711866B (en) * | 2017-03-07 | 2018-05-11 | 长春理工大学 | A kind of aircraft harness automatic wiring machine |
| CN106877247B (en) * | 2017-04-24 | 2018-09-14 | 贵州省仁怀市西科电脑科技有限公司 | Connecton layout for cable |
| CN207397803U (en) * | 2017-07-31 | 2018-05-22 | 厦门海普锐科技股份有限公司 | Thread-dividing mechanism and wire-management device |
| CN107959218B (en) * | 2017-10-19 | 2019-11-05 | 上海交通大学 | A kind of power battery plug wire mechanism |
| CN108574235B (en) * | 2018-06-25 | 2024-01-26 | 南京市龙马通信工程有限公司 | Communication pipeline traction wire device |
-
2018
- 2018-11-30 CN CN201811449334.1A patent/CN111262184B/en active Active
-
2019
- 2019-11-25 JP JP2019212118A patent/JP6796179B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111262184A (en) | 2020-06-09 |
| JP2020089266A (en) | 2020-06-04 |
| JP6796179B2 (en) | 2020-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10766733B2 (en) | Electric wire processing apparatus, electric wire processing method, and electric wire holding structure | |
| EP2693244B1 (en) | Optical fiber coating removing device and method of removing coating | |
| EP1730067B1 (en) | Electrical connector device for use with elevator load bearing members | |
| CN114566848B (en) | Wire coating layer stripping device, terminal crimping wire manufacturing device and manufacturing method | |
| US11159002B2 (en) | Method for removing insulation from inner conductors of a cable, and stripping device | |
| CN111262184B (en) | Wire harness routing device | |
| US9240655B2 (en) | Automatic splice having a magnetic indicator | |
| CA2774428C (en) | Pulling head assembly workstation | |
| EP3551566B1 (en) | Multi-wedge end termination for an elevator system | |
| EP3587318A1 (en) | Winding unit and spiral electric wire manufacturing method | |
| CN112164956B (en) | Full-automatic crimping equipment of power line | |
| JP6870854B2 (en) | Holder for bird damage prevention cord | |
| KR102499968B1 (en) | Wire gripper and live wire distribution tool using it | |
| CN113573857B (en) | Clamp for automatic wiring of electrical components of an electrical switching apparatus, corresponding robot and corresponding method | |
| EP3201930B1 (en) | Disposable optical fiber coating removal tool | |
| JP3956327B2 (en) | Method and apparatus for adjusting tension of striate body | |
| CN113258500A (en) | Wiring device | |
| CN213802337U (en) | A prevent breaking and draw structure for cable processing | |
| CN111092394A (en) | Core wire deforming jig and core wire deforming method | |
| KR101973400B1 (en) | Apparatus for Assembling Wire-rope, and Method for Assembling Wire-rope Using The Same | |
| JP2578497Y2 (en) | Wire clamp for wire harness manufacturing | |
| JP6936164B2 (en) | Wiring / piping material laying structure, and wiring / piping material laying tool | |
| JPS6346543B2 (en) | ||
| JP6936163B2 (en) | Wiring / plumbing material laying tools | |
| JPH04347509A (en) | Cable stripper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |