JP2012054183A - Wire end processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly perform processing with respect to a wire end while suppressing poor processing with respect to the wire end.SOLUTION: A wire end processing device includes: a wire holding part; an end processing unit such as a terminal crimping unit for applying processing to the wire end; a movement mechanism part which moves the wire holding part toward the end processing unit; and an end position detection part which detects a wire end position held by the wire holding part. On the basis of a detection result by the end position detection part, at least one of the end processing unit and the wire holding part is moved to correct a relative position between the end processing unit and the wire holding part.

Description

  The present invention relates to a technique for performing processing such as terminal crimping on an end portion of an electric wire.

  Patent Document 1 discloses an electric wire processing apparatus that includes a clamp that holds the vicinity of a terminal portion of an electric wire, a terminal crimping unit that crimps a terminal to the terminal portion of the electric wire, and a transport unit that moves the clamp. In this electric wire processing apparatus, the clamp that holds the vicinity of the terminal portion of the electric wire is moved by the transport unit, so that the terminal portion of the electric wire moves to the terminal crimping unit. And in a terminal crimping unit, a terminal is crimped | bonded to the terminal part of an electric wire.

  In this type of electric wire processing apparatus, if the end of the electric wire is bent or shaken, processing failure such as crimping failure may occur.

  Therefore, in the electric wire processing device disclosed in Patent Document 1, the movement of the end portion of the electric wire held by the clamp is detected by a sensor, the bending of the electric wire is detected based on the output of the sensor, and when the bending of the electric wire is detected, Processing to repair the bending of the electric wire, processing to temporarily stop the processing of the device, processing to discard the electric wire in which the bending is detected, and the like are performed.

JP 2009-245703 A

  However, according to the electric wire processing apparatus disclosed in Patent Document 1, the processing operation at the end of the electric wire is interrupted each time the bending of the electric wire is detected.

  Then, an object of this invention is to enable it to perform the process with respect to the edge part of an electric wire smoothly, suppressing the process defect with respect to the edge part of an electric wire.

  In order to solve the above-mentioned problem, an electric wire end processing device according to a first aspect includes an electric wire holding unit that holds an electric wire, an end processing unit that performs processing on the end of the electric wire, and the electric wire holding unit. Based on a detection result of the end position detection unit, a moving mechanism unit that moves the end position unit toward the end processing unit, an end position detection unit that detects the end position of the electric wire held by the electric wire holding unit, And a control unit that moves at least one of the end processing unit and the electric wire holding unit to execute a position correction process for correcting a relative position of the end processing unit and the electric wire holding unit.

  The second aspect is the wire end processing device according to the first aspect, wherein the control unit obtains a deviation amount of the end position of the electric wire based on a detection result of the end position detection unit, The position correction process is executed according to the shift amount. Here, executing the position correction process according to the deviation amount includes determining whether or not to execute the position correction process according to the deviation amount, determining the correction amount according to the deviation amount, and the like.

  A third aspect is an electric wire end processing apparatus according to the second aspect, wherein the control unit obtains a deviation amount of the end position of the electric wire based on a detection result of the end position detection unit, The position correction process is executed when the shift amount exceeds a preset correction unnecessary shift amount.

  A 4th aspect is an electric wire edge part processing apparatus which concerns on a 2nd or 3rd aspect, Comprising: The said control unit performs a position correction process, when the said deviation | shift amount exceeds the preset upper limit deviation | shift amount Without an error signal is output.

  A 5th aspect is an electric wire edge part processing apparatus which concerns on any one 1st-4th aspect, Comprising: The said edge part position detection part is made into the linear position sensor.

  A 6th aspect is an electric wire edge part processing apparatus which concerns on a 5th aspect, Comprising: When the said electric wire moves along the longitudinal direction, the said linear position sensor is with respect to the linear movement locus | trajectory of the edge part. The detection result from the linear position sensor when the electric wire moves along the longitudinal direction is input to the control unit.

  A seventh aspect is the electric wire end processing apparatus according to any one of the first to sixth aspects, wherein the control unit is configured to move the position until the electric wire holding unit reaches the end processing unit. Execute correction processing.

  An eighth aspect is an electric wire end processing apparatus according to any one of the first to seventh aspects, further comprising a peeling unit having a strip blade capable of being cut into a covering portion of the electric wire, and the moving mechanism. And an advancing / retreating mechanism for moving the electric wire holding portion along the longitudinal direction of the electric wire so that the covering portion is removed in a state where the strip blade is cut into the electric wire covering portion. The electric wire holding part is configured to be movable from the skinning unit toward the end part processing unit, and the control unit performs the position correction process continuously with the operation of removing the covering part.

  A 9th aspect is an electric wire edge part processing apparatus which concerns on any one 1st-8th aspect, Comprising: The said edge part processing unit is a terminal crimping | compression-bonding unit which crimps | bonds a terminal to the edge part of the said electric wire. .

  According to the wire end processing apparatus according to the first aspect, based on the detection result of the end position detection unit, at least one of the end processing unit and the wire holding unit is moved, and the end unit In order to correct the relative position of the processing unit and the electric wire holding part, the end of the electric wire can be disposed at a position suitable for processing with respect to the end processing unit. For this reason, the process with respect to the edge part of an electric wire can be performed smoothly, suppressing the process defect with respect to the edge part of an electric wire.

  According to the second aspect, since the position correction process is executed according to the amount of deviation, appropriate position correction can be performed according to the amount of deviation.

  According to the third aspect, the position correction process is not executed when the deviation amount is relatively small, and the position correction process is executed when the deviation amount is relatively large. For this reason, the process with respect to the edge part of an electric wire can be performed smoothly, suppressing the process defect with respect to the edge part of an electric wire.

  According to the fourth aspect, in order to output an abnormal signal without performing the position correction process when the deviation amount exceeds a preset upper limit deviation amount, at least one of the end processing unit and the electric wire holding unit. On the other hand, it is possible to easily cope with an emergency state in which it is difficult to correct the deviation due to the relative movement, or an abnormal state of the apparatus.

  According to the fifth aspect, the cost can be reduced by using the linear position sensor. Further, the amount of deviation can be obtained by a relatively simple process based on the detection result from the linear position sensor.

  According to the sixth aspect, with a simple configuration using a linear position sensor, the deviation amount in the width direction of the end portion of the electric wire and the deviation amount in the longitudinal direction of the end portion of the electric wire can be obtained.

  According to the seventh aspect, the position of the electric wire can be corrected by moving the end of the electric wire while suppressing interference with the end processing unit.

  According to the 8th aspect, since the said position correction process is performed following the removal operation | movement of a coating | coated part, the position of the edge part of an electric wire can be correct | amended rapidly.

  According to the 9th aspect, terminal crimping can be performed smoothly, suppressing a terminal crimping defect.

It is a schematic perspective view which shows a process target. It is a schematic perspective view which shows a process target. It is a schematic plan view which shows the electric wire edge part processing apparatus which concerns on embodiment. FIG. 4 is a partially enlarged explanatory view of FIG. 3. It is a block diagram which shows an electric wire edge part processing apparatus. It is the schematic which shows the positional relationship of the edge part of an electric wire and the linear position sensor during a peeling process. It is the schematic which shows the positional relationship of the edge part of an electric wire and the linear position sensor during a peeling process. It is the schematic which shows the positional relationship of the edge part of an electric wire and the linear position sensor during a peeling process. It is the schematic which shows the positional relationship of the edge part of an electric wire and the linear position sensor during a peeling process. It is a figure which shows the positional relationship of the edge part of an electric wire in the state where the edge part of an electric wire is normal, and a linear position sensor. It is a figure which shows the positional relationship of the edge part of an electric wire in the state where the edge part of an electric wire is normal, and a linear position sensor. It is a figure which shows the positional relationship of the edge part of an electric wire in the state where the edge part of an electric wire is normal, and a linear position sensor. It is a figure which shows the positional relationship of the edge part of an electric wire in the state where the edge part of an electric wire is normal, and a linear position sensor. It is a figure which shows the positional relationship of the edge part of an electric wire in the state in which the edge part of an electric wire is bent, and a linear position sensor. It is a figure which shows the example of an output result from the linear position sensor in the state in which the edge part of an electric wire is normal. It is a figure which shows the example of an output result from the linear position sensor in the state in which the edge part of the electric wire is bent. It is a flowchart which shows operation | movement of an electric wire edge part processing apparatus. It is a schematic front view which shows the positional relationship of a terminal and the edge part of an electric wire. It is a schematic plan view which shows the positional relationship of a terminal and the edge part of an electric wire. It is a flowchart which shows operation | movement of the electric wire edge part processing apparatus concerning a modification.

  Hereinafter, the wire end processing apparatus according to the embodiment will be described.

<Overall configuration>
First, the overall configuration of the wire end processing apparatus will be described. 1 and 2 are schematic perspective views showing the object to be processed, FIG. 3 is a schematic plan view showing the wire end processing apparatus 20, and FIG. 4 is a partially enlarged explanatory view of FIG.

  The wire end processing apparatus 20 cuts the continuously supplied electric wire 10 into a predetermined length and peels off the covering portions at both ends thereof, thereby exposing the core wire portions 12 having a predetermined length at both ends. A predetermined length of the electric wire 10 (see FIG. 1) having the covering portion 14 covered at the intermediate portion is manufactured. Thereafter, the wire end processing apparatus 20 crimps the terminal 18 to each of the core wire portions 12 exposed at both ends, and manufactures the terminal-attached electric wire 11 (see FIG. 2). In the following description, when the long electric wire 10 is supplied to the electric wire end processing device 20, the front side in the feeding direction is described as the F side of the electric wire 10, and the rear side in the feeding direction is described as the R side of the electric wire 10. There are things to do. The wire end portion processing device 20 relates to a technique for arranging the exposed core wire portion 12 with respect to the terminal 18 with high positional accuracy when the terminal 18 is crimped to the exposed core wire portion 12.

  The wire end processing apparatus 20 includes a length measuring unit 22, an F-side transport mechanism unit 30, an F-side terminal crimping unit 40 as an end processing unit, a cutting / peeling unit 50, and an R-side transport mechanism unit 60. And an R-side terminal crimping unit 70 as an end processing unit.

  The length measuring unit 22 is configured as a unit that feeds the long electric wire 10 while measuring the length. Then, the wire 10 from the wire supply unit 21 in which the long wire 10 is wound and accommodated on a reel or the like is measured by the length measuring unit 22 and sent to the F-side transport mechanism 30 and the R-side transport mechanism 60. Is included.

  The electric wire 10 fed into the F-side transport mechanism unit 30 is cut by the cutting / peeling unit 50 while being held by the F-side transport mechanism unit 30. And the F side edge part of the electric wire 10 moves to the F side terminal crimping unit 40 after being peeled by the cut peeling unit 50, and is subjected to terminal crimping. Thereafter, the F-side end portion of the electric wire 10 returns to a position facing the cut peeling unit 50 and is delivered to the R-side transport mechanism unit 60.

  The electric wire 10 with the terminal 18 crimped to the F side is further fed while being measured by the length measuring unit 22. When the electric wire 10 is fed for a predetermined length, it is cut by the cutting / peeling unit 50 with the R-side end of the electric wire held by the R-side transport mechanism. Thereby, the electric wire 10 is cut | disconnected by predetermined length. The R-side end of the electric wire 10 cut to a predetermined length is peeled off by the cut-peeling unit 50, then moved to the R-side terminal crimping unit 70, subjected to terminal crimping, and discharged as a product wire. Thereafter, the R-side end portion of the electric wire 10 returns to a position facing the cut peeling unit 50. Thus, the terminal-attached electric wire 11 in which the terminal 18 is crimped to both the F-side end and the R-side end is manufactured.

  More specifically, the F-side transport mechanism unit 30 includes an electric wire holding unit 32 that holds the end of the electric wire 10 and a moving mechanism unit 34 that moves the electric wire holding unit 32. As the moving mechanism 34, the advancing / retreating moving mechanism 36 that moves the electric wire holding portion 32 forward and backward along the longitudinal direction of the electric wire 10, and the electric wire holding portion 32 from the cutting / peeling unit 50 toward the F-side terminal crimping unit 40. And a swivel moving mechanism 38 to be moved.

  The electric wire holding portion 32 is configured to hold and release the electric wire 10 by sandwiching the electric wire by an F-side holding driving portion 32a (see FIG. 5) by electromagnetic or air pressure driving or the like. Yes.

  The advancing / retreating movement mechanism portion 36 is formed as a long member, and supports the electric wire holding portion 32 at one end portion thereof via a bracket 36b so as to be movable and driven along a linear direction. The forward / backward movement mechanism unit 36 includes an F-side forward / backward drive unit 36a (see FIG. 5) capable of linear position control and position signal output. As the F-side advance / retreat drive unit 36a, for example, a linear motor, an electric slider mechanism that rotationally drives a screw shaft with which a slider-side nut member is screwed by driving a servo motor, or the like can be used.

  The turning movement mechanism unit 38 includes an F-side turning drive unit 38a (see FIG. 5) capable of controlling the rotation angle and outputting the rotation angle signal, such as a servo motor, and is fixedly attached to the base 23. . The other end of the advance / retreat mechanism mechanism 36 is connected to the drive shaft of the turning mechanism mechanism 38.

  The forward / backward movement mechanism 36 is driven to rotate around the rotation axis of the rotation movement mechanism 38 by rotating the rotation movement mechanism 38 in both forward and reverse directions. Thereby, the electric wire holding | maintenance part 32 opposes the cutting position which opposes a pair of cutting blade 52 of the cutting peeling unit 50 mentioned later, the peeling position which opposes a pair of strip blade 54 for F side, and the terminal crimping unit 40. It turns around between the crimping positions to be performed (see FIG. 4).

  The cutting / peeling unit 50 has a pair of cutting blades 52, a pair of strip blades 54 for the F side, and a pair of strip blades 56 for the R side, which respectively include a ball screw and a pair of nuts. An approaching / separating drive mechanism using a combination of the above, an electromagnetic drive mechanism, or the like can be moved toward and away from each other. And in the state which arranged electric wire 10 between a pair of cutting blades 52, the said electric wire 10 is cut by moving a pair of cutting blades 52 approaching. Further, when the electric wire 10 is disposed between the pair of strip blades 54 for the F side or the pair of strip blades 56 for the R side, when the wires 10 are moved close to each other, the pair of strip blades 54 or the pair of strips The blade 56 cuts into the covering portion 14. When the electric wire 10 is pulled in this state, the covering portion 14 is removed, and the core wire portion 12 is exposed at the end of the electric wire 10.

  The electric wire end processing apparatus 20 includes a linear position sensor 100 as an end position detecting unit that detects the end position of the electric wire 10 held by the electric wire holding unit 32. Here, the linear position sensor 100 is provided at a position facing the pair of strip blades 54 for the F side. Then, following the operation in which the end portion of the electric wire 10 held by the electric wire holding portion 32 is peeled off by the pair of strip blades 54, the detection result of the end portion position of the electric wire 10 is output from the linear position sensor 100. It has become. The configuration of the linear position sensor 100 will be described later together with an explanation of obtaining the amount of deviation of the end position of the electric wire 10 based on the detection result.

  The F-side terminal crimping unit 40 includes a lower terminal crimping die 42 and an upper terminal crimping die 44 (see FIG. 18). Then, in a state where the core wire portion 12 and the terminal 18 at the end of the electric wire 10 are disposed between the pair of dies 42 and 44, the two dies 42 and 44 are moved by a driving force of a motor, an air cylinder, a hydraulic cylinder or the like. The terminal 18 is crimped to the core wire portion 12 by being moved closer.

  The pair of cutting blades 52, the pair of F-side strip blades 54, and the molds 42 and 44 of the F-side terminal crimping unit 40 are along arcuate lines centered on the rotation axis of the swivel moving mechanism 38. It is arranged. For this reason, the end portion of the electric wire 10 held by the electric wire holding portion 32 revolving and moving by the revolving movement mechanism portion 38 is cut by the pair of cutting blades 52 and then passed between the pair of strip blades 54 so as to be crimped to the F side terminal. It moves between the molds 42 and 44 of the unit 40.

  A strip confirmation sensor 48 constituted by a position sensor such as an optical sensor is provided between the pair of F-side strip blades 54 and the F-side terminal crimping unit 40. And the detection signal at the time of the edge part of the electric wire 10 hold | maintained by the electric wire holding | maintenance part 32 passing on this strip confirmation sensor 48 is output. Then, based on the detection signal, it is determined whether a control unit 80 or the like, which will be described later, has a width corresponding to the peeled core wire portion 12, and the end portion of the electric wire 10 is successfully peeled according to the determination result. It is possible to determine whether or not it has been done. The strip confirmation sensor 48 may be omitted.

  The R-side transport mechanism 60 and the R-side terminal crimping unit 70 have the same configuration as the F-side transport mechanism 30 and the F-side terminal crimping unit 40, and the F-side transport mechanism 30 and the F-side terminal crimping unit. The unit 40 is provided at a 180-degree rotationally symmetrical position with the cut peeling unit 50 as the center.

  The pair of cutting blades 52, the pair of R-side strip blades 56, and the terminal crimping die of the R-side terminal crimping unit 70 are also arc-shaped lines centered on the swivel axis of the R-side transport mechanism 60. It is arranged along. As a result, the stripping process and the terminal crimping process can be performed on the R-side end of the electric wire 10 as well. Moreover, the linear position sensor 100 and the strip confirmation sensor 48 are provided also in the part which processes the edge part of the R side of these electric wires 10 like the above.

  In the following, description will be made mainly on the configuration for performing stripping processing, terminal crimping processing, and position correction processing on the F-side end portion of the electric wire 10, but the same configuration is also adopted for the R-side end portion of the electric wire. can do.

  FIG. 5 is a block diagram showing the wire end processing apparatus 20. The wire end processing device 20 is configured to be able to execute cutting, stripping, and terminal crimping of the wire 10 under the control of the control unit 80. When performing this processing, the control unit 80 moves the wire holding portion 32 based on the detection result of the linear position sensor 100, as will be described in detail later, so that the terminal crimping unit 40 and the wire holding portion 32 are A position correction process for correcting the position is executed.

  That is, the control unit 80 is configured by a general computer in which a CPU 81, a ROM 82, a RAM 83, an external storage device 84, and the like are interconnected via a bus line 85. The ROM 82 stores basic programs and the like, and the RAM 83 is used as a work area when the CPU 81 performs various processes described later. The external storage device 84 is configured by a nonvolatile storage device such as a flash memory or a hard disk device. The external storage device 84 stores a processing program 84a for cutting, stripping and terminal crimping of the electric wire 10. The processing program 84a describes a procedure for executing the position correction process. In accordance with the procedure described in the processing program 84a, the CPU 81 as the main control unit performs arithmetic processing, so that cutting, stripping, and terminal crimping processing of the electric wire 10 are performed, and position correction processing is performed during the processing. Various functions to perform are realized. The processing program 84a is normally stored and used in advance in a storage device such as the external storage device 84, but is a portable recording medium such as a CD-ROM or DVD-ROM or an external flash memory. May be provided in a recorded form, or may be provided by downloading from an external server via a network, and may be additionally or exchanged and stored in a storage device such as the external storage device 84. It should be noted that some or all of the functions including the position correction process performed by the control unit 80 may be realized by hardware using a dedicated logic circuit or the like.

  The external storage device 84 also stores an end position reference value 84b that serves as a reference for obtaining a deviation amount when executing the position correction process. The end position reference value 84b will be described later.

  In the control unit 80, the sensor input / output circuit unit 86, the input / output circuit unit 87, and other input units and display units (not shown) are also connected to the bus line 85.

  The sensor input / output circuit unit 86 includes an amplifier circuit, an AD conversion circuit, and the like. The detection signal output from the linear position sensor 100 is input as a digital signal via the sensor input / output circuit unit 86. The detection signal converted into a digital signal by the sensor input / output circuit unit 86 is stored in the RAM 83 or the external storage device 84 as time series data having an amplitude corresponding to the presence or absence of an object, for example, and a position correction process described later. To be served. The sensor input / output circuit unit is not limited to an analog processing circuit, and may be a digital processing circuit.

  The input / output circuit unit 87 is controlled by the CPU 81 under the control of the CPU 81. The F-side turning drive unit 38a, the F-side advance / retreat drive unit 36a, the F-side holding drive unit 32a of the F-side transport mechanism unit 30, and the electric wire end processing device 20 The operation control signal is output to each of the components, and a monitor signal or the like can be input from them as required. Here, in particular, an operation control signal indicating the movement position can be output to the F-side turning drive unit 38a and the F-side advance / retreat drive unit 36a of the F-side transport mechanism unit 30 through the input / output circuit unit 87. The monitor signal indicating the position during each operation of the F-side turning drive unit 38a and the F-side advance / retreat drive unit 36a can be input.

  Note that various switches, a touch panel, and the like are used as an input unit (not shown). Through this input unit, in addition to the input setting instruction for the end position reference value 84b, various instructions for processing are accepted. The display unit (not shown) is configured by a liquid crystal display device or the like, and is configured to be able to display various information being processed (display of an abnormal state) under the control of the CPU 52.

<Configuration related to linear position sensor>
A configuration related to the linear position sensor 100 and a configuration for obtaining the end position and the shift amount of the electric wire 10 using the linear position sensor 100 will be described.

  6 to 9 are schematic views showing the positional relationship between the end of the electric wire 10 and the linear position sensor 100 during the peeling process. 6 is a side schematic view before the pair of strip blades 54 cuts into the covering portion 14, FIG. 7 is a front schematic view before the pair of strip blades 54 cut into the covering portion 14, and FIG. FIG. 9 is a schematic side view showing a state in which the pair of strip blades 54 are cut into the covering portion 14, and FIG. 9 is a schematic side view showing a state where the covering portion 14 is removed by moving the electric wire 10 backward.

  The linear position sensor 100 is a sensor that detects the presence or absence of an object on a straight line, and includes a light emitting unit 102 and a light receiving unit 104 in this example. The light emitting unit 102 is configured to be able to emit detection light from a linear light emitting area. As the detection light, visible light or invisible light can be used, and laser light is preferably used. The light receiving unit 104 includes a plurality of light receiving elements capable of receiving the detection light. The plurality of light receiving elements are arranged in a straight line facing the linear light emitting area of the detection light. Then, by arranging the linear light emitting area of the light emitting unit 102 and the plurality of light receiving elements of the light receiving unit 104 to face each other, a detection signal indicating the presence and position of an object in the linear detection line between them is output. It has come to be. The light emitting unit and the light receiving unit may be arranged upside down.

  Moreover, this linear position sensor 100 is installed in the position and attitude | position which cross | intersect with the linear movement locus | trajectory of the edge part, when the electric wire 10 moves along the longitudinal direction. Here, the linear detection line of the linear position sensor 100 has a position and posture that intersect the longitudinal movement trajectory of the electric wire 10 when the covering portion 14 is removed. A detection signal from the linear position sensor 100 when the electric wire 10 moves along its longitudinal direction is input to the control unit 80.

  More specifically, when the covering portion 14 is removed, first, the electric wire holding portion 32 holding the end portion of the electric wire 10 moves forward toward the pair of strip blades 54 by driving the F-side advance / retreat driving portion 36a. Thereby, the edge part of the electric wire 10 is arrange | positioned between a pair of strip blades 54 (refer FIG.6 and FIG.7).

  Thereafter, when the pair of strip blades 54 moves close to each other, the pair of strip blades 54 cut into the covering portion 14 (see FIG. 8).

  In this state, the electric wire holding portion 32 holding the end portion of the electric wire 10 retreats from the pair of strip blades 54 by driving the F-side advance / retreat driving portion 36a (see FIG. 9). Thereby, the edge part of the electric wire 10 retracts from a pair of strip blades 54, and the coating | coated part 14 of the front end side is removed rather than the part into which the pair of strip blades 54 cut. At this time, the linear detection line of the linear position sensor 100 is positioned closer to the pair of strip blades 54 than the end of the electric wire 10 held by the electric wire holding unit 32 with the electric wire holding unit 32 retracted most. It has become. Thereby, when the electric wire holding part 32 moves backward, the linear position sensor 100 can detect the position of the end of the electric wire 10 held by the electric wire holding part 32. Further, the distance between the pair of strip blades 54 and the linear detection line of the linear position sensor 100 is set to be larger than the length of the covering portion 14 to be removed. Thereby, the linear position sensor 100 can detect the core wire portion 12 exposed at the end portion of the electric wire 10 in a state where the exposed core wire portion 12 does not interfere with the pair of strip blades 54.

  Based on the detection signal of the linear position sensor 100, how to obtain the end position and the shift amount of the electric wire 10 will be described. The deviation amount is an amount of deviation from a position that should exist at a certain point in time for accurate processing, and here is an amount of deviation from a certain reference position with respect to the wire holding portion 32.

  10-13 is a figure which shows the positional relationship of the edge part of the electric wire 10, and the linear position sensor 100 at the time of moving the electric wire 10 along the longitudinal direction in the state where the edge part of the electric wire 10 is normal. is there. FIG. 14 is a diagram showing a positional relationship between the end of the electric wire 10 and the linear position sensor 100 when the end of the electric wire 10 is bent.

  That is, when the end portion of the electric wire 10 extends linearly with respect to the intermediate portion of the electric wire 10 and the end portion position of the electric wire 10 with respect to the electric wire holding portion 32 is also normal, as shown in FIGS. The core wire portion 12 exposed at the end of the electric wire 10 moves in a posture orthogonal to the linear position sensor 100 and through the center of the linear position sensor 100.

  Assuming that detection signals from a plurality of light receiving elements arranged in a straight line are serially output every predetermined period as the electric wire holding unit 32 moves backward, the output result from the linear position sensor 100 is shown in FIG. As shown. The horizontal axis in FIG. 15 indicates each period S (1), S (2), S (3)... And the detection position (position of the light receiving element) in each period, and the vertical axis indicates the light intensity (that is, , The presence or absence of the end portion of the electric wire 10). Each period S (1), S (2), S (3)... Changes with the backward movement of the wire holding part 32, and therefore corresponds to the position of the wire holding part 32. The position of the electric wire holding part 32 corresponding to each period S (1), S (2), S (3)... Can be obtained based on the position signal from the F-side advance / retreat drive part 36a.

  In this case, for example, until the periods S (1), S (2)... S (a-1), S (a), the object detection width W1 (detection position length with low light intensity) is relatively long. It is large (the width of the object is relatively large). Therefore, it can be considered that the covering portion 14 of the electric wire 10 is detected.

  In the period S (a + 1), it can be considered that the detection width W2 of the object is relatively small, and thus the core portion 12 exposed at the end of the electric wire 10 is detected.

  Further, after the period S (b + 1), the object is not detected, and the state where the light intensity is high is maintained. That is, it can be seen that the exposed tip of the core portion 12 is detected in the immediately preceding period S (b) in which the detection width W2 of the object is not detected. That is, the control unit 80 determines whether or not the detection width of the object falls below a predetermined width (a width smaller than the detection width W2 corresponding to the width of the core wire portion 12) in each period. The core S with respect to the electric wire holding part 32 is determined based on the position of the electric wire holding part 32 corresponding to the period S (b). The position of the tip of the portion 12 can be specified. In the following, the positions of the electric wire holding portions 32 corresponding to the periods S (1), S (2)... Are added with the same parentheses after the letter “X”, and the positions X (1), X (2) ... may be written.

  Further, the object detection position (here, the position where the light intensity is reduced) in each of the periods S (1), S (2), S (3). The position of the end of the electric wire 10 is shown. Therefore, for example, the center position of the object detection period in each period S (1), S (2), S (3)... Is regarded as the position of the distal end portion of the electric wire 10 (of the object detection period). (It may be considered that the initial stage or the final stage (they indicate the side edges of the core portion 12) is the position of the tip of the electric wire 10). And the center position Mb of the detection width W2 of the electric wire 10 in the period S (b) specified as the position of the front end portion of the core wire portion 12 can be specified as the position of the front end portion of the electric wire 10.

  As described above, the position of the end portion of the electric wire 10 with respect to the electric wire holding portion 32 (the relative position X (b) in the longitudinal direction of the electric wire 10 and the relative position Mb in the direction orthogonal to the longitudinal direction of the electric wire 10 in the horizontal direction). Can be identified.

  Next, how to determine the amount of deviation of the end position of the electric wire 10 will be described.

  That is, when the end portion of the electric wire 10 is held in the normal posture and the normal position with respect to the electric wire holding portion 32, the longitudinal reference position of the end portion of the electric wire 10 in the longitudinal direction of the electric wire 10 is the position X (b ) (Position corresponding to the period S (b)), the reference position in the width direction of the end of the electric wire 10 at this time is defined as a position Mb. Note that when obtaining the shift amount as described below, the longitudinal direction reference position X (b) and the width direction reference position Mb are stored in the external storage device 84 or the like as preset values.

  Here, as shown in FIG. 14, suppose that the front-end | tip part of the electric wire 10 was bent to the one side in the width direction. In this case, when detection signals from a plurality of light receiving elements arranged in a straight line are serially output at predetermined intervals as the electric wire holding portion 32 moves backward, the output result from the linear position sensor 100 is as shown in FIG. As shown. Since the tip of the electric wire 10 is bent, the detection width of the object in each period S (1), S (2)... Is less than the predetermined width in a period earlier than the case shown in FIG. Specifically, the detection width is W2 in the period S (n), but no object is detected in the period S (n + 1). For this reason, the position X (n) of the electric wire holding part 32 corresponding to the period S (n) can be specified as the relative position of the distal end portion of the core wire part 12 with respect to the electric wire holding part 32.

  Then, based on the difference between the longitudinal reference position X (b) and the detection position X (n), the displacement dX in the longitudinal direction of the electric wire 10 can be obtained.

  Further, the center position Mn of the object detection period in the period S (n) is specified as the position in the width direction of the distal end portion of the electric wire 10. Based on the difference between the width direction reference position Mb and the detected center position Mn, the displacement amount dM in the width direction of the electric wire 10 can be obtained. In addition, it is preferable that the amount of displacement dX in the longitudinal direction of the electric wire 10 and the amount of displacement dM in the width direction of the electric wire 10 are obtained together with the direction of displacement using a positive / negative symbol or the like.

  As described above, the position of the end of the electric wire 10 and the amount of deviation are obtained. In the present embodiment, the position and the amount of displacement of the end of the electric wire 10 are obtained with reference to the electric wire holding portion 32. In addition, the deviation of the end of the electric wire 10 with respect to the line passing through the electric wire holding portion 32 is obtained. An angle may be obtained. Further, the position and displacement amount are obtained in a coordinate system based on the base 23 or the terminal crimping unit 40 of the wire end processing apparatus 20 and a polar coordinate system centered on the turning axis of the F-side transport mechanism 30. May be.

  In the present embodiment, the description has been made on the assumption that the end position and the deviation amount are obtained by the control unit 60, but a part of the processing function may be incorporated in the linear position sensor 100 side. For example, a processing function for identifying the presence / absence of an object and its position is incorporated on the linear position sensor 100 side, and the presence / absence of an object and its presence are transferred from the linear position sensor 100 to the control unit 60 as the electric wire holding unit 32 moves forward and backward. A signal indicating the position may be input.

<Overall operation including position correction processing>
The overall operation of the wire end processing apparatus will be described together with the correction processing operation.

  FIG. 17 is a flowchart showing the operation of the wire end processing apparatus.

  That is, after the continuously fed electric wire 10 is cut by the cutting / peeling unit 50, in step S1, the electric wire holding unit 32 holding the end of the electric wire 10 is driven by the driving of the F-side turning drive unit 38a. Move to the skinning position (see FIG. 4).

  In the next step S2, the covering portion 14 at the end of the electric wire 10 is peeled off by the forward / backward driving operation of the electric wire holding portion 32 by the F-side forward / backward driving portion 36a and the close movement operation of the pair of strip blades 54 (FIGS. 6 to 6). 9). After the covering portion 14 having a predetermined length is removed from the end portion of the electric wire 10, a detection signal from the linear position sensor 100 is given to the control unit 80 when the electric wire 10 subsequently moves backward along its longitudinal direction. .

  In the next step S3, the control unit 80 determines the end position of the electric wire 10 with respect to the electric wire holding part 32 (in the above example, the longitudinal direction position X (n) and the width direction position Mn based on the detection signal from the linear position sensor 100. ).

  In the next step S4, based on the preset reference position (in the above example, the longitudinal direction position X (b) and the width direction reference position Mb) and the end position, the shift amount of the end of the electric wire 10 ( In the above example, the displacement amount dX in the longitudinal direction of the electric wire 10 and the displacement amount dM in the width direction of the electric wire 10 are obtained.

  Thereafter, in step S5, the wire holding part 32 is moved according to the amount of deviation. That is, the electric wire holding part 32 is moved forward and backward by driving the F side advance / retreat driving part 36a and the electric wire holding part 32 is turned by driving the F side turning driving part 38a so as to eliminate the deviation amount. Execute correction processing. In the above example, the electric wire holding portion 32 is advanced and retracted by an amount corresponding to the displacement dX in the longitudinal direction of the electric wire 10. Further, referring to the distance L between the turning axis of the turning movement mechanism unit 38 and the electric wire holding unit 32, the turning angle θ corresponding to the displacement dM in the width direction of the electric wire 10 is obtained, and the turning angle θ is determined according to the turning angle θ. The electric wire holding part 32 is swung. For example, the turning angle θ can be approximately calculated by θ = arcsin (dM / L) (“arcsin” is an inverse sine function). By moving the electric wire holding portion 32 as described above, the shift of the end portion of the electric wire 10 is eliminated. Note that the amount of deviation does not need to be completely zero after correction, and it is sufficient that the amount of deviation is smaller than that before the position correction processing.

  The position correction process in step S5 is preferably performed following the skinning process. In particular, the position correction process is performed in the middle of the retraction movement of the electric wire holding part 32 by driving the F-side advance / retreat driving part 36a for the skinning process, and the electric wire is held at a position obtained by adding / subtracting the deviation dX to the original stop position. It is preferable that the part 32 is retracted and stopped. Thereby, it can correct | amend smoothly, without stopping the electric wire holding | maintenance part 32. FIG.

  However, the position correction process may be performed after the skinning process is performed and the wire holding unit 32 is temporarily stopped. Further, it may be performed while the electric wire holding part 32 moves to the crimping position or after the electric wire holding part 32 arrives at the crimping position. That is, the movement for the correction may be performed independently or may be performed together with movement to another place.

  Thereafter, the process proceeds to step S <b> 6, and the electric wire holding part 32 moves to the crimping position by driving the turning movement mechanism part 38. At this time, the wire holding part 32 moves in a certain direction and by a certain amount from the corrected position. For this reason, the edge part of the electric wire 10 is moved toward the terminal crimping | compression-bonding unit 40 with the state from which the shift | offset | difference of the edge part of the electric wire 10 was eliminated.

  That is, as shown by a two-dot chain line in FIGS. 18 and 19, even if the end of the electric wire 10 is bent, the end of the electric wire 10 moves so as to be disposed in the crimping portion of the terminal 18. . For this reason, the crimping | compression-bonding defect of the terminal 18 resulting from the shift | offset | difference of the edge part of the electric wire 10 with respect to the terminal 18 can be suppressed.

  According to the electric wire end processing apparatus 20 configured as described above, the electric wire holding unit 32 is moved based on the detection result of the linear position sensor 100 which is the end position detecting unit, and the terminal which is the end processing unit. In order to correct the relative position between the crimping unit 40 and the electric wire holding part 32, the end of the electric wire 10 can be disposed at a position suitable for processing relative to the terminal crimping unit 40. For this reason, the crimping | compression-bonding defect with respect to the edge part of the electric wire 10 can be suppressed. Moreover, since it is not necessary to stop the crimping process, discharge, etc. every time the end position of the electric wire 10 is displaced, the crimping process can be performed smoothly. In particular, since position correction processing is executed according to the amount of deviation, appropriate position correction can be performed according to the amount of deviation.

  Moreover, in the said embodiment, the control unit 80 calculates | requires the deviation | shift amount of the edge part position of the electric wire 10 based on the detection result of the linear position sensor 100, and the position according to the said deviation | shift amount also when the deviation | shift amount is small. Since the correction process is executed, it is possible to more reliably suppress a processing failure with respect to the end portion of the electric wire 10.

  Further, since the linear position sensor 100 is used as the end position detection unit, the cost can be reduced compared to the case where an image sensor or the like is used.

  Moreover, the linear position sensor 100 is provided in the position and attitude | position which cross | intersect with the linear movement locus | trajectory of the edge part at the time of the electric wire 10 moving along the longitudinal direction. And based on the detection result from the linear position sensor 100 when the electric wire 10 moves along the longitudinal direction, the position and the amount of displacement of the end portion of the electric wire 10 in the width direction of the end portion of the electric wire 10 The position and deviation amount are obtained. For this reason, compared with the case where the output result of an image sensor etc. is used, the edge part position of the electric wire 10 and its deviation | shift amount can be calculated | required by a comparatively simple process.

  However, it is not essential to use the linear position sensor 100 as the end position detection unit. For example, a position sensor (such as an optical sensor) that detects the presence / absence of one specific object may be used as the end position detection unit. Even in this case, the end position of the electric wire 10 can be specified by a combination of the moving position and the detection timing by another moving mechanism. Further, as the end position detection unit, a two-dimensional sensor (CCD imaging element or the like) having detection elements arranged two-dimensionally is used, and an image processing or the like that extracts and recognizes the end of the electric wire 10 is used. Ten end positions may be specified.

  In addition, the control unit 80 performs the position correction process in a state where the wire holding portion 32 is located at the peeling position until the wire holding portion 32 reaches the terminal crimping unit 40. The position of the end of the electric wire 10 can be corrected while suppressing the interference between the terminal and the terminal crimping unit 40. That is, if the end portion of the electric wire 10 is moved to the terminal crimping unit 40 with the end portion of the electric wire 10 shifted, there is a risk that the end portion of the electric wire 10 may interfere with the molds 42 and 44 or the terminal 18 and the like. is there. Therefore, after the position correction process is performed so as to eliminate the shift amount in advance, the interference is suppressed by moving the wire holding portion 32 toward the crimping position. Thereby, a crimping | compression-bonding process can be performed more reliably.

  In particular, the moving mechanism 34 moves the wire holding portion 32 along the longitudinal direction of the electric wire 10 so that the covering portion 14 is removed in a state where the pair of strip blades 54 are cut into the covering portion 14 of the electric wire 10. While having the advancing / retreating movement mechanism part 36 which advances / retreats, the electric wire holding | maintenance part 32 is comprised toward the terminal crimping | compression-bonding unit 40 from the cutting | peeling peeling unit 50. And the control unit 80 specifies the position of the edge part of the electric wire 10 at the time of the backward movement of the electric wire holding | maintenance part 32, and performs a position correction process continuously to the operation | movement from which the coating | coated part 14 is removed. . For this reason, a position correction process can be performed following the removal operation of the covering portion, and the position of the end portion of the electric wire 10 can be corrected quickly.

  Accordingly, the position of the end of the electric wire 10 can be specified and the position of the end of the electric wire 10 can be corrected without providing a separate position correction stage.

  However, a correction station for detecting the end position of the electric wire 10 is provided in the middle of the movement of the electric wire holding part 32, and the electric wire 10 is temporarily stopped by the electric wire holding part 32 at the correction station. The end position may be detected. The position correction process in this case may be performed at the correction station, or may be performed during or after the subsequent movement.

  Further, an end position detection unit may be provided in the end processing unit. For example, the end position detection unit may be provided at a front position of the mold, or may be provided in a state of being incorporated in the mold. And when arrange | positioning the edge part of the electric wire 10 in the processing position of an edge part processing unit, based on the detection result from the said edge part position detection part, the edge part of the electric wire 10 is predetermined | prescribed processing position (crimping with a metal mold | die). It may be arranged accurately at a position suitable for processing.

{Modifications}
As mentioned above, although this electric wire edge part processing apparatus was demonstrated in detail, above-described description is an illustration in all the situation, Comprising: This invention is not limited to it. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.

  FIG. 20 is a flowchart according to an operation modification of the wire end processing apparatus. The flowchart shown in FIG. 20 includes steps S1 to S6 as in the flowchart shown in FIG. The flowchart shown in FIG. 20 is different from the flowchart shown in FIG. 17 in that other steps S11 to S14 are provided. If it demonstrates centering on the difference, in FIG. 20, step S11 and S12 are inserted between step S4 and step S5.

  Then, after the deviation amount is obtained in step S4, the process proceeds to step S11.

  In step S11, it is determined whether or not the deviation amount (in the above example, the deviation amount dX in the longitudinal direction of the electric wire 10 and the deviation amount dM in the width direction of the electric wire 10) exceeds the upper limit deviation amount. The upper limit deviation amount is a value that is set in advance for each of the deviation amount dX in the longitudinal direction of the electric wire 10 and the deviation amount dM in the width direction of the electric wire 10 and stored in the external storage device 84 or the like. The upper limit deviation amount is a value that is set experimentally and empirically as a value that prevents the processing from being performed well even if the deviation amount is too large to be corrected. The determination that the shift amount exceeds the upper limit shift amount may be made when it is determined that any one of the plurality of shift amounts exceeds the upper limit shift amount. When the deviation amount and the upper limit deviation amount are the same, the process may proceed to either step S13 or step S12. If it is determined in step S11 that the shift amount exceeds the upper limit shift amount, the process proceeds to step S13.

  In step S13, an abnormal signal is output from the control unit 80. In the next step S13, the processing of the wire end processing device 20 is stopped and an error is displayed on the display unit or the like. Thereby, an operator removes the electric wire 10 used as the error object, and performs abnormality confirmation etc. of this electric wire edge part processing apparatus 20. FIG. The output of the abnormality signal may be performed by discarding the electric wire that is the target of the abnormality, or may produce another abnormality warning sound.

  On the other hand, if it is determined in step S11 that the deviation amount does not exceed the upper limit deviation amount, the process proceeds to step S12. In step S12, it is determined whether or not the deviation amount exceeds the correction unnecessary deviation amount. The correction unnecessary deviation amount is, for example, a value set in advance for each of the deviation amount dX in the longitudinal direction of the electric wire 10 and the deviation amount dM in the width direction of the electric wire 10 and stored in the external storage device 84 or the like. This correction-unnecessary deviation amount is a value that is set experimentally and empirically as a value or the like that allows the processing to be successfully performed without any particular correction because the deviation amount is small even if a deviation amount exists. The determination that the deviation amount exceeds the correction unnecessary deviation amount may be made when it is determined that any one of the plurality of deviation amounts exceeds the correction unnecessary deviation amount. When the deviation amount and the upper limit deviation amount are the same, the process may proceed to either step S5 or step S6. If it is determined in step S12 that the deviation amount exceeds the correction unnecessary deviation amount, the process proceeds to step S5 to correct the relative position due to the movement. On the other hand, if it is determined in step S12 that the deviation amount does not exceed the unnecessary correction deviation amount, the process proceeds to step S6 without performing the position correction process, and the wire holding portion 32 is moved to the crimping position.

  Note that either one of step S11 and step S13 may be omitted.

  According to the present modification, the control unit 80 executes the position correction process when the deviation amount exceeds a preset correction unnecessary deviation amount. For this reason, the processing defect with respect to the edge part of the electric wire 10 resulting from a position shift can be suppressed. On the other hand, if the amount of deviation is relatively small, the position correction process is not executed, and if the amount of deviation is relatively large, the position correction process is executed. For this reason, the process with respect to the edge part of the electric wire 10 can be performed smoothly.

  Further, when the deviation amount exceeds the upper limit deviation amount, the control unit 80 outputs an abnormal signal without executing the position correction process. When the amount of deviation is excessive, it is difficult to correct the amount of deviation, or the occurrence of an abnormal situation of the apparatus is assumed, so such a case can be easily dealt with.

  Moreover, in the said embodiment, the example which arrange | positions the edge part of the electric wire 10 with sufficient positional accuracy with respect to the terminal 18 arrange | positioned with respect to the terminal crimping unit 40 more specifically. However, the present invention can also be applied to the case where the end of the electric wire 10 is disposed with respect to other end processing units.

  For example, as the end processing unit, a sealing material mounting unit in which a sealing material such as a rubber plug is mounted on the end of the electric wire can be assumed. In this case, similarly to the above, the position of the end of the electric wire 10 is arranged with its relative position corrected with respect to the sealing material mounting unit (more specifically, the sealing material setting position in the sealing material mounting unit). By doing so, the sealing material can be accurately attached to the end of the electric wire 10. Moreover, the edge part holding unit which hold | maintains the edge part of the electric wire 10 and delivers to the following process unit or discharge unit etc. can also be assumed as an edge part processing unit. In this case as well, as described above, the relative position of the end portion of the electric wire 10 is corrected with respect to the end portion holding unit (more specifically, the portion that holds the end portion of the electric wire in the end portion holding unit). Therefore, the end portion of the electric wire 10 can be accurately transferred to the next end portion holding unit. Furthermore, a solder attachment unit that attaches molten solder to the core wire portion 12 at the end of the electric wire 10 can be assumed as the end processing unit. In this case, the molten solder can be attached to the core wire portion 12 at the end of the electric wire 10 with a precise position and amount. In this way, as the end portion processing unit, various units that perform some kind of processing such as various processing and holding on the end portion of the electric wire 10 can be assumed.

  In the above-described embodiment, the example in which the electric wire holding portion 32 that holds the end portion of the electric wire 10 is moved has been described, but this is not necessarily required. That is, in order to suppress processing defects with respect to the end portion of the electric wire 10, the relative position between the electric wire holding portion 32 and the end portion processing unit may be corrected. For this reason, a moving mechanism unit for moving the end processing unit is provided, and the control unit 80 may move the end processing unit instead of moving the wire holding unit 32, or You may make it relatively move both with an edge part processing unit. When moving the end processing unit, it is not necessary to move the entire end processing unit, and at least the processing portion (the mold portion in the terminal crimping unit 40) may be moved.

  Moreover, in the said embodiment, although the electric wire holding | maintenance part 32 is set as the structure rotated by the rotational drive of the rotation movement mechanism part 38 between a cutting position, a peeling position, and a crimping | compression-bonding position, it is not necessarily required. Another configuration may be used in which the machining position is linearly moved by driving a linear drive mechanism.

  Moreover, although the said embodiment demonstrated the example which correct | amends the deviation | shift amount in two directions, the advancing / retreating direction and the turning direction, the direction which correct | amends deviation | shift amount is not restricted to such an example. An example of correcting the deviation amount in one direction such as the forward / backward direction or the turning direction may be used. Moreover, while providing the height sensor which detects the height position of the edge part of the electric wire 10, you may provide the drive mechanism part which adjusts and drives at least one of an electric wire holding part and an edge part process unit in a height direction. Then, the height of at least one of the electric wire holding part and the end part processing unit may be adjusted based on the height sensor so as to eliminate the deviation amount in the height direction.

  Moreover, in the said embodiment, after calculating | requiring deviation | shift amount, the electric wire holding | maintenance part 32 is moved so that the said deviation | shift amount may be eliminated, but it is not necessarily required. For example, the wire holding unit 32 may be moved by a certain amount with reference to the detection position of the end of the wire 10. Even in this case, the end portion of the electric wire 10 can be accurately arranged at a predetermined processing position on the basis of the detection position of the end portion of the electric wire 10.

  In addition, each structure demonstrated in the said embodiment and each modification can be suitably combined unless it mutually contradicts.

DESCRIPTION OF SYMBOLS 10 Electric wire 20 Electric wire edge part processing apparatus 30 F side conveyance mechanism part 32 Electric wire holding part 34 Movement mechanism part 36 Advance / retreat mechanism part 36a F side advance / retreat drive part 38 Turning movement mechanism part 38a F side turning drive part 40 F side terminal crimping unit 50 Cutting and peeling unit 54 Strip blade 80 Control unit 100 Linear position sensor

Claims (9)

An electric wire holding part for holding the electric wire;
An end processing unit for processing the end of the electric wire;
A moving mechanism for moving the wire holding portion toward the end processing unit;
An end position detection unit for detecting an end position of the electric wire held by the electric wire holding unit;
Based on the detection result of the end position detection unit, a position for correcting at least one of the end processing unit and the wire holding unit and correcting the relative position of the end processing unit and the wire holding unit. A control unit that executes correction processing;
An electric wire end processing apparatus. The wire end processing apparatus according to claim 1,
The said control unit is an electric wire edge part processing apparatus which calculates | requires the deviation | shift amount of the edge part position of the said electric wire based on the detection result of the said edge part position detection part, and performs the said position correction process according to the said deviation | shift amount. The wire end processing device according to claim 2,
The control unit obtains a deviation amount of the end position of the electric wire based on a detection result of the end position detection unit, and the position correction process when the deviation amount exceeds a preset correction unnecessary deviation amount. Execute the wire end processing device. It is an electric wire edge part processing apparatus of Claim 2 or 3,
The control unit outputs an abnormal signal without executing position correction processing when the shift amount exceeds a preset upper limit shift amount. It is an electric wire edge part processing apparatus of any one of Claims 1-4, Comprising:
The end position detection unit is a wire end processing device that is a linear position sensor. The wire end processing apparatus according to claim 5,
The linear position sensor is provided at a position and posture that intersects the linear movement locus at the end when the electric wire moves along the longitudinal direction thereof,
An electric wire end processing device in which a detection result from the linear position sensor when the electric wire moves along its longitudinal direction is input to the control unit. The wire end processing apparatus according to any one of claims 1 to 6,
The control unit is
An electric wire end processing apparatus that executes the position correction processing until the electric wire holding unit reaches the end processing unit. It is an electric wire edge part processing apparatus of any one of Claims 1-7,
Further comprising a peeling unit having a strip blade that can be cut into the covering portion of the wire,
The moving mechanism portion moves the wire holding portion along the longitudinal direction of the electric wire so that the covering portion is removed while the strip blade is cut into the covering portion of the electric wire. And the wire holding part is configured to be movable from the peeling unit toward the end processing unit,
The said control unit is an electric wire edge part processing apparatus which performs the said position correction process continuously to the operation | movement from which the said coating | coated part is removed. It is an electric wire edge part processing apparatus of any one of Claims 1-8,
The end processing unit is a wire end processing device that is a terminal crimping unit that crimps a terminal to an end of the electric wire.

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