JP2016136476A - Terminal crimping machine, terminal crimping method, device for manufacturing terminal-crimped wire, and method for manufacturing terminal-crimped wire - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a terminal crimping machine capable for preventing a damage of an applicator fixing mechanism at the time when a terminal crimping abnormality occurs.SOLUTION: A terminal crimping machine 1 includes an applicator 11 having a lifting side crimper 113 which is a crimping tool and a fixing side anvil 117, an applicator fixing mechanism 13 for fixing the applicator 11 to an applicator mounting unit 67 of a crimping machine, and a lifting mechanism of a ram 10 for lifting the crimper 113. The lifting mechanism of the ram 10 includes a servomotor 4, servomotor control systems 5, 23, and 21 for controlling the motor, and a motion converting mechanism 8 for converting a rotational motion of the servomotor 4 into a lifting motion of the ram 10. The servomotor control system limits an output torque of the servomotor 4 at the time when the crimper is moved up and prevents a damage of the applicator fixing mechanism 13 when the anvil 117 is fixed to a terminal T and the crimper 113.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an apparatus for crimping a terminal to an end of an electric wire by moving a crimper (crimping tool) up and down by a servo motor. In particular, the present invention relates to a terminal crimping machine that takes measures to prevent damage to the applicator fixing mechanism when a terminal crimping abnormality occurs.

  A method and an apparatus in which a crimper is moved up and down by a servo motor and a terminal is crimped to an end of an electric wire are known from Patent Document 1 and the like. However, as far as the present inventor knows, there is no technology, proposal, or literature for controlling the servo motor for the purpose of preventing the applicator fixing mechanism from being damaged when the terminal crimping abnormality occurs.

JP-A-5-29055

  An object of this invention is to provide the terminal crimping machine etc. which took the countermeasure so that the applicator fixing mechanism might be prevented from being damaged when the terminal crimping abnormality occurred. It is another object of the present invention to provide a technique for detecting and preventing a crimping operation abnormality using the torque limit of a crimper drive servomotor.

  A first crimping machine according to the present invention includes an applicator having a lifting side crimper and a stationary side anvil which are crimping tools, an applicator fixing mechanism for fixing the applicator to an applicator mounting portion of the crimping machine, and the crimper. And a ram lifting mechanism that lifts and lowers, and a terminal crimping machine that crimps a terminal to the end of the wire from which the sheath has been stripped, wherein the ram lifting mechanism includes a servo motor and a servo motor control that controls the servo motor. System and a motion conversion mechanism that converts the rotational motion of the servo motor into the lifting motion of the ram, and the servo motor control system can arbitrarily set the output torque of the servo motor when the crimper is raised The torque limit value is limited, and when the output torque limit is reached, the servo motor is rapidly stopped to Characterized in that it has a means for preventing damage to the applicator fixing mechanism at the time which is fixed to the crimper.

  According to this crimping machine, even when the anvil, the terminal and the crimper are stuck during the terminal crimping operation, the rising crimper (ram) lifts the anvil or applicator base lower by the torque limit of the servo motor. Can be suppressed. Therefore, damage to the applicator fixing mechanism can be prevented.

  In the above-described crimping machine, when the output torque limit is reached, the servo motor is rapidly stopped, so that electric energy input to the servo motor after occurrence of an abnormality can be reduced, and the degree of equipment damage can be suppressed. Here, the “rapid stop” can be the same control as the so-called “emergency stop” or “emergency stop” in which the speed command given to the servo motor is rapidly made zero.

  In the above-described crimping machine, the torque limiting means is always operated while the crimper is being lifted, and is always rising while the crimper is being lifted from the bottom dead center of the crimper. It is also possible to apply a two-stage torque limit, which is a torque limit immediately after ascent that is lower than the limit.

  Depending on the characteristics of the crimping machine, the output torque or torque command of the servo motor during normal crimping is slightly higher than immediately after the bottom dead center of the crimper (ram) Sometimes). In such a case, if the above-mentioned “rising constant torque limit” is set low, there is a risk that normal crimping work may be hindered. On the other hand, in order to prevent damage to the applicator fixing mechanism, etc. caused by “lifting the anvil when the anvil, terminal, and crimper are stuck”, the crimper is immediately after the bottom dead center of the crimper (ram). It is preferable to limit the ascending force of (ram) particularly low.

  Therefore, it is preferable to apply “torque limit immediately after ascent” lower than “normal torque limit when ascending” for a short time immediately after starting to rise from the bottom dead center of the crimper. It should be noted that even if it is called “always rising torque limit that always works while the crimper is rising”, it is not strictly “always working while climbing”, but it is not rising immediately after bottom dead center (immediately after starting rising). It may be actuated (since immediately after bottom dead center (immediately after the start of climbing), a lower “torque limit immediately after climbing” is applied, so “actually climbing torque limit” is not actually actuated).

  The servo motor control system includes a servo amplifier that controls electrical input to the servo motor, and a controller that controls the servo amplifier, and performs the ascending constant torque limit as an internal torque limit of the servo amplifier. The torque limitation immediately after the increase can be performed as an external torque limitation based on a timing command from the controller to the servo amplifier.

  In the case of the current general servo motor control system, it is appropriate to reduce the labor and equipment cost for constructing the control system by dividing the internal torque limit and the external torque limit as described above. It is.

  The present invention is particularly advantageous when the motion conversion mechanism has a toggle mechanism that amplifies the lifting force of the ram. The toggle mechanism of this crimping machine amplifies the force in one direction (horizontal direction) of the servo motor / ball screw mechanism many times near the bottom dead center, and converts it into a force in the climbing direction of the crimper (ram). For this reason, if the rising resistance applied to the crimper near the bottom dead center increases, the force to raise the crimper against this may become excessive, which tends to damage the equipment such as the applicator fixing mechanism. Therefore, the torque limit of the servo motor becomes important.

  It is also possible to make the servo motor free after a certain period of time after the servo motor is rapidly stopped. The electric wire clamp and the electric wire conveyance mechanism perform appropriate control such as stopping the electric wire while being clamped.

  The second crimping machine of the present invention includes an applicator having a lifting side crimper and a stationary side anvil which are crimping tools, an applicator fixing mechanism for fixing the applicator to an applicator mounting portion of the crimping machine, and the crimper. And a ram lifting mechanism that lifts and lowers, and a terminal crimping machine that crimps a terminal to the end of the wire from which the sheath has been stripped, wherein the ram lifting mechanism includes a servo motor and a servo motor control that controls the servo motor. And a motion conversion mechanism that converts the rotational motion of the servo motor into the lifting motion of the ram, and the servo motor control system limits the output torque of the servo motor when the crimper is lowered It has a torque limiting means that can be set.

  In this crimping machine, the servo motor control system has an arbitrarily settable torque limiting means for limiting the output torque of the servo motor when the crimper is lowered. Detection and early response of terminal and crimper sticking), or prevention of equipment damage.

  The first terminal crimping method of the present invention is a terminal crimping method in which a terminal is crimped to the end portion of the electric wire from which the coating has been stripped using the first terminal crimping machine, wherein the torque limiting means The applicator fixing mechanism is prevented from being damaged by limiting the output torque of the servo motor when the motor is raised.

  The second terminal crimping method according to the present invention is a terminal crimping method in which a terminal is crimped to the end of an electric wire from which the coating has been stripped using the second terminal crimping machine. By limiting the output torque of the servo motor when the ram is raised, abnormalities in the crimping operation are detected and / or damage to the applicator fixing mechanism is prevented.

(Terminal crimped wire manufacturing equipment)
A terminal crimping electric wire manufacturing apparatus of the present invention includes a feeding device that feeds an electric wire, a peeling device for a tip portion of the electric wire, a first terminal crimping machine that crimps a terminal to the tip portion, A cutting device that cuts the tip to an arbitrary length, a peeling device for the rear end of the cut electric wire, a second terminal crimping machine that crimps a terminal to the rear end, and a terminal that is crimped to both ends And the terminal crimping machine is the first or second terminal crimping machine.

  The method of manufacturing a terminal crimped electric wire according to the present invention includes a step of feeding an electric wire, a step of peeling the tip of the wire, a terminal crimping step of crimping a terminal to the tip, and an arbitrary tip of the wire. A cutting step for cutting into lengths, a peeling step for a rear end portion of the cut electric wire, a terminal crimping step for crimping a terminal to the rear end portion, a discharging step for an electric wire with terminals crimped at both ends, The terminal crimping step is performed using the first or second terminal crimping machine.

  As is clear from the above description, according to the present invention, it is possible to provide a terminal crimping machine and the like that can prevent the applicator fixing mechanism from being damaged when a terminal crimping abnormality occurs. Further, it is possible to provide a technique for detecting and preventing abnormalities in the crimping operation using the torque limitation of the crimper drive servomotor.

It is a figure which shows typically the structure of the terminal crimping machine which concerns on embodiment of this invention. It is a typical side view which shows the structure of the motion conversion mechanism in the terminal crimping machine of FIG. It is an example of a structure of the applicator fixing mechanism in the crimping machine of FIG. 1, Comprising: (A) is a partial side view, (B) is a disassembled perspective view. It is a top view which shows the structural example of the crimping wire manufacturing apparatus equipped with the crimping machine of FIG. It is a front view explaining the example of a crimping | compression-bonding operation | work to the electric wire edge part of a terminal. (A) is a state in which the crimper has started to contact the terminal, (B) is a state in which the crimper has been lowered to the bottom dead center, and (C) is a state in which the crimper has been raised after the end of crimping. It is a graph which shows the specific example of transition of the command speed at the time of terminal crimping, and a torque command. It is a graph which shows the specific example of transition of the command speed at the time of terminal crimping, and a torque command when internal torque restriction at the time of a crimper rise is applied. It is a graph which shows the specific example of transition of the command speed at the time of terminal crimping, and a torque command at the time of applying external torque restriction at the time of crimper rise. It is a graph which shows the example of transition of the command speed at the time of terminal crimping, and a torque command at the time of applying external torque restriction at the time of crimper fall.

W; Electric wire, T; Terminal, Tb; Upper end, 1; Terminal crimping machine 4; Servo motor, 41; Output shaft, 43; Coupling, 5; Encoder 6; Column, 67; 8; motion conversion mechanism, 80; ball screw shaft, 81; lateral rail, 82; bearing,
83; Ball screw, 85; Horizontal slider, 87; Ball nut, 88; Holder, 89; Vertical rail
91; Vertical slider, 93; Boss, 95; Upper link, 97; Lower link, 99;

10; Ram, 101; Ram bolt, 11; Applicator, 111; Shank,
113; crimper, 113b; U recess, 117; anvil, 117b; end recess
119; base, 119b; wedge-shaped convex part,
13; Applicator fixing mechanism, 131; Back side locking piece, 131b; Tapered surface,
133; upper plate, 133b; groove, 135; front plate, 135b; groove,
136; lower plate, 136b; notch, 138; bracket,
139; Air cylinder, 139b; Fork, 139d; Rod, 140; Rod end
142; movable locking member, 142b; movable locking piece (head), 142d; taper surface,
142h; rod bracket, 142f; head push rod, 144; link, 146; link cradle

15; Clamp sink mechanism
16; Electric wire clamp transport mechanism, 161A / B; Clamp, 162A / B; Clamp opening / closing mechanism,
163A ・ B; Transport table
18; Operation panel, 21; Controller, 23; Servo amplifier, 25; Setting PC
171; Electric wire feeding device, 173; Electric wire cutting device, 174A; Top peeling device, 174B; Tail peeling device, 175; Product discharge device

200; command speed, 210; torque command, 300; command speed, 310; torque command,
400; command speed, 410; torque command, 500; command speed, 510; torque command,

Good form for carrying out the invention

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram schematically showing a configuration of a terminal crimping machine 1 according to an embodiment of the present invention. The crimping machine 1 crimps a terminal T to an end portion of an electric wire W shown at the left side in the drawing and at the center in the vertical direction. The end portion of the electric wire W is stripped of the outer peripheral insulation coating in the previous step (see the peeling device 174 in FIG. 4 which is peeled off).

The terminal crimping machine 1 shown in FIG. 1 is comprised from the following main parts.
[Applicator 11]
The applicator 11 has an upper lift side crimper 113 and a lower fixed side anvil 117 as a tool (die) for crimping the terminal T to the electric wire W by crushing the terminal T from above and below. Both tools are unitized as an applicator 11 that can be replaced in a short time for each type of terminal T.

[Ram lifting mechanism]
This is a mechanism for raising and lowering the ram 10 connected to the upper portion of the crimper 113, and includes a servo motor 4 and a motion conversion mechanism 8 for converting the rotational motion of the ram 10 into the lifting motion of the ram 10.
[Control mechanism of servo motor 4]
It consists of an encoder 5 that detects the rotation of the servo motor 4, a servo amplifier 23, a controller 21, and the like.

[Applicator fixing mechanism 13]
This is a mechanism for fixing an applicator 11 different for each terminal type to an applicator mounting portion 67 of the crimping machine main body. The applicator can be replaced in a short time.
[Wire clamp transport mechanism 16]
This is a mechanism for gripping and transporting the electric wire W (see FIG. 4).

Next, details of each unit will be described.
[Applicator 11]
As described above, the applicator 11 includes the upper ascending / descending side crimper 113 as a terminal crimping tool (mold) and the lower fixed side anvil 117. The crimper 113 is connected to the shank 111 above it. The shank 111 is connected to the ram 10 via a ram bolt 101 thereon. Although not shown, the applicator 11 also has a slide guide mechanism for the shank 111. When the ram 10 is driven up and down, the shank 111 and the crimper 113 move up and down. The position of the lowest point of the crimper 113 (bottom dead center) and the raising / lowering speed are controlled by the control mechanism of the servo motor 4.

  An anvil 117, which is a tool under pressure (mold), is fixed on a base 119 of the applicator 11. The base 119 is mounted and fixed on an applicator fixing mechanism 13 described later. Although not shown, the applicator 11 is also provided with a mechanism for feeding a terminal band in which many terminals T of the same type are connected, a cutter for cutting the terminal band, and the like.

[Motion conversion mechanism 8 of ram lifting mechanism]
The motion conversion mechanism 8 of the ram lifting mechanism will be described with reference to FIG. As described above, the motion conversion mechanism 8 is a mechanism that converts the rotational motion of the servo motor 4 into the lifting motion of the ram 10 and the ram bolt 101. The motion conversion mechanism 8 is housed in a box-like head 7 on the column 6 of the crimping machine main body. In FIG. 2 and FIG. 3, “front”, “back (back)”, “up”, and “down”, which are directions used for explanation, are indicated by arrows.

  An output shaft 41 of the servo motor 4 is connected to a ball screw shaft 80 via a coupling 43. The ball screw shaft 80 is rotatably supported by a bearing 82 that receives a high thrust force. A ball screw 83 is connected to the tip of the ball screw shaft 80, and a ball nut 87 is screwed to the ball screw 83. A holder 88 of the ball nut 87 is guided and supported in the front-rear direction by a horizontal rail 81 disposed above and below and extending in the front-rear direction (also referred to as the front-rear direction) and a horizontal slider 85 that slides back and forth on the rail. ing.

  A vertical rail 89 extending vertically is fixed to the front side of the ball nut holder 88, and a vertical slider 91 slides up and down on the vertical rail 89. A boss 93 is attached to the front side of the vertical slider 91 so as to protrude to the front side. Up and down links 95 and 97 are rotatably connected to the boss 93. The upper link 95 extends obliquely upward and forward from the boss 93, and the lower link 97 extends obliquely downward and forward from the boss 93. The end of the upper link 95 on the side opposite to the boss is connected to the head 7 so that it can rotate but cannot move up and down. The end of the lower link 97 on the side opposite to the boss is rotatably connected to the upper end (connecting portion 99) of the ram 10.

  The motion converting mechanism 8 configured in this manner converts the rotation of the servo motor output shaft 41 into the longitudinal motion of the ball nut 87, and then converts it into the rotational motion of the links 95 and 97, and then the lower link 97 and the ram. 10 is converted into the vertical movement of the connecting portion 99, and eventually the vertical movement of the ram 10 is assumed. Here, when the ram 10 is lowered to the lowest position (bottom dead center), the vertical links 95 and 97 are in a considerably open state (slightly in a straight line in the vertical direction), and the forward movement force of the ball nut 87 is increased. It is multiplied by the rate to make the ram 10 push down force (toggle mechanism). As an example, the pushing force of the ram 10 is 4 tons and the vertical stroke is 30 mm. The toggle mechanism operates even when the ram 10 is raised, and if the anvil, terminal, and crimper described later are fixed, the anvil is lifted with a strong force.

[Applicator fixing mechanism 13]
Next, a configuration example of the applicator fixing mechanism will be described with reference to FIG. FIG. 3A schematically shows a mechanism for fixing the applicator base 119 to the applicator mounting portion 67 of the main body of the crimping machine.

  FIG. 3A shows the base 119 of the applicator 11 including the anvil 117 and the like. On the lower surface of the base 119, a downwardly extending trapezoidal wedge-shaped convex portion 119b protrudes. The wedge-shaped convex portion 119 b is mounted on the plate 133 of the applicator fixing mechanism 13. Further, on the back side of the plate 133, a back side locking piece 131 is fixed with its tapered surface 131b facing the front side. The taper surface 131b of the back side locking piece 131 is an inclined surface with the upper side protruding to the near side, and the inclination is the same as the taper surface of the wedge-shaped convex portion 119b. When the base 119 is pushed to the back side, the back side taper surface of the wedge-shaped convex part 119b fits with the taper surface 131b of the back side locking piece 131.

  A movable locking piece 142b is disposed on the front side of the wedge-shaped convex portion 119b of the base 119 so as to be movable in the front-rear direction. The movable locking piece 142b is driven in the front-rear direction by an air cylinder 139 described later. The movable locking piece 142b has a tapered surface 142d on the back side. The tapered surface 142d is an inclined surface with the upper side protruding to the back side, and the inclination is the same as the tapered surface of the wedge-shaped convex portion 119b. When the movable locking piece 142b is pushed to the back side, the back side taper surface 142d of the movable locking piece 142b fits perfectly with the front taper surface of the wedge-shaped convex portion 119b.

  In this way, the trapezoidal wedge-shaped convex portion 119b extending downward from the lower portion of the base 119 is sandwiched in a “groove shape” from the front and rear by the tapered surfaces of the rear locking piece 131 and the movable locking piece 142b. Is fixed on the upper plate 133 in the front / rear / up / down direction. The base 119 is fixed in the front-rear direction (right-left direction) by fitting between the left and right surfaces of the movable locking piece 142b and a groove (not shown) on the bottom surface of the base 119.

  FIG. 3B shows the configuration of each part of the applicator fixing mechanism 13. The upper plate 133 on which the above-mentioned base 119 is placed is shown in the upper right of the figure, and the above-mentioned back-side locking piece 131 is similarly fixed to the upper surface of the rear end portion. The groove 133b on the front side of the upper plate 131 is a space where the aforementioned movable locking piece 142b slides back and forth.

  A lower plate 136 is connected to the lower side of the upper plate 133, and a front plate 135 is connected to the front side of the upper plate 133. A bracket 138 for attaching the air cylinder 139 is fixed to the lower surface of the front plate 135. A groove 135b on the back side of the front plate 135 is a space in which an upper portion of a rod bracket 142h described later enters and moves back and forth.

  An air cylinder 139 is connected to a bracket 138 fixed to the lower surface of the front plate 135, and a bifurcated portion 139b at the front end thereof is rotatably connected. The rod 139d of the air cylinder 139 protrudes to the back side, and the rod end 140 is connected to the tip (back side). A rod bracket 142h of the movable locking member 142 is rotatably connected to the tip (back side) of the rod end 140. The rod bracket 142h rises up and is connected to the front end of the head push rod 142f. The rod push rod 142f extends to the back side and is connected to the head (back side) head (movable locking piece) 142b.

  Two front and rear links 144 are provided below the head push rod 142f. The link 144 is a bifurcated member having an open top, and an upper end portion of the link 144 is rotatably connected to the head push bar 142f, and a lower end portion of the link 144 is rotatably connected to the link receiving base 146. With such a configuration, the movable locking member 142 is driven by the air cylinder 139 and moves in the front-rear direction. When the movable locking member 142 moves to the back side, the base 119 of the applicator 11 is fixed to the applicator mounting portion 67 of the crimping machine main body via the plates 133 and 136. On the other hand, when the movable locking member 142 moves to the front side, the base 119 of the applicator 11 is released and can be removed. The movable locking member 142 moves up and down when moving back and forth. By using this vertical movement, when the applicator is replaced, the movable locking member 142 is submerged in the groove of the plates 135 and 136 so that the applicator replacement operation is not hindered.

[Electric wire clamp transport mechanism and terminal crimping wire manufacturing equipment]
Next, with reference to FIG. 4, the electric wire clamp conveyance mechanism 16 and the terminal crimping electric wire manufacturing apparatus including the mechanism 16 and the crimping machines 1A and 1B will be described. The terminal crimped electric wire manufacturing apparatus shown in FIG. 4 is an apparatus that cuts an electric wire into a predetermined length, peels off the coverings at both ends (top and tail) of the cut electric wire, and crimps the terminal.

  The terminal crimped wire manufacturing apparatus of FIG. 4 includes a wire feeding device 171 that feeds a wire from a rolled wire by a predetermined length, two sets of wire clamp transport mechanisms 16A and 16B that grip and transport the wire, Cutting device 173, stripping device 174A at the tip (top) of the base side electric wire (electric wire feeding device 171 side electric wire, also referred to as one-side electric wire), leading-side electric wire (also referred to as cut electric wire or two-side electric wire) Peeling device 174B for the rear end (tail) of the terminal, terminal crimping machine 1A to the top of the base electric wire, terminal crimping machine 1B to the tail of the front electric wire, discharge of the electric wire (product) with terminals crimped at both ends A device 175 and the like.

  The electric wire feeder 171 unwinds an electric wire from a coil-shaped electric wire bundle (not shown) and sends it out downward in the drawing. Two sets of wire clamp transport mechanisms 16A and 16B are arranged in series in the wire feed direction on the front side of the wire feeder 171. The one-side electric wire clamp conveyance mechanism 16 </ b> A includes a clamp 161 </ b> A that holds the vicinity of the top of the one-side electric wire fed out from the electric wire feeder 171. The electric wire clamp transport mechanism 16A includes a clamp opening / closing mechanism 162A provided with a cylinder or the like for opening / closing the clamp 161A, and a transport table 163A on which the clamp 161A and the clamp opening / closing mechanism 162A are placed. The transfer table 163A is movable in the electric wire feeding direction and is provided so as to be rotatable about the electric wire feeding device 171.

  A wire cutting device 173 is provided on the wire feed direction exit side of the transfer table 163A of the one-side wire clamp transfer mechanism 16A. Further, a stripping device 174A is provided at a point that is turned by a predetermined angle from the wire feeding direction, and a top (one side) terminal crimping machine 1A is further provided at the tip.

  On the outgoing side in the wire feeding direction of the wire cutting device 173, a clamp conveying mechanism 16B for a two-side electric wire is provided. The mechanism 16B includes a clamp 161B that grips the front side of the electric wire fed out from the electric wire feeder 2, a clamp drive mechanism 162B that opens and closes the clamp 161B, a transfer table 163B on which they are mounted, and the like. The transport table 163B on the two sides can move in the wire feeding direction and can move in the perpendicular direction (lateral direction).

  A tail peeling device 174B is provided at the end of the transfer table 163B of the two-side electric wire clamp transfer mechanism 16B in the lateral direction, and a tail (two-side) terminal crimping machine 1B is further provided at the tip. ing.

  1, a clamp sink mechanism 15 is provided below the applicator 11 of the crimping machine 1. This clamp sinking mechanism 15 is for lowering the electric wire slightly by lowering the clamp mechanism slightly in synchronization with the lowering of the crimping machine ram 10. An example of the detailed structure is disclosed in JP WO2008 / 087938.

The movement of this terminal crimped wire manufacturing apparatus will be briefly described.
First, the electric wire is fed from the electric wire feeder 171 by a predetermined length toward the electric wire clamp conveying mechanisms 16A and 16B, and is gripped by the clamps 161A and 161B of the electric wire clamp conveying mechanisms 16A and 16B at two places. Here, a terminal is previously crimped to the tip of the electric wire in the previous step. Then, the electric wire is cut by the cutting device 173. The electric wire (one-side electric wire) remaining in the electric wire feeder 171 is gripped by the clamp 161A of the one-side electric wire clamp transport mechanism 16A, and the cut electric wire (two-side electric wire) is transferred to the clamp 161B of the two-side electric wire clamp transport mechanism 16B. Grasped.

  Next, the transfer table 163A of the one-side electric wire clamp transfer mechanism 16A turns to the peeling device 174A, and the top cover of the one-side electric wire is peeled off by the same blade. Next, the transfer table 163A turns to the top terminal crimping machine 1A, and the terminal is crimped to the stripped end portion of the electric wire. Thereafter, the transfer table 163A returns to the original position. That is, the terminal is crimped to the top (tip) of the one-side electric wire.

  Simultaneously with this operation, the transfer table 163B of the two-side wire clamp transfer mechanism 16B moves to the peeling device 174B, and the coating of the tail (rear end portion) of the two-side wire is peeled off. Next, the transfer table 163B moves laterally to the tail terminal crimping machine 1B, and the terminal is crimped to the rear end portion of the stripped electric wire. Thereby, a terminal is crimped | bonded to the both ends of the electric wire cut | disconnected by predetermined length. This electric wire is discharged by the product discharge device 175, and the transfer table 163B returns to the original position.

Next, the state of the terminal crimping operation and the trouble of damage to the applicator fixing mechanism 13 that has caused the present invention will be described.
FIG. 5 is a front view illustrating an example of a crimping operation (normal time) to the end of the electric wire of the terminal. (A) is a state in which the crimper has started to contact the terminal, (B) is a state in which the crimper has been lowered to the bottom dead center, and (C) is a state in which the crimper has been raised after the end of crimping. In each figure, a crimper 113 that is an upper die for crimping, an anvil 117 that is a lower die for crimping, and a terminal T and an electric wire W (a peeled core wire) sandwiched between them are shown.

  The crimper 113 has a U-concave portion 113b with a central portion deeply recessed in a U shape. With this U recess 113b, as shown in FIG. 5 (A) → (B), when the crimper 113 descends, the left and right upper end portions Tb of the terminal T are bent inward and crushed, and crimped to the outside of the electric wire W. The upper surface of the anvil 117 is a shallow end recess 117b, and supports the terminal T that is crushed by the crimper 113 from above. In FIG. 5 (C), the crimper 113 is raised while leaving the electric wire W crimped to the terminal T on the anvil 117. This is normally a terminal crimping operation.

  However, rarely, the crimper 113 may stick to the terminal T and the anvil 117, and the crimper 113 may not be separated from the anvil 117. For example, if the end of the upper end concave portion 117b of the anvil 117 spreads outward and the surface of the U concave portion 113b of the crimper 113 is worn and roughened due to many uses, the terminal T is deformed abnormally. It becomes easy. If such abnormal deformation of the terminal T becomes severe, a part of the terminal T is caught between the upper end portion of the anvil 117 and the inner wall of the U concave portion 113b of the crimper 113 in the state of FIG. Sometimes. Then, when the crimper 113 (ram 10) is raised, the anvil 117 is lifted. In addition, the lifting force can be considerably strong due to the presence of the toggle mechanism of the motion conversion mechanism 8 as described with reference to FIG.

  By the lifting force of the anvil 117 at the time of the anvil-crimping fixation, the base 119 and the wedge-shaped convex portion 119b of the applicator 11 shown in FIG. 3 are lifted. Then, the back side locking piece 131 and the movable locking piece 142b of the applicator fixing mechanism 13 are also lifted upward. For this reason, there may be a failure in which the head push bar 142f at the base of the movable locking piece 142b (the back head of the movable locking member 142) bends. This is one form of breakage of the applicator fixing mechanism 13, which is a problem to be solved by the present invention.

  In order to prevent the applicator fixing mechanism 13 from being damaged due to such anvil-crimper adhesion, in the embodiment of the present invention, the servo motor 4 that moves the mechanism for raising and lowering the ram 10 is subjected to output torque limitation when the ram is raised. It was. Hereinafter, a specific example of the control system of the servo motor 4 and torque limitation will be described.

[Servo motor control system]
First, an outline of an example of a control system for controlling the servo motor 4 will be described with reference to FIG.
The drive power for the servo motor 4 is supplied from a power source 29 (for example, three-phase AC 200 V) via a servo amplifier 23. The servo amplifier 23 includes a converter, an inverter, and the like, and sends a current proportional to the required output torque of the servo motor 4 to the servo motor 4. The servo amplifier 23 is set with an internal torque limit setting value, which will be described later, and the current sent to the servo motor 4 is limited by a value corresponding to the torque limit. The rotation speed and rotation speed of the servo motor 4 are detected by the encoder 5 attached to the servo motor 4 and the signal is sent to the servo amplifier 23.

  The controller 21 has a CPU, an I / O, and the like, and gives a speed command / position command and an external torque limit command to be described later to the servo amplifier 23. The controller 21 is given from the operation panel 18 the types of the electric wires W and terminals T and the specifications of the crimping work (bottom dead center position = crimp height, etc.). Further, the controller 21 gives an operation command to peripheral devices such as the wire clamp transport mechanism 16 and the clamp sink mechanism 15.

  Setting of the controller 21 and the servo amplifier 23 relating to torque limitation can be performed by connecting a setting PC 25 to both.

  Next, how to set the torque limit of the servo motor 4 will be described. First, since the torque limit should not hinder normal normal work, a specific example of the command speed and torque command of the servo motor 4 during normal work is measured.

  FIG. 6 is a graph showing a specific example of the transition of the command speed and the torque command during terminal crimping. The horizontal axis is time (unit is millisecond), and the vertical axis is command speed (unit is rpm / min) and torque command (%, 100% is motor rated torque). In the figure, a broken line 200 is a command speed given to the servo amplifier 23 by the controller 21. A solid line 210 is a torque command that the servo amplifier 23 gives to the servo motor 4 in order to achieve the command speed.

  The curve of the command speed indicated by the broken line 200 has a shape of a valley 201 which is greatly depressed downward and a mountain 205 which is greatly protruded upward from the left side to the right side of the figure. The command speed trough 201 indicates a decrease in the crimper 113 (ram 10), and the command speed peak 205 indicates an increase in the crimper. A flat portion 203 of a slight zero point between the valley 201 and the mountain 205 is the lowest point (bottom dead center) of the crimper (ram).

  The torque command indicated by the solid line 210 has torque command valleys 211 and peaks 213 at the time of the valley 201 of the command speed (broken line) described above. Further, a torque command peak 215 and a valley 217 exist at the time of the command speed (broken line) peak 205. The first torque command valley 211 corresponds to acceleration in the downward direction of the crimper, and the second torque command peak 213 corresponds to deceleration in the downward direction of the crimper. The small trough 214 next to the peak 213 of the torque command corresponds to a pressing force (a repulsive force of the terminal and the electric wire) for keeping the crimper at the bottom dead center.

  A torque command peak 215 following the trough 214 having a small torque command (solid line) corresponds to acceleration in the crimper raising direction, and a next torque command valley 217 corresponds to deceleration in the crimper raising direction.

Here, the peak values (outline) of valleys and mountains of the torque command (solid line) are as follows.
Peak value of valley 211 of accelerated acceleration; -120%
Peak value of peak 213 of lowering deceleration; + 85%
Peak value of valley 214 for maintaining bottom dead center; 40%
Peak value of mountain 215 of increase acceleration; + 110%
Peak value of up and down trough 217; -90%

  For such terminals and electric wires that will be the result of torque during normal crimping work, the torque limit when the crimper (ram) is raised ("rising constant torque limit" in the claims of the present application) is set to 130 to 150%, for example. And In this way, it was confirmed that the applicator fixing mechanism 13 can be prevented from being damaged when the anvil, the terminal, and the crimper are fixed, without hindering normal crimping work. It is obvious that the torque command for normal crimping work, which is the premise of the specific value of torque limit, is the specifications and dimensions of wires and terminals, the takt time setting for crimping work, and the acceleration of the crimper (ram). The degree of inertia varies depending on the degree of inertia of the motor and mechanical system, the response of the control system, and the like. It is also preferable to consider the strength of the applicator fixing mechanism 13.

  Here, a torque limiting method in a general servo motor control system having a controller 21 and a servo amplifier 23 as in the present embodiment (see FIG. 1) will be described. The torque limit in such a servo motor control system includes “internal torque limit” and “external torque limit”. “Internal torque limit” always limits the maximum torque in the servo amplifier 23 at the time of forward rotation of the motor (when the crimper is raised in the case of this embodiment) or when the motor is reverse rotation (when the crimper is lowered in the case of this embodiment). The torque limit value (%) is set by the servo amplifier 23 setting.

  On the other hand, “external torque limit” is a servo amplifier in the control system when torque limit is required at some time during the operation of the machine driven by the servo motor (“terminal crimping machine” in the present invention). In this system, the servo amplifier receives a timing signal from a higher-level device (the controller 21 in this embodiment) to limit the torque.

  In the above-mentioned example, when the torque limit when the crimper (ram) is raised (during motor forward rotation) is set to 130 to 150%, for example, the torque limit is always 130 to 150% during motor forward rotation. , “Internal torque limit”.

  Here, the generation point of the maximum torque at the time of acceleration of the crimper raising (motor forward rotation) in the example of FIG. 6 will be considered, and the use of “external torque limit” will be considered. In the example of FIG. 6, the generation time point of the maximum torque when the crimper is raised (motor forward rotation) is between about 20 ms to 50 ms from the bottom dead center. This is about 1 mm to 10 mm in terms of the crimper stroke (the crimper stroke in this example is 30 mm). In addition, when the anvil, terminal and crimper are actually fixed, the anvil is lifted immediately after the crimper starts to rise from the bottom dead center, and the rising speed of the ram 10 is significantly reduced and the torque command is rapidly increased. Torque limit is applied immediately after bottom dead center. Nevertheless, it is considered more preferable to perform a more strict torque limit (“torque limit immediately after increase” as defined in the claims) immediately after the start of climbing of the crimper (immediately after bottom dead center). If possible, I would like to stop the crimper within 1mm from the bottom dead center.

  Therefore, a specific measure to apply a lower torque limit immediately after the start of climbing is examined. However, as described above, the “internal torque limit” is a constant torque limit during the increase (during normal rotation of the motor), so the torque close to the “peak value of the peak command 215 of the increase acceleration torque; + 110%” described above. If the restriction is applied, a normal terminal crimping operation may often be intermediated. Therefore, it is an effective means to apply a lower torque limit only at a limited timing immediately after the start of climbing with “external torque limit”.

The following example can be considered as a specific external torque limit specification when the torque command graph shown in FIG. 6 is obtained.
Example 1: Torque limit value 110% to 120% for 0-20ms immediately after bottom dead center
Example 2: Torque limit value 80% -90% for 0-15ms immediately after bottom dead center
Example 3: Torque limit value 60% -80% for 0-10ms immediately after bottom dead center

  Next, a specific example of the transition of the command speed and the torque command at the time of terminal crimping when the internal torque restriction is applied will be described with reference to FIG. FIG. 7 shows an example of the crimping operation using the same electric wires and terminals as in FIG. 6, but the torque limit is set to 100% when the internal torque is limited (during normal rotation of the motor). This torque limit of 100% is lower than the maximum torque of 110% when the crimper is raised (motor forward rotation) in the example of FIG. 6, but for the sake of testing, the torque limit is intentionally lowered to limit the torque. Is expressed.

  FIG. 7 is a graph similar to FIG. The curve of the command speed indicated by a broken line 300 has a shape of a valley 301 that is greatly depressed downward and a small mountain 305 that protrudes slightly upward from the left to the right of the graph. The former (left side of the figure) commanded speed valley 301 represents the lowering of the crimper 113 (ram 10), and is the same curve as the example of FIG. On the other hand, the latter (right side of the figure) command speed hill 305 indicates an increase in the crimper, but the increase is stopped due to torque limitation during the increase. The flat portion 303 of the slight zero point between the valley 301 and the mountain 303 is the lowest point (bottom dead center) of the crimper (ram).

  The torque command indicated by the solid line 310 is the torque command valley 311 (corresponding to acceleration in the downward direction of the crimper) and peak 313 (corresponding to deceleration in the downward direction of the crimper) at the time of the valley 301 of the command speed (broken line) described above. Exists. In addition, at a time of a small mountain 305 of the command speed (broken line), there are a torque command mountain 315 (corresponding to acceleration in the crimper raising direction) and a valley 317 (corresponding to deceleration in the crimper raising direction).

  FIG. 7 is significantly different from FIG. 6 in that a peak 315 (second peak from the left) of the acceleration torque command (solid line) when raising the crimper is interrupted from the middle. This is because the torque command reaches a 100% torque limit in about 20 ms after rising from the bottom dead center, and automatically turns into an increase / decrease command to stop the increase. The rising stop operation at this time is a rapid stop in the servo-on state. Then, after that (for example, after 1 second), the servo is free (the servo amplifier 23 output is zero). At this time, the crimper (ram) remains stopped at the position where the rapid stop has occurred.

  When the torque limiting rapid stop of the servo motor of the crimping machine main body is performed, the crimping machine and its peripheral devices perform the following operations. Note that the operator who has noticed the abnormality appropriately performs operations such as manual operation of each part and power OFF after confirming the abnormality. It is desirable that the error message on the operation panel should not be erased even after resetting, but only disappear when the power is turned off.

Equipment attached to the main body of the crimping machine:
The control valve of the applicator fixing CYL 139 (see FIG. 3) of the applicator fixing mechanism 13; remains in the applicator fixing position (position where the rod protrudes).
Servo motor of clamp sink mechanism 15; Rapid stop similar to servo motor 4 of crimping machine main body.

Wire clamp transport mechanism 16:
Pneumatic valve for wire clamp chuck;
Servo motor of wire feed mechanism; Servo free after emergency stop.

  Next, transition of the command speed and the torque command at the time of terminal crimping when external torque restriction is applied will be described with reference to FIG. In FIG. 8, the external torque limit is set to 50% when the torque is increased (during normal rotation of the motor). For testing purposes, the torque limit was intentionally lowered to develop the torque limit. In addition, this figure is a graph when it operates without the electric wire and the terminal in the crimping machine different from taking the graphs of FIGS. 6 and 7 (empty operation). Even in the idling operation, the control operation of the torque limit control can be sufficiently confirmed.

  In FIG. 8, a broken line command speed curve 400 has a valley 401 that is greatly depressed to the left, and a very small mountain 403 that protrudes extremely small on the right side. The command speed valley 401 in the former (left side of the figure) represents the lowering of the crimper 113 (ram 10). On the other hand, the minimum peak 403 of the latter (right side of the figure) shows an increase in the crimper, but immediately after the start of the increase, the external torque limit is applied and immediately returns to zero.

  The torque command indicated by the solid line 410 corresponds to the torque command trough 411 (corresponding to acceleration in the downward direction of the crimper) and the peak 413 (deceleration in the downward direction of the crimper) between the trough 401 of the command speed (broken line) 400 described above. ) Exists. In addition, between the small hills 403 of the command speed (broken line), there is a hill 415 at the rising edge of the torque command (corresponding to acceleration in the crimper's upward direction), a sudden drop peak 417, and a slight positive horizontal line 419 thereafter. To do.

  In FIG. 8, the acceleration torque command (solid line) mound 415 (second mound from the left) at the time of climbing is applied to the external torque limit (50%) immediately after the start of the ascent (about 5 ms). Then, after a torque command of 50% for a very short time of about 5 ms continues, it becomes significantly negative (reverse peak 417) and immediately returns to the line 419 close to zero. This is because the torque command reaches the external limit and automatically turns into an ascending / decelerating command to stop the ascent. The rising stop operation at this time is a rapid stop in the servo-on state. After that (for example, after 1 second), the servo becomes free. At this time, the operations of the other actuators, pneumatic valves, and peripheral devices of the crimping machine are the same as in the case of the internal torque limit stop described above.

  Next, referring to FIG. 9, the transition of the command speed and the torque command at the time of crimping the terminal when the external torque is limited when the crimper is lowered (during reverse rotation of the motor) will be described. In FIG. 9, the torque limit when the crimper descends (during motor reverse rotation) is 140% due to the external torque limit. For testing purposes, the torque limit was intentionally lowered to develop the torque limit.

  In FIG. 9, the curve of the command speed indicated by the broken line 500 has a valley 501 that is greatly depressed downward. This valley 501 represents the descent of the crimper 113 (ram 10). The torque command indicated by the solid line 510 includes a torque command valley 511 (corresponding to acceleration in the crimper lowering direction) and a mountain 513 (deceleration in the crimper lowering direction) in the time existing between the valleys 501 of the command speed (broken line) described above. Corresponds to).

  Torque command trough 511 (corresponding to acceleration in the downward direction of the crimper) reaches the torque limit of 140% just before the time of 100 ms on the horizontal axis of the graph. Here, the ram suddenly stops and the command speed drops rapidly. Along with this, a peak 513 of torque command for lowering deceleration is generated. Thereafter, the command speed is zero and the torque command is almost zero.

  Due to the torque limitation when the crimper is lowered as shown in FIG. 9, the crimping machine is stopped when the anvil-crimp sticking or peeling defect, the resin bite, the terminal posture abnormality, the setting defect or the like occurs. Thereby, equipment breakage can be prevented and early detection of work abnormality can be aimed at.

Claims (8)

An applicator having an elevating side crimper and a fixed side anvil which are crimping tools;
An applicator fixing mechanism for fixing the applicator to the applicator mounting portion of the crimping machine;
A ram lifting mechanism for lifting and lowering the crimper,
A terminal crimping machine that crimps a terminal to the end of the wire from which the coating has been stripped,
The ram lifting mechanism is
A servo motor,
A servo motor control system for controlling the servo motor;
A motion conversion mechanism that converts the rotational motion of the servo motor into the lifting motion of the ram,
The servo motor control system limits the output torque of the servo motor when the crimper is raised by a torque limit value that can be arbitrarily set, and rapidly stops the servo motor when the output torque limit is reached. A terminal crimping machine comprising means for preventing breakage of the applicator fixing mechanism when the anvil is fixed to the crimper.   The crimping machine according to claim 1, wherein the motion conversion mechanism includes a toggle mechanism that amplifies the lifting force of the ram. The torque limiting means is
An ascending constant torque limit that always operates during the ascent of the crimper, and
3. The two-stage torque limit is applied, which is operated in a short time immediately after starting to rise from the bottom dead center of the crimper, and the torque limit immediately after the rise is lower than the constantly rising torque limit. Terminal crimping machine. The servo motor control system is
A servo amplifier that controls electrical input to the servo motor; and
A controller for controlling the servo amplifier,
Perform the ascending constant torque limit as an internal torque limit of the servo amplifier,
4. The terminal crimping machine according to claim 3, wherein the torque limitation immediately after the rise is performed as an external torque limitation based on a timing command from the controller to the servo amplifier. An applicator having an elevating side crimper and a fixed side anvil which are crimping tools;
An applicator fixing mechanism for fixing the applicator to the applicator mounting portion of the crimping machine;
A ram lifting mechanism for lifting and lowering the crimper,
A terminal crimping machine that crimps a terminal to the end of the wire from which the coating has been stripped,
The ram lifting mechanism is
A servo motor,
A servo motor control system for controlling the servo motor;
A motion conversion mechanism that converts the rotational motion of the servo motor into the lifting motion of the ram,
A terminal crimping machine characterized in that the servo motor control system has arbitrarily settable torque limiting means for limiting the output torque of the servo motor when the crimper is lowered.   A terminal crimping method in which a terminal is crimped to an end of an electric wire from which the coating has been stripped using the terminal crimping machine according to claim 1. A feeding device for feeding electric wires;
A peeling device for the tip of the wire;
A first terminal crimping machine for crimping a terminal to the tip;
A cutting device for cutting the tip of the electric wire into an arbitrary length;
With a peeling device at the rear end of the cut electric wire,
A second terminal crimping machine for crimping the terminal to the rear end;
A wire discharge device with terminals crimped on both ends;
Including
The said terminal crimping machine is a terminal crimping machine of any one of Claims 1-5, The terminal crimping electric wire manufacturing apparatus characterized by the above-mentioned. A process of feeding electric wires;
Peeling the tip of the wire; and
A terminal crimping step of crimping a terminal to the tip;
A cutting step of cutting the tip of the electric wire into an arbitrary length;
A peeling process of the rear end of the cut electric wire;
A terminal crimping step of crimping a terminal to the rear end;
A wire discharging process with terminals crimped at both ends;
Including
The said terminal crimping process is performed using the terminal crimping machine of any one of Claims 1-5, The terminal crimping electric wire manufacturing method characterized by the above-mentioned.

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